290 lines
9.3 KiB
C++
290 lines
9.3 KiB
C++
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
|
static const char* batchingKernelsNewCL =
|
|
"/*\n"
|
|
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
|
"This software is provided 'as-is', without any express or implied warranty.\n"
|
|
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
|
"Permission is granted to anyone to use this software for any purpose, \n"
|
|
"including commercial applications, and to alter it and redistribute it freely, \n"
|
|
"subject to the following restrictions:\n"
|
|
"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"
|
|
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
|
"3. This notice may not be removed or altered from any source distribution.\n"
|
|
"*/\n"
|
|
"//Originally written by Erwin Coumans\n"
|
|
"#ifndef B3_CONTACT4DATA_H\n"
|
|
"#define B3_CONTACT4DATA_H\n"
|
|
"#ifndef B3_FLOAT4_H\n"
|
|
"#define B3_FLOAT4_H\n"
|
|
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
|
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
|
"struct MyTest\n"
|
|
"{\n"
|
|
" int bla;\n"
|
|
"};\n"
|
|
"#ifdef __cplusplus\n"
|
|
"#else\n"
|
|
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
|
"#define B3_LARGE_FLOAT 1e18f\n"
|
|
"#define B3_INFINITY 1e18f\n"
|
|
"#define b3Assert(a)\n"
|
|
"#define b3ConstArray(a) __global const a*\n"
|
|
"#define b3AtomicInc atomic_inc\n"
|
|
"#define b3AtomicAdd atomic_add\n"
|
|
"#define b3Fabs fabs\n"
|
|
"#define b3Sqrt native_sqrt\n"
|
|
"#define b3Sin native_sin\n"
|
|
"#define b3Cos native_cos\n"
|
|
"#define B3_STATIC\n"
|
|
"#endif\n"
|
|
"#endif\n"
|
|
"#ifdef __cplusplus\n"
|
|
"#else\n"
|
|
" typedef float4 b3Float4;\n"
|
|
" #define b3Float4ConstArg const b3Float4\n"
|
|
" #define b3MakeFloat4 (float4)\n"
|
|
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
|
" {\n"
|
|
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
|
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
|
" return dot(a1, b1);\n"
|
|
" }\n"
|
|
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
|
" {\n"
|
|
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
|
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
|
" return cross(a1, b1);\n"
|
|
" }\n"
|
|
" #define b3MinFloat4 min\n"
|
|
" #define b3MaxFloat4 max\n"
|
|
" #define b3Normalized(a) normalize(a)\n"
|
|
"#endif \n"
|
|
" \n"
|
|
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
|
"{\n"
|
|
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
|
" return false;\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
|
"{\n"
|
|
" float maxDot = -B3_INFINITY;\n"
|
|
" int i = 0;\n"
|
|
" int ptIndex = -1;\n"
|
|
" for( i = 0; i < vecLen; i++ )\n"
|
|
" {\n"
|
|
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
|
" \n"
|
|
" if( dot > maxDot )\n"
|
|
" {\n"
|
|
" maxDot = dot;\n"
|
|
" ptIndex = i;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" b3Assert(ptIndex>=0);\n"
|
|
" if (ptIndex<0)\n"
|
|
" {\n"
|
|
" ptIndex = 0;\n"
|
|
" }\n"
|
|
" *dotOut = maxDot;\n"
|
|
" return ptIndex;\n"
|
|
"}\n"
|
|
"#endif //B3_FLOAT4_H\n"
|
|
"typedef struct b3Contact4Data b3Contact4Data_t;\n"
|
|
"struct b3Contact4Data\n"
|
|
"{\n"
|
|
" b3Float4 m_worldPosB[4];\n"
|
|
"// b3Float4 m_localPosA[4];\n"
|
|
"// b3Float4 m_localPosB[4];\n"
|
|
" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
|
|
" unsigned short m_restituitionCoeffCmp;\n"
|
|
" unsigned short m_frictionCoeffCmp;\n"
|
|
" int m_batchIdx;\n"
|
|
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
|
|
" int m_bodyBPtrAndSignBit;\n"
|
|
" int m_childIndexA;\n"
|
|
" int m_childIndexB;\n"
|
|
" int m_unused1;\n"
|
|
" int m_unused2;\n"
|
|
"};\n"
|
|
"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
|
|
"{\n"
|
|
" return (int)contact->m_worldNormalOnB.w;\n"
|
|
"};\n"
|
|
"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
|
|
"{\n"
|
|
" contact->m_worldNormalOnB.w = (float)numPoints;\n"
|
|
"};\n"
|
|
"#endif //B3_CONTACT4DATA_H\n"
|
|
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
|
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
|
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
|
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
|
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
|
"#ifdef cl_ext_atomic_counters_32\n"
|
|
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
|
"#else\n"
|
|
"#define counter32_t volatile __global int*\n"
|
|
"#endif\n"
|
|
"#define SIMD_WIDTH 64\n"
|
|
"typedef unsigned int u32;\n"
|
|
"typedef unsigned short u16;\n"
|
|
"typedef unsigned char u8;\n"
|
|
"#define GET_GROUP_IDX get_group_id(0)\n"
|
|
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
|
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
|
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
|
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
|
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
|
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
|
"#define AtomInc(x) atom_inc(&(x))\n"
|
|
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
|
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
|
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
|
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
|
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
|
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
|
"#define make_float4 (float4)\n"
|
|
"#define make_float2 (float2)\n"
|
|
"#define make_uint4 (uint4)\n"
|
|
"#define make_int4 (int4)\n"
|
|
"#define make_uint2 (uint2)\n"
|
|
"#define make_int2 (int2)\n"
|
|
"#define max2 max\n"
|
|
"#define min2 min\n"
|
|
"#define WG_SIZE 64\n"
|
|
"typedef struct \n"
|
|
"{\n"
|
|
" int m_n;\n"
|
|
" int m_start;\n"
|
|
" int m_staticIdx;\n"
|
|
" int m_paddings[1];\n"
|
|
"} ConstBuffer;\n"
|
|
"typedef struct \n"
|
|
"{\n"
|
|
" int m_a;\n"
|
|
" int m_b;\n"
|
|
" u32 m_idx;\n"
|
|
"}Elem;\n"
|
|
"// batching on the GPU\n"
|
|
"__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, int m_staticIdx )\n"
|
|
"{\n"
|
|
" int wgIdx = GET_GROUP_IDX;\n"
|
|
" int lIdx = GET_LOCAL_IDX;\n"
|
|
" \n"
|
|
" const int m_n = gN[wgIdx];\n"
|
|
" const int m_start = gStart[wgIdx];\n"
|
|
" \n"
|
|
" if( lIdx == 0 )\n"
|
|
" {\n"
|
|
" for (int i=0;i<m_n;i++)\n"
|
|
" {\n"
|
|
" int srcIdx = i+m_start;\n"
|
|
" int batchIndex = i;\n"
|
|
" gConstraints[ srcIdx ].m_batchIdx = batchIndex; \n"
|
|
" }\n"
|
|
" }\n"
|
|
"}\n"
|
|
"#define CHECK_SIZE (WG_SIZE)\n"
|
|
"u32 readBuf(__local u32* buff, int idx)\n"
|
|
"{\n"
|
|
" idx = idx % (32*CHECK_SIZE);\n"
|
|
" int bitIdx = idx%32;\n"
|
|
" int bufIdx = idx/32;\n"
|
|
" return buff[bufIdx] & (1<<bitIdx);\n"
|
|
"}\n"
|
|
"void writeBuf(__local u32* buff, int idx)\n"
|
|
"{\n"
|
|
" idx = idx % (32*CHECK_SIZE);\n"
|
|
" int bitIdx = idx%32;\n"
|
|
" int bufIdx = idx/32;\n"
|
|
" buff[bufIdx] |= (1<<bitIdx);\n"
|
|
" //atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
|
"}\n"
|
|
"u32 tryWrite(__local u32* buff, int idx)\n"
|
|
"{\n"
|
|
" idx = idx % (32*CHECK_SIZE);\n"
|
|
" int bitIdx = idx%32;\n"
|
|
" int bufIdx = idx/32;\n"
|
|
" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
|
" return ((ans >> bitIdx)&1) == 0;\n"
|
|
"}\n"
|
|
"// batching on the GPU\n"
|
|
"__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )\n"
|
|
"{\n"
|
|
" int wgIdx = GET_GROUP_IDX;\n"
|
|
" int lIdx = GET_LOCAL_IDX;\n"
|
|
" const int numConstraints = gN[wgIdx];\n"
|
|
" const int m_start = gStart[wgIdx];\n"
|
|
" b3Contact4Data_t tmp;\n"
|
|
" \n"
|
|
" __local u32 ldsFixedBuffer[CHECK_SIZE];\n"
|
|
" \n"
|
|
" \n"
|
|
" \n"
|
|
" \n"
|
|
" \n"
|
|
" if( lIdx == 0 )\n"
|
|
" {\n"
|
|
" \n"
|
|
" \n"
|
|
" __global struct b3Contact4Data* cs = &gConstraints[m_start]; \n"
|
|
" \n"
|
|
" \n"
|
|
" int numValidConstraints = 0;\n"
|
|
" int batchIdx = 0;\n"
|
|
" while( numValidConstraints < numConstraints)\n"
|
|
" {\n"
|
|
" int nCurrentBatch = 0;\n"
|
|
" // clear flag\n"
|
|
" \n"
|
|
" for(int i=0; i<CHECK_SIZE; i++) \n"
|
|
" ldsFixedBuffer[i] = 0; \n"
|
|
" for(int i=numValidConstraints; i<numConstraints; i++)\n"
|
|
" {\n"
|
|
" int bodyAS = cs[i].m_bodyAPtrAndSignBit;\n"
|
|
" int bodyBS = cs[i].m_bodyBPtrAndSignBit;\n"
|
|
" int bodyA = abs(bodyAS);\n"
|
|
" int bodyB = abs(bodyBS);\n"
|
|
" bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;\n"
|
|
" bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;\n"
|
|
" int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);\n"
|
|
" int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);\n"
|
|
" \n"
|
|
" if( aUnavailable==0 && bUnavailable==0 ) // ok\n"
|
|
" {\n"
|
|
" if (!aIsStatic)\n"
|
|
" {\n"
|
|
" writeBuf( ldsFixedBuffer, bodyA );\n"
|
|
" }\n"
|
|
" if (!bIsStatic)\n"
|
|
" {\n"
|
|
" writeBuf( ldsFixedBuffer, bodyB );\n"
|
|
" }\n"
|
|
" cs[i].m_batchIdx = batchIdx;\n"
|
|
" if (i!=numValidConstraints)\n"
|
|
" {\n"
|
|
" tmp = cs[i];\n"
|
|
" cs[i] = cs[numValidConstraints];\n"
|
|
" cs[numValidConstraints] = tmp;\n"
|
|
" }\n"
|
|
" numValidConstraints++;\n"
|
|
" \n"
|
|
" nCurrentBatch++;\n"
|
|
" if( nCurrentBatch == SIMD_WIDTH)\n"
|
|
" {\n"
|
|
" nCurrentBatch = 0;\n"
|
|
" for(int i=0; i<CHECK_SIZE; i++) \n"
|
|
" ldsFixedBuffer[i] = 0;\n"
|
|
" \n"
|
|
" }\n"
|
|
" }\n"
|
|
" }//for\n"
|
|
" batchIdx ++;\n"
|
|
" }//while\n"
|
|
" \n"
|
|
" batchSizes[wgIdx] = batchIdx;\n"
|
|
" }//if( lIdx == 0 )\n"
|
|
" \n"
|
|
" //return batchIdx;\n"
|
|
"}\n";
|