e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
968 lines
No EOL
24 KiB
Common Lisp
968 lines
No EOL
24 KiB
Common Lisp
/*
|
|
Copyright (c) 2013 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 Erwin Coumans
|
|
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
|
|
|
|
#pragma OPENCL EXTENSION cl_amd_printf : enable
|
|
#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
|
|
#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
|
|
#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
|
|
#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
|
|
|
|
|
|
#ifdef cl_ext_atomic_counters_32
|
|
#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
|
|
#else
|
|
#define counter32_t volatile global int*
|
|
#endif
|
|
|
|
typedef unsigned int u32;
|
|
typedef unsigned short u16;
|
|
typedef unsigned char u8;
|
|
|
|
#define GET_GROUP_IDX get_group_id(0)
|
|
#define GET_LOCAL_IDX get_local_id(0)
|
|
#define GET_GLOBAL_IDX get_global_id(0)
|
|
#define GET_GROUP_SIZE get_local_size(0)
|
|
#define GET_NUM_GROUPS get_num_groups(0)
|
|
#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
|
|
#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
|
|
#define AtomInc(x) atom_inc(&(x))
|
|
#define AtomInc1(x, out) out = atom_inc(&(x))
|
|
#define AppendInc(x, out) out = atomic_inc(x)
|
|
#define AtomAdd(x, value) atom_add(&(x), value)
|
|
#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
|
|
#define AtomXhg(x, value) atom_xchg ( &(x), value )
|
|
|
|
|
|
#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
|
|
|
|
#define make_float4 (float4)
|
|
#define make_float2 (float2)
|
|
#define make_uint4 (uint4)
|
|
#define make_int4 (int4)
|
|
#define make_uint2 (uint2)
|
|
#define make_int2 (int2)
|
|
|
|
|
|
#define max2 max
|
|
#define min2 min
|
|
|
|
|
|
///////////////////////////////////////
|
|
// Vector
|
|
///////////////////////////////////////
|
|
__inline
|
|
float fastDiv(float numerator, float denominator)
|
|
{
|
|
return native_divide(numerator, denominator);
|
|
// return numerator/denominator;
|
|
}
|
|
|
|
__inline
|
|
float4 fastDiv4(float4 numerator, float4 denominator)
|
|
{
|
|
return native_divide(numerator, denominator);
|
|
}
|
|
|
|
__inline
|
|
float fastSqrtf(float f2)
|
|
{
|
|
return native_sqrt(f2);
|
|
// return sqrt(f2);
|
|
}
|
|
|
|
__inline
|
|
float fastRSqrt(float f2)
|
|
{
|
|
return native_rsqrt(f2);
|
|
}
|
|
|
|
__inline
|
|
float fastLength4(float4 v)
|
|
{
|
|
return fast_length(v);
|
|
}
|
|
|
|
__inline
|
|
float4 fastNormalize4(float4 v)
|
|
{
|
|
return fast_normalize(v);
|
|
}
|
|
|
|
|
|
__inline
|
|
float sqrtf(float a)
|
|
{
|
|
// return sqrt(a);
|
|
return native_sqrt(a);
|
|
}
|
|
|
|
__inline
|
|
float4 cross3(float4 a1, float4 b1)
|
|
{
|
|
|
|
float4 a=make_float4(a1.xyz,0.f);
|
|
float4 b=make_float4(b1.xyz,0.f);
|
|
//float4 a=a1;
|
|
//float4 b=b1;
|
|
return cross(a,b);
|
|
}
|
|
|
|
__inline
|
|
float dot3F4(float4 a, float4 b)
|
|
{
|
|
float4 a1 = make_float4(a.xyz,0.f);
|
|
float4 b1 = make_float4(b.xyz,0.f);
|
|
return dot(a1, b1);
|
|
}
|
|
|
|
__inline
|
|
float length3(const float4 a)
|
|
{
|
|
return sqrtf(dot3F4(a,a));
|
|
}
|
|
|
|
__inline
|
|
float dot4(const float4 a, const float4 b)
|
|
{
|
|
return dot( a, b );
|
|
}
|
|
|
|
// for height
|
|
__inline
|
|
float dot3w1(const float4 point, const float4 eqn)
|
|
{
|
|
return dot3F4(point,eqn) + eqn.w;
|
|
}
|
|
|
|
__inline
|
|
float4 normalize3(const float4 a)
|
|
{
|
|
float4 n = make_float4(a.x, a.y, a.z, 0.f);
|
|
return fastNormalize4( n );
|
|
// float length = sqrtf(dot3F4(a, a));
|
|
// return 1.f/length * a;
|
|
}
|
|
|
|
__inline
|
|
float4 normalize4(const float4 a)
|
|
{
|
|
float length = sqrtf(dot4(a, a));
|
|
return 1.f/length * a;
|
|
}
|
|
|
|
__inline
|
|
float4 createEquation(const float4 a, const float4 b, const float4 c)
|
|
{
|
|
float4 eqn;
|
|
float4 ab = b-a;
|
|
float4 ac = c-a;
|
|
eqn = normalize3( cross3(ab, ac) );
|
|
eqn.w = -dot3F4(eqn,a);
|
|
return eqn;
|
|
}
|
|
|
|
///////////////////////////////////////
|
|
// Matrix3x3
|
|
///////////////////////////////////////
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_row[3];
|
|
}Matrix3x3;
|
|
|
|
__inline
|
|
Matrix3x3 mtZero();
|
|
|
|
__inline
|
|
Matrix3x3 mtIdentity();
|
|
|
|
__inline
|
|
Matrix3x3 mtTranspose(Matrix3x3 m);
|
|
|
|
__inline
|
|
Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
|
|
|
|
__inline
|
|
float4 mtMul1(Matrix3x3 a, float4 b);
|
|
|
|
__inline
|
|
float4 mtMul3(float4 a, Matrix3x3 b);
|
|
|
|
__inline
|
|
Matrix3x3 mtZero()
|
|
{
|
|
Matrix3x3 m;
|
|
m.m_row[0] = (float4)(0.f);
|
|
m.m_row[1] = (float4)(0.f);
|
|
m.m_row[2] = (float4)(0.f);
|
|
return m;
|
|
}
|
|
|
|
__inline
|
|
Matrix3x3 mtIdentity()
|
|
{
|
|
Matrix3x3 m;
|
|
m.m_row[0] = (float4)(1,0,0,0);
|
|
m.m_row[1] = (float4)(0,1,0,0);
|
|
m.m_row[2] = (float4)(0,0,1,0);
|
|
return m;
|
|
}
|
|
|
|
__inline
|
|
Matrix3x3 mtTranspose(Matrix3x3 m)
|
|
{
|
|
Matrix3x3 out;
|
|
out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
|
|
out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
|
|
out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
|
|
return out;
|
|
}
|
|
|
|
__inline
|
|
Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
|
|
{
|
|
Matrix3x3 transB;
|
|
transB = mtTranspose( b );
|
|
Matrix3x3 ans;
|
|
// why this doesn't run when 0ing in the for{}
|
|
a.m_row[0].w = 0.f;
|
|
a.m_row[1].w = 0.f;
|
|
a.m_row[2].w = 0.f;
|
|
for(int i=0; i<3; i++)
|
|
{
|
|
// a.m_row[i].w = 0.f;
|
|
ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
|
|
ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
|
|
ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
|
|
ans.m_row[i].w = 0.f;
|
|
}
|
|
return ans;
|
|
}
|
|
|
|
__inline
|
|
float4 mtMul1(Matrix3x3 a, float4 b)
|
|
{
|
|
float4 ans;
|
|
ans.x = dot3F4( a.m_row[0], b );
|
|
ans.y = dot3F4( a.m_row[1], b );
|
|
ans.z = dot3F4( a.m_row[2], b );
|
|
ans.w = 0.f;
|
|
return ans;
|
|
}
|
|
|
|
__inline
|
|
float4 mtMul3(float4 a, Matrix3x3 b)
|
|
{
|
|
float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
|
|
float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
|
|
float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
|
|
|
|
float4 ans;
|
|
ans.x = dot3F4( a, colx );
|
|
ans.y = dot3F4( a, coly );
|
|
ans.z = dot3F4( a, colz );
|
|
return ans;
|
|
}
|
|
|
|
///////////////////////////////////////
|
|
// Quaternion
|
|
///////////////////////////////////////
|
|
|
|
typedef float4 Quaternion;
|
|
|
|
__inline
|
|
Quaternion qtMul(Quaternion a, Quaternion b);
|
|
|
|
__inline
|
|
Quaternion qtNormalize(Quaternion in);
|
|
|
|
__inline
|
|
float4 qtRotate(Quaternion q, float4 vec);
|
|
|
|
__inline
|
|
Quaternion qtInvert(Quaternion q);
|
|
|
|
|
|
|
|
|
|
|
|
__inline
|
|
Quaternion qtMul(Quaternion a, Quaternion b)
|
|
{
|
|
Quaternion ans;
|
|
ans = cross3( a, b );
|
|
ans += a.w*b+b.w*a;
|
|
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
|
|
ans.w = a.w*b.w - dot3F4(a, b);
|
|
return ans;
|
|
}
|
|
|
|
__inline
|
|
Quaternion qtNormalize(Quaternion in)
|
|
{
|
|
return fastNormalize4(in);
|
|
// in /= length( in );
|
|
// return in;
|
|
}
|
|
__inline
|
|
float4 qtRotate(Quaternion q, float4 vec)
|
|
{
|
|
Quaternion qInv = qtInvert( q );
|
|
float4 vcpy = vec;
|
|
vcpy.w = 0.f;
|
|
float4 out = qtMul(qtMul(q,vcpy),qInv);
|
|
return out;
|
|
}
|
|
|
|
__inline
|
|
Quaternion qtInvert(Quaternion q)
|
|
{
|
|
return (Quaternion)(-q.xyz, q.w);
|
|
}
|
|
|
|
__inline
|
|
float4 qtInvRotate(const Quaternion q, float4 vec)
|
|
{
|
|
return qtRotate( qtInvert( q ), vec );
|
|
}
|
|
|
|
|
|
|
|
|
|
#define WG_SIZE 64
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_pos;
|
|
Quaternion m_quat;
|
|
float4 m_linVel;
|
|
float4 m_angVel;
|
|
|
|
u32 m_shapeIdx;
|
|
float m_invMass;
|
|
float m_restituitionCoeff;
|
|
float m_frictionCoeff;
|
|
} Body;
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
Matrix3x3 m_invInertia;
|
|
Matrix3x3 m_initInvInertia;
|
|
} Shape;
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_linear;
|
|
float4 m_worldPos[4];
|
|
float4 m_center;
|
|
float m_jacCoeffInv[4];
|
|
float m_b[4];
|
|
float m_appliedRambdaDt[4];
|
|
|
|
float m_fJacCoeffInv[2];
|
|
float m_fAppliedRambdaDt[2];
|
|
|
|
u32 m_bodyA;
|
|
u32 m_bodyB;
|
|
int m_batchIdx;
|
|
u32 m_paddings;
|
|
} Constraint4;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)
|
|
{
|
|
int i = GET_GLOBAL_IDX;
|
|
|
|
if( i < numContactManifolds)
|
|
{
|
|
int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
|
|
bool isFixedA = (pa <0) || (pa == fixedBodyIndex);
|
|
int bodyIndexA = abs(pa);
|
|
if (!isFixedA)
|
|
{
|
|
AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);
|
|
}
|
|
barrier(CLK_GLOBAL_MEM_FENCE);
|
|
int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;
|
|
bool isFixedB = (pb <0) || (pb == fixedBodyIndex);
|
|
int bodyIndexB = abs(pb);
|
|
if (!isFixedB)
|
|
{
|
|
AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);
|
|
}
|
|
}
|
|
}
|
|
|
|
__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)
|
|
{
|
|
int i = GET_GLOBAL_IDX;
|
|
|
|
if( i < numSplitBodies)
|
|
{
|
|
linearVelocities[i] = make_float4(0);
|
|
angularVelocities[i] = make_float4(0);
|
|
}
|
|
}
|
|
|
|
|
|
__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,
|
|
__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)
|
|
{
|
|
int i = GET_GLOBAL_IDX;
|
|
if (i<numBodies)
|
|
{
|
|
if (gBodies[i].m_invMass)
|
|
{
|
|
int bodyOffset = offsetSplitBodies[i];
|
|
int count = bodyCount[i];
|
|
float factor = 1.f/((float)count);
|
|
float4 averageLinVel = make_float4(0.f);
|
|
float4 averageAngVel = make_float4(0.f);
|
|
|
|
for (int j=0;j<count;j++)
|
|
{
|
|
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
|
|
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
|
|
}
|
|
|
|
for (int j=0;j<count;j++)
|
|
{
|
|
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
|
|
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
|
|
}
|
|
|
|
}//bodies[i].m_invMass
|
|
}//i<numBodies
|
|
}
|
|
|
|
|
|
|
|
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
|
|
{
|
|
*linear = make_float4(n.xyz,0.f);
|
|
*angular0 = cross3(r0, n);
|
|
*angular1 = -cross3(r1, n);
|
|
}
|
|
|
|
|
|
float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )
|
|
{
|
|
return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);
|
|
}
|
|
|
|
|
|
float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
|
|
float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)
|
|
{
|
|
// linear0,1 are normlized
|
|
float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
|
|
float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);
|
|
float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
|
|
float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);
|
|
return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);
|
|
}
|
|
|
|
|
|
void btPlaneSpace1 (float4 n, float4* p, float4* q);
|
|
void btPlaneSpace1 (float4 n, float4* p, float4* q)
|
|
{
|
|
if (fabs(n.z) > 0.70710678f) {
|
|
// choose p in y-z plane
|
|
float a = n.y*n.y + n.z*n.z;
|
|
float k = 1.f/sqrt(a);
|
|
p[0].x = 0;
|
|
p[0].y = -n.z*k;
|
|
p[0].z = n.y*k;
|
|
// set q = n x p
|
|
q[0].x = a*k;
|
|
q[0].y = -n.x*p[0].z;
|
|
q[0].z = n.x*p[0].y;
|
|
}
|
|
else {
|
|
// choose p in x-y plane
|
|
float a = n.x*n.x + n.y*n.y;
|
|
float k = 1.f/sqrt(a);
|
|
p[0].x = -n.y*k;
|
|
p[0].y = n.x*k;
|
|
p[0].z = 0;
|
|
// set q = n x p
|
|
q[0].x = -n.z*p[0].y;
|
|
q[0].y = n.z*p[0].x;
|
|
q[0].z = a*k;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void solveContact(__global Constraint4* cs,
|
|
float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,
|
|
float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,
|
|
float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)
|
|
{
|
|
float minRambdaDt = 0;
|
|
float maxRambdaDt = FLT_MAX;
|
|
|
|
for(int ic=0; ic<4; ic++)
|
|
{
|
|
if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
|
|
|
|
float4 angular0, angular1, linear;
|
|
float4 r0 = cs->m_worldPos[ic] - posA;
|
|
float4 r1 = cs->m_worldPos[ic] - posB;
|
|
setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );
|
|
|
|
|
|
|
|
float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1,
|
|
*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
|
|
rambdaDt *= cs->m_jacCoeffInv[ic];
|
|
|
|
|
|
{
|
|
float prevSum = cs->m_appliedRambdaDt[ic];
|
|
float updated = prevSum;
|
|
updated += rambdaDt;
|
|
updated = max2( updated, minRambdaDt );
|
|
updated = min2( updated, maxRambdaDt );
|
|
rambdaDt = updated - prevSum;
|
|
cs->m_appliedRambdaDt[ic] = updated;
|
|
}
|
|
|
|
|
|
float4 linImp0 = invMassA*linear*rambdaDt;
|
|
float4 linImp1 = invMassB*(-linear)*rambdaDt;
|
|
float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
|
|
float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
|
|
|
|
|
|
if (invMassA)
|
|
{
|
|
*dLinVelA += linImp0;
|
|
*dAngVelA += angImp0;
|
|
}
|
|
if (invMassB)
|
|
{
|
|
*dLinVelB += linImp1;
|
|
*dAngVelB += angImp1;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
|
|
|
|
|
|
void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,
|
|
__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,
|
|
__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)
|
|
{
|
|
|
|
//float frictionCoeff = ldsCs[0].m_linear.w;
|
|
int aIdx = ldsCs[0].m_bodyA;
|
|
int bIdx = ldsCs[0].m_bodyB;
|
|
|
|
float4 posA = gBodies[aIdx].m_pos;
|
|
float4 linVelA = gBodies[aIdx].m_linVel;
|
|
float4 angVelA = gBodies[aIdx].m_angVel;
|
|
float invMassA = gBodies[aIdx].m_invMass;
|
|
Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
|
|
|
|
float4 posB = gBodies[bIdx].m_pos;
|
|
float4 linVelB = gBodies[bIdx].m_linVel;
|
|
float4 angVelB = gBodies[bIdx].m_angVel;
|
|
float invMassB = gBodies[bIdx].m_invMass;
|
|
Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
|
|
|
|
|
|
float4 dLinVelA = make_float4(0,0,0,0);
|
|
float4 dAngVelA = make_float4(0,0,0,0);
|
|
float4 dLinVelB = make_float4(0,0,0,0);
|
|
float4 dAngVelB = make_float4(0,0,0,0);
|
|
|
|
int bodyOffsetA = offsetSplitBodies[aIdx];
|
|
int constraintOffsetA = contactConstraintOffsets[0].x;
|
|
int splitIndexA = bodyOffsetA+constraintOffsetA;
|
|
|
|
if (invMassA)
|
|
{
|
|
dLinVelA = deltaLinearVelocities[splitIndexA];
|
|
dAngVelA = deltaAngularVelocities[splitIndexA];
|
|
}
|
|
|
|
int bodyOffsetB = offsetSplitBodies[bIdx];
|
|
int constraintOffsetB = contactConstraintOffsets[0].y;
|
|
int splitIndexB= bodyOffsetB+constraintOffsetB;
|
|
|
|
if (invMassB)
|
|
{
|
|
dLinVelB = deltaLinearVelocities[splitIndexB];
|
|
dAngVelB = deltaAngularVelocities[splitIndexB];
|
|
}
|
|
|
|
solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
|
|
posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);
|
|
|
|
if (invMassA)
|
|
{
|
|
deltaLinearVelocities[splitIndexA] = dLinVelA;
|
|
deltaAngularVelocities[splitIndexA] = dAngVelA;
|
|
}
|
|
if (invMassB)
|
|
{
|
|
deltaLinearVelocities[splitIndexB] = dLinVelB;
|
|
deltaAngularVelocities[splitIndexB] = dAngVelB;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,
|
|
__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
|
|
float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds
|
|
)
|
|
{
|
|
int i = GET_GLOBAL_IDX;
|
|
if (i<numManifolds)
|
|
{
|
|
solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,
|
|
__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,
|
|
__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)
|
|
{
|
|
float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;
|
|
int aIdx = ldsCs[0].m_bodyA;
|
|
int bIdx = ldsCs[0].m_bodyB;
|
|
|
|
|
|
float4 posA = gBodies[aIdx].m_pos;
|
|
float4 linVelA = gBodies[aIdx].m_linVel;
|
|
float4 angVelA = gBodies[aIdx].m_angVel;
|
|
float invMassA = gBodies[aIdx].m_invMass;
|
|
Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
|
|
|
|
float4 posB = gBodies[bIdx].m_pos;
|
|
float4 linVelB = gBodies[bIdx].m_linVel;
|
|
float4 angVelB = gBodies[bIdx].m_angVel;
|
|
float invMassB = gBodies[bIdx].m_invMass;
|
|
Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
|
|
|
|
|
|
float4 dLinVelA = make_float4(0,0,0,0);
|
|
float4 dAngVelA = make_float4(0,0,0,0);
|
|
float4 dLinVelB = make_float4(0,0,0,0);
|
|
float4 dAngVelB = make_float4(0,0,0,0);
|
|
|
|
int bodyOffsetA = offsetSplitBodies[aIdx];
|
|
int constraintOffsetA = contactConstraintOffsets[0].x;
|
|
int splitIndexA = bodyOffsetA+constraintOffsetA;
|
|
|
|
if (invMassA)
|
|
{
|
|
dLinVelA = deltaLinearVelocities[splitIndexA];
|
|
dAngVelA = deltaAngularVelocities[splitIndexA];
|
|
}
|
|
|
|
int bodyOffsetB = offsetSplitBodies[bIdx];
|
|
int constraintOffsetB = contactConstraintOffsets[0].y;
|
|
int splitIndexB= bodyOffsetB+constraintOffsetB;
|
|
|
|
if (invMassB)
|
|
{
|
|
dLinVelB = deltaLinearVelocities[splitIndexB];
|
|
dAngVelB = deltaAngularVelocities[splitIndexB];
|
|
}
|
|
|
|
|
|
|
|
|
|
{
|
|
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
|
|
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
|
|
|
|
float sum = 0;
|
|
for(int j=0; j<4; j++)
|
|
{
|
|
sum +=ldsCs[0].m_appliedRambdaDt[j];
|
|
}
|
|
frictionCoeff = 0.7f;
|
|
for(int j=0; j<4; j++)
|
|
{
|
|
maxRambdaDt[j] = frictionCoeff*sum;
|
|
minRambdaDt[j] = -maxRambdaDt[j];
|
|
}
|
|
|
|
|
|
// solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
|
|
// posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );
|
|
|
|
|
|
{
|
|
|
|
__global Constraint4* cs = ldsCs;
|
|
|
|
if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;
|
|
const float4 center = cs->m_center;
|
|
|
|
float4 n = -cs->m_linear;
|
|
|
|
float4 tangent[2];
|
|
btPlaneSpace1(n,&tangent[0],&tangent[1]);
|
|
float4 angular0, angular1, linear;
|
|
float4 r0 = center - posA;
|
|
float4 r1 = center - posB;
|
|
for(int i=0; i<2; i++)
|
|
{
|
|
setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );
|
|
float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
|
|
linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );
|
|
rambdaDt *= cs->m_fJacCoeffInv[i];
|
|
|
|
{
|
|
float prevSum = cs->m_fAppliedRambdaDt[i];
|
|
float updated = prevSum;
|
|
updated += rambdaDt;
|
|
updated = max2( updated, minRambdaDt[i] );
|
|
updated = min2( updated, maxRambdaDt[i] );
|
|
rambdaDt = updated - prevSum;
|
|
cs->m_fAppliedRambdaDt[i] = updated;
|
|
}
|
|
|
|
float4 linImp0 = invMassA*linear*rambdaDt;
|
|
float4 linImp1 = invMassB*(-linear)*rambdaDt;
|
|
float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
|
|
float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
|
|
|
|
dLinVelA += linImp0;
|
|
dAngVelA += angImp0;
|
|
dLinVelB += linImp1;
|
|
dAngVelB += angImp1;
|
|
}
|
|
{ // angular damping for point constraint
|
|
float4 ab = normalize3( posB - posA );
|
|
float4 ac = normalize3( center - posA );
|
|
if( dot3F4( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
|
|
{
|
|
float angNA = dot3F4( n, angVelA );
|
|
float angNB = dot3F4( n, angVelB );
|
|
|
|
dAngVelA -= (angNA*0.1f)*n;
|
|
dAngVelB -= (angNB*0.1f)*n;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
if (invMassA)
|
|
{
|
|
deltaLinearVelocities[splitIndexA] = dLinVelA;
|
|
deltaAngularVelocities[splitIndexA] = dAngVelA;
|
|
}
|
|
if (invMassB)
|
|
{
|
|
deltaLinearVelocities[splitIndexB] = dLinVelB;
|
|
deltaAngularVelocities[splitIndexB] = dAngVelB;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,
|
|
__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,
|
|
__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
|
|
float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds
|
|
)
|
|
{
|
|
int i = GET_GLOBAL_IDX;
|
|
if (i<numManifolds)
|
|
{
|
|
solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
|
|
}
|
|
}
|
|
|
|
|
|
__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,
|
|
__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)
|
|
{
|
|
int i = GET_GLOBAL_IDX;
|
|
if (i<numBodies)
|
|
{
|
|
if (gBodies[i].m_invMass)
|
|
{
|
|
int bodyOffset = offsetSplitBodies[i];
|
|
int count = bodyCount[i];
|
|
if (count)
|
|
{
|
|
gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];
|
|
gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,
|
|
const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB,
|
|
__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,
|
|
Constraint4* dstC )
|
|
{
|
|
dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
|
|
dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
|
|
|
|
float dtInv = 1.f/dt;
|
|
for(int ic=0; ic<4; ic++)
|
|
{
|
|
dstC->m_appliedRambdaDt[ic] = 0.f;
|
|
}
|
|
dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
|
|
|
|
|
|
dstC->m_linear = src->m_worldNormalOnB;
|
|
dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
|
|
for(int ic=0; ic<4; ic++)
|
|
{
|
|
float4 r0 = src->m_worldPosB[ic] - posA;
|
|
float4 r1 = src->m_worldPosB[ic] - posB;
|
|
|
|
if( ic >= src->m_worldNormalOnB.w )//npoints
|
|
{
|
|
dstC->m_jacCoeffInv[ic] = 0.f;
|
|
continue;
|
|
}
|
|
|
|
float relVelN;
|
|
{
|
|
float4 linear, angular0, angular1;
|
|
setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
|
|
|
|
dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
|
|
invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);
|
|
|
|
relVelN = calcRelVel(linear, -linear, angular0, angular1,
|
|
linVelA, angVelA, linVelB, angVelB);
|
|
|
|
float e = 0.f;//src->getRestituitionCoeff();
|
|
if( relVelN*relVelN < 0.004f ) e = 0.f;
|
|
|
|
dstC->m_b[ic] = e*relVelN;
|
|
//float penetration = src->m_worldPosB[ic].w;
|
|
dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
|
|
dstC->m_appliedRambdaDt[ic] = 0.f;
|
|
}
|
|
}
|
|
|
|
if( src->m_worldNormalOnB.w > 0 )//npoints
|
|
{ // prepare friction
|
|
float4 center = make_float4(0.f);
|
|
for(int i=0; i<src->m_worldNormalOnB.w; i++)
|
|
center += src->m_worldPosB[i];
|
|
center /= (float)src->m_worldNormalOnB.w;
|
|
|
|
float4 tangent[2];
|
|
btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);
|
|
|
|
float4 r[2];
|
|
r[0] = center - posA;
|
|
r[1] = center - posB;
|
|
|
|
for(int i=0; i<2; i++)
|
|
{
|
|
float4 linear, angular0, angular1;
|
|
setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
|
|
|
|
dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
|
|
invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);
|
|
dstC->m_fAppliedRambdaDt[i] = 0.f;
|
|
}
|
|
dstC->m_center = center;
|
|
}
|
|
|
|
for(int i=0; i<4; i++)
|
|
{
|
|
if( i<src->m_worldNormalOnB.w )
|
|
{
|
|
dstC->m_worldPos[i] = src->m_worldPosB[i];
|
|
}
|
|
else
|
|
{
|
|
dstC->m_worldPos[i] = make_float4(0.f);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
__kernel
|
|
__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
|
|
void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut,
|
|
__global const unsigned int* bodyCount,
|
|
int nContacts,
|
|
float dt,
|
|
float positionDrift,
|
|
float positionConstraintCoeff
|
|
)
|
|
{
|
|
int gIdx = GET_GLOBAL_IDX;
|
|
|
|
if( gIdx < nContacts )
|
|
{
|
|
int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
|
|
int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
|
|
|
|
float4 posA = gBodies[aIdx].m_pos;
|
|
float4 linVelA = gBodies[aIdx].m_linVel;
|
|
float4 angVelA = gBodies[aIdx].m_angVel;
|
|
float invMassA = gBodies[aIdx].m_invMass;
|
|
Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
|
|
|
|
float4 posB = gBodies[bIdx].m_pos;
|
|
float4 linVelB = gBodies[bIdx].m_linVel;
|
|
float4 angVelB = gBodies[bIdx].m_angVel;
|
|
float invMassB = gBodies[bIdx].m_invMass;
|
|
Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
|
|
|
|
Constraint4 cs;
|
|
|
|
float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;
|
|
float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;
|
|
|
|
setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
|
|
&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,
|
|
&cs );
|
|
|
|
cs.m_batchIdx = gContact[gIdx].m_batchIdx;
|
|
|
|
gConstraintOut[gIdx] = cs;
|
|
}
|
|
} |