110 lines
3.9 KiB
C++
110 lines
3.9 KiB
C++
/*
|
|
Copyright (c) 2012 Advanced Micro Devices, Inc.
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
//Originally written by Takahiro Harada
|
|
|
|
#ifndef __ADL_SOLVER_H
|
|
#define __ADL_SOLVER_H
|
|
|
|
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
|
|
#include "b3GpuConstraint4.h"
|
|
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
|
|
|
|
#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
|
|
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
|
|
#include "Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h"
|
|
|
|
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
|
|
|
|
#define B3NEXTMULTIPLEOF(num, alignment) (((num) / (alignment) + (((num) % (alignment) == 0) ? 0 : 1)) * (alignment))
|
|
|
|
enum
|
|
{
|
|
B3_SOLVER_N_SPLIT_X = 8, //16,//4,
|
|
B3_SOLVER_N_SPLIT_Y = 4, //16,//4,
|
|
B3_SOLVER_N_SPLIT_Z = 8, //,
|
|
B3_SOLVER_N_CELLS = B3_SOLVER_N_SPLIT_X * B3_SOLVER_N_SPLIT_Y * B3_SOLVER_N_SPLIT_Z,
|
|
B3_SOLVER_N_BATCHES = 8, //4,//8,//4,
|
|
B3_MAX_NUM_BATCHES = 128,
|
|
};
|
|
|
|
class b3SolverBase
|
|
{
|
|
public:
|
|
struct ConstraintCfg
|
|
{
|
|
ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(-1) {}
|
|
|
|
float m_positionDrift;
|
|
float m_positionConstraintCoeff;
|
|
float m_dt;
|
|
bool m_enableParallelSolve;
|
|
float m_batchCellSize;
|
|
int m_staticIdx;
|
|
};
|
|
};
|
|
|
|
class b3Solver : public b3SolverBase
|
|
{
|
|
public:
|
|
cl_context m_context;
|
|
cl_device_id m_device;
|
|
cl_command_queue m_queue;
|
|
|
|
b3OpenCLArray<unsigned int>* m_numConstraints;
|
|
b3OpenCLArray<unsigned int>* m_offsets;
|
|
b3OpenCLArray<int> m_batchSizes;
|
|
|
|
int m_nIterations;
|
|
cl_kernel m_batchingKernel;
|
|
cl_kernel m_batchingKernelNew;
|
|
cl_kernel m_solveContactKernel;
|
|
cl_kernel m_solveFrictionKernel;
|
|
cl_kernel m_contactToConstraintKernel;
|
|
cl_kernel m_setSortDataKernel;
|
|
cl_kernel m_reorderContactKernel;
|
|
cl_kernel m_copyConstraintKernel;
|
|
|
|
class b3RadixSort32CL* m_sort32;
|
|
class b3BoundSearchCL* m_search;
|
|
class b3PrefixScanCL* m_scan;
|
|
|
|
b3OpenCLArray<b3SortData>* m_sortDataBuffer;
|
|
b3OpenCLArray<b3Contact4>* m_contactBuffer2;
|
|
|
|
enum
|
|
{
|
|
DYNAMIC_CONTACT_ALLOCATION_THRESHOLD = 2000000,
|
|
};
|
|
|
|
b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
|
|
|
|
virtual ~b3Solver();
|
|
|
|
void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* inertiaBuf,
|
|
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches);
|
|
|
|
void solveContactConstraintHost(b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf,
|
|
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, b3AlignedObjectArray<int>* batchSizes);
|
|
|
|
void convertToConstraints(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
|
|
const b3OpenCLArray<b3InertiaData>* shapeBuf,
|
|
b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
|
|
int nContacts, const ConstraintCfg& cfg);
|
|
|
|
void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
|
|
};
|
|
|
|
#endif //__ADL_SOLVER_H
|