387 lines
12 KiB
C++
387 lines
12 KiB
C++
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* batchingKernelsCL =
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"/*\n"
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"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
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"This software is provided 'as-is', without any express or implied warranty.\n"
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"In no event will the authors be held liable for any damages arising from the use of this software.\n"
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"Permission is granted to anyone to use this software for any purpose, \n"
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"including commercial applications, and to alter it and redistribute it freely, \n"
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"subject to the following restrictions:\n"
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"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
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"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
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"3. This notice may not be removed or altered from any source distribution.\n"
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"*/\n"
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"//Originally written by Takahiro Harada\n"
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"#ifndef B3_CONTACT4DATA_H\n"
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"#define B3_CONTACT4DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#define B3_FLOAT4_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#define B3_PLATFORM_DEFINITIONS_H\n"
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"struct MyTest\n"
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"{\n"
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" int bla;\n"
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"};\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
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"#define B3_LARGE_FLOAT 1e18f\n"
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"#define B3_INFINITY 1e18f\n"
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"#define b3Assert(a)\n"
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"#define b3ConstArray(a) __global const a*\n"
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"#define b3AtomicInc atomic_inc\n"
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"#define b3AtomicAdd atomic_add\n"
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"#define b3Fabs fabs\n"
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"#define b3Sqrt native_sqrt\n"
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"#define b3Sin native_sin\n"
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"#define b3Cos native_cos\n"
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"#define B3_STATIC\n"
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"#endif\n"
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"#endif\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Float4;\n"
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" #define b3Float4ConstArg const b3Float4\n"
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" #define b3MakeFloat4 (float4)\n"
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" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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" }\n"
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" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return cross(a1, b1);\n"
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" }\n"
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" #define b3MinFloat4 min\n"
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" #define b3MaxFloat4 max\n"
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" #define b3Normalized(a) normalize(a)\n"
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"#endif \n"
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" \n"
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"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
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"{\n"
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" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
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" return false;\n"
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" return true;\n"
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"}\n"
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"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
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"{\n"
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" float maxDot = -B3_INFINITY;\n"
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" int i = 0;\n"
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" int ptIndex = -1;\n"
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" for( i = 0; i < vecLen; i++ )\n"
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" {\n"
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" float dot = b3Dot3F4(vecArray[i],vec);\n"
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" \n"
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" if( dot > maxDot )\n"
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" {\n"
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" maxDot = dot;\n"
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" ptIndex = i;\n"
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" }\n"
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" }\n"
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" b3Assert(ptIndex>=0);\n"
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" if (ptIndex<0)\n"
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" {\n"
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" ptIndex = 0;\n"
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" }\n"
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" *dotOut = maxDot;\n"
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" return ptIndex;\n"
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"}\n"
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"#endif //B3_FLOAT4_H\n"
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"typedef struct b3Contact4Data b3Contact4Data_t;\n"
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"struct b3Contact4Data\n"
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"{\n"
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" b3Float4 m_worldPosB[4];\n"
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"// b3Float4 m_localPosA[4];\n"
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"// b3Float4 m_localPosB[4];\n"
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" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
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" unsigned short m_restituitionCoeffCmp;\n"
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" unsigned short m_frictionCoeffCmp;\n"
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" int m_batchIdx;\n"
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" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
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" int m_bodyBPtrAndSignBit;\n"
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" int m_childIndexA;\n"
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" int m_childIndexB;\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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"};\n"
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"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
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"{\n"
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" return (int)contact->m_worldNormalOnB.w;\n"
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"};\n"
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"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
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"{\n"
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" contact->m_worldNormalOnB.w = (float)numPoints;\n"
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"};\n"
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"#endif //B3_CONTACT4DATA_H\n"
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"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
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"#ifdef cl_ext_atomic_counters_32\n"
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"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
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"#else\n"
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"#define counter32_t volatile __global int*\n"
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"#endif\n"
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"typedef unsigned int u32;\n"
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"typedef unsigned short u16;\n"
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"typedef unsigned char u8;\n"
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"#define GET_GROUP_IDX get_group_id(0)\n"
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"#define GET_LOCAL_IDX get_local_id(0)\n"
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"#define GET_GLOBAL_IDX get_global_id(0)\n"
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"#define GET_GROUP_SIZE get_local_size(0)\n"
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"#define GET_NUM_GROUPS get_num_groups(0)\n"
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"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
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"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
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"#define AtomInc(x) atom_inc(&(x))\n"
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"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
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"#define AppendInc(x, out) out = atomic_inc(x)\n"
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"#define AtomAdd(x, value) atom_add(&(x), value)\n"
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"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
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"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
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"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
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"#define make_float4 (float4)\n"
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"#define make_float2 (float2)\n"
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"#define make_uint4 (uint4)\n"
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"#define make_int4 (int4)\n"
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"#define make_uint2 (uint2)\n"
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"#define make_int2 (int2)\n"
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"#define max2 max\n"
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"#define min2 min\n"
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"#define WG_SIZE 64\n"
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"typedef struct \n"
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"{\n"
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" int m_n;\n"
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" int m_start;\n"
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" int m_staticIdx;\n"
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" int m_paddings[1];\n"
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"} ConstBuffer;\n"
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"typedef struct \n"
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"{\n"
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" int m_a;\n"
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" int m_b;\n"
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" u32 m_idx;\n"
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"}Elem;\n"
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"#define STACK_SIZE (WG_SIZE*10)\n"
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"//#define STACK_SIZE (WG_SIZE)\n"
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"#define RING_SIZE 1024\n"
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"#define RING_SIZE_MASK (RING_SIZE-1)\n"
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"#define CHECK_SIZE (WG_SIZE)\n"
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"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
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"#define RING_END ldsTmp\n"
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"u32 readBuf(__local u32* buff, int idx)\n"
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"{\n"
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" idx = idx % (32*CHECK_SIZE);\n"
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" int bitIdx = idx%32;\n"
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" int bufIdx = idx/32;\n"
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" return buff[bufIdx] & (1<<bitIdx);\n"
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"}\n"
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"void writeBuf(__local u32* buff, int idx)\n"
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"{\n"
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" idx = idx % (32*CHECK_SIZE);\n"
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" int bitIdx = idx%32;\n"
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" int bufIdx = idx/32;\n"
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"// buff[bufIdx] |= (1<<bitIdx);\n"
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" atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
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"}\n"
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"u32 tryWrite(__local u32* buff, int idx)\n"
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"{\n"
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" idx = idx % (32*CHECK_SIZE);\n"
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" int bitIdx = idx%32;\n"
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" int bufIdx = idx/32;\n"
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" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
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" return ((ans >> bitIdx)&1) == 0;\n"
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"}\n"
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"// batching on the GPU\n"
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"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
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" __global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
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" int m_staticIdx )\n"
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"{\n"
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" __local u32 ldsStackIdx[STACK_SIZE];\n"
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" __local u32 ldsStackEnd;\n"
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" __local Elem ldsRingElem[RING_SIZE];\n"
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" __local u32 ldsRingEnd;\n"
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" __local u32 ldsTmp;\n"
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" __local u32 ldsCheckBuffer[CHECK_SIZE];\n"
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" __local u32 ldsFixedBuffer[CHECK_SIZE];\n"
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" __local u32 ldsGEnd;\n"
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" __local u32 ldsDstEnd;\n"
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" int wgIdx = GET_GROUP_IDX;\n"
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" int lIdx = GET_LOCAL_IDX;\n"
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" \n"
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" const int m_n = gN[wgIdx];\n"
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" const int m_start = gStart[wgIdx];\n"
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" \n"
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" if( lIdx == 0 )\n"
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" {\n"
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" ldsRingEnd = 0;\n"
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" ldsGEnd = 0;\n"
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" ldsStackEnd = 0;\n"
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" ldsDstEnd = m_start;\n"
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" }\n"
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" \n"
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" \n"
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" \n"
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"// while(1)\n"
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"//was 250\n"
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" int ie=0;\n"
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" int maxBatch = 0;\n"
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" for(ie=0; ie<50; ie++)\n"
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" {\n"
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" ldsFixedBuffer[lIdx] = 0;\n"
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" for(int giter=0; giter<4; giter++)\n"
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" {\n"
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" int ringCap = GET_RING_CAPACITY;\n"
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" \n"
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" // 1. fill ring\n"
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" if( ldsGEnd < m_n )\n"
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" {\n"
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" while( ringCap > WG_SIZE )\n"
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" {\n"
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" if( ldsGEnd >= m_n ) break;\n"
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" if( lIdx < ringCap - WG_SIZE )\n"
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" {\n"
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" int srcIdx;\n"
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" AtomInc1( ldsGEnd, srcIdx );\n"
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" if( srcIdx < m_n )\n"
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" {\n"
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" int dstIdx;\n"
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" AtomInc1( ldsRingEnd, dstIdx );\n"
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" \n"
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" int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
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" int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
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" ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
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" ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
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" ldsRingElem[dstIdx].m_idx = srcIdx;\n"
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" }\n"
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" }\n"
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" ringCap = GET_RING_CAPACITY;\n"
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" }\n"
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" }\n"
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" GROUP_LDS_BARRIER;\n"
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" \n"
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" // 2. fill stack\n"
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" __local Elem* dst = ldsRingElem;\n"
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" if( lIdx == 0 ) RING_END = 0;\n"
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" int srcIdx=lIdx;\n"
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" int end = ldsRingEnd;\n"
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" {\n"
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" for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
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" {\n"
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" Elem e;\n"
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" if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
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" bool done = (srcIdx<end)?false:true;\n"
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" for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
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" \n"
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" if( !done )\n"
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" {\n"
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" int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
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" int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
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" if( aUsed==0 && bUsed==0 )\n"
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" {\n"
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" int aAvailable=1;\n"
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" int bAvailable=1;\n"
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" int ea = abs(e.m_a);\n"
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" int eb = abs(e.m_b);\n"
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" bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
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" bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
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" \n"
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" if (!aStatic)\n"
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" aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
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" if (!bStatic)\n"
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" bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
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" \n"
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" //aAvailable = aStatic? 1: aAvailable;\n"
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" //bAvailable = bStatic? 1: bAvailable;\n"
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" bool success = (aAvailable && bAvailable);\n"
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" if(success)\n"
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" {\n"
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" \n"
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" if (!aStatic)\n"
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" writeBuf( ldsFixedBuffer, ea );\n"
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" if (!bStatic)\n"
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" writeBuf( ldsFixedBuffer, eb );\n"
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" }\n"
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" done = success;\n"
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" }\n"
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" }\n"
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" // put it aside\n"
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" if(srcIdx<end)\n"
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" {\n"
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" if( done )\n"
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" {\n"
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" int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
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" if( dstIdx < STACK_SIZE )\n"
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" ldsStackIdx[dstIdx] = e.m_idx;\n"
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" else{\n"
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" done = false;\n"
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" AtomAdd( ldsStackEnd, -1 );\n"
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" }\n"
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" }\n"
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" if( !done )\n"
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" {\n"
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" int dstIdx; AtomInc1( RING_END, dstIdx );\n"
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" dst[dstIdx] = e;\n"
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" }\n"
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" }\n"
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" // if filled, flush\n"
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" if( ldsStackEnd == STACK_SIZE )\n"
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" {\n"
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" for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
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" {\n"
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" int idx = m_start + ldsStackIdx[i];\n"
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" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
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" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
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" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
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" }\n"
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" if( lIdx == 0 ) ldsStackEnd = 0;\n"
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" //for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
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" ldsFixedBuffer[lIdx] = 0;\n"
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" }\n"
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" }\n"
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" }\n"
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" if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
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" }\n"
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" GROUP_LDS_BARRIER;\n"
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" for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
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" {\n"
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" int idx = m_start + ldsStackIdx[i];\n"
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" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
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" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
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" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
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" }\n"
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" // in case it couldn't consume any pair. Flush them\n"
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" // todo. Serial batch worth while?\n"
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" if( ldsStackEnd == 0 )\n"
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" {\n"
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" for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
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" {\n"
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" int idx = m_start + ldsRingElem[i].m_idx;\n"
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" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
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" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
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" int curBatch = 100+i;\n"
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" if (maxBatch < curBatch)\n"
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" maxBatch = curBatch;\n"
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" \n"
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" gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
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" \n"
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" }\n"
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" GROUP_LDS_BARRIER;\n"
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" if( lIdx == 0 ) ldsRingEnd = 0;\n"
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" }\n"
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" if( lIdx == 0 ) ldsStackEnd = 0;\n"
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" GROUP_LDS_BARRIER;\n"
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" // termination\n"
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" if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
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" break;\n"
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" }\n"
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" if( lIdx == 0 )\n"
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" {\n"
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" if (maxBatch < ie)\n"
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" maxBatch=ie;\n"
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" batchSizes[wgIdx]=maxBatch;\n"
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" }\n"
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"}\n";
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