393 lines
14 KiB
C++
393 lines
14 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* solveContactCL =
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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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"//#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 mymake_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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"///////////////////////////////////////\n"
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"// Vector\n"
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"///////////////////////////////////////\n"
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"__inline\n"
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"float4 fastNormalize4(float4 v)\n"
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"{\n"
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" return fast_normalize(v);\n"
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"}\n"
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"__inline\n"
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"float4 cross3(float4 a, float4 b)\n"
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"{\n"
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" return cross(a,b);\n"
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"}\n"
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"__inline\n"
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"float dot3F4(float4 a, float4 b)\n"
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"{\n"
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" float4 a1 = mymake_float4(a.xyz,0.f);\n"
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" float4 b1 = mymake_float4(b.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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"}\n"
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"__inline\n"
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"float4 normalize3(const float4 a)\n"
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"{\n"
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" float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
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" return fastNormalize4( n );\n"
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"// float length = sqrtf(dot3F4(a, a));\n"
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"// return 1.f/length * a;\n"
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"}\n"
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"///////////////////////////////////////\n"
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"// Matrix3x3\n"
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"///////////////////////////////////////\n"
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"typedef struct\n"
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"{\n"
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" float4 m_row[3];\n"
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"}Matrix3x3;\n"
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"__inline\n"
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"float4 mtMul1(Matrix3x3 a, float4 b);\n"
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"__inline\n"
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"float4 mtMul3(float4 a, Matrix3x3 b);\n"
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"__inline\n"
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"float4 mtMul1(Matrix3x3 a, float4 b)\n"
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"{\n"
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" float4 ans;\n"
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" ans.x = dot3F4( a.m_row[0], b );\n"
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" ans.y = dot3F4( a.m_row[1], b );\n"
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" ans.z = dot3F4( a.m_row[2], b );\n"
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" ans.w = 0.f;\n"
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" return ans;\n"
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"}\n"
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"__inline\n"
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"float4 mtMul3(float4 a, Matrix3x3 b)\n"
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"{\n"
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" float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
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" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
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" float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
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" float4 ans;\n"
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" ans.x = dot3F4( a, colx );\n"
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" ans.y = dot3F4( a, coly );\n"
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" ans.z = dot3F4( a, colz );\n"
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" return ans;\n"
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"}\n"
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"///////////////////////////////////////\n"
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"// Quaternion\n"
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"///////////////////////////////////////\n"
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"typedef float4 Quaternion;\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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" float4 m_pos;\n"
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" Quaternion m_quat;\n"
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" float4 m_linVel;\n"
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" float4 m_angVel;\n"
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" u32 m_shapeIdx;\n"
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" float m_invMass;\n"
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" float m_restituitionCoeff;\n"
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" float m_frictionCoeff;\n"
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"} Body;\n"
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"typedef struct\n"
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"{\n"
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" Matrix3x3 m_invInertia;\n"
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" Matrix3x3 m_initInvInertia;\n"
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"} Shape;\n"
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"typedef struct\n"
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"{\n"
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" float4 m_linear;\n"
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" float4 m_worldPos[4];\n"
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" float4 m_center; \n"
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" float m_jacCoeffInv[4];\n"
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" float m_b[4];\n"
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" float m_appliedRambdaDt[4];\n"
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" float m_fJacCoeffInv[2]; \n"
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" float m_fAppliedRambdaDt[2]; \n"
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" u32 m_bodyA;\n"
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" u32 m_bodyB;\n"
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" int m_batchIdx;\n"
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" u32 m_paddings[1];\n"
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"} Constraint4;\n"
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"typedef struct\n"
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"{\n"
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" int m_nConstraints;\n"
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" int m_start;\n"
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" int m_batchIdx;\n"
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" int m_nSplit;\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_solveFriction;\n"
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" int m_maxBatch; // long batch really kills the performance\n"
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" int m_batchIdx;\n"
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" int m_nSplit;\n"
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"// int m_paddings[1];\n"
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"} ConstBufferBatchSolve;\n"
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"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
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"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
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"{\n"
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" *linear = mymake_float4(-n.xyz,0.f);\n"
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" *angular0 = -cross3(r0, n);\n"
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" *angular1 = cross3(r1, n);\n"
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"}\n"
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"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
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"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
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"{\n"
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" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
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"}\n"
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"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
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" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
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"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
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" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
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"{\n"
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" // linear0,1 are normlized\n"
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" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
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" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
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" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
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" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
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" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
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"}\n"
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"void solveContact(__global Constraint4* cs,\n"
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" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
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" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n"
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"void solveContact(__global Constraint4* cs,\n"
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" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
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" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n"
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"{\n"
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" float minRambdaDt = 0;\n"
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" float maxRambdaDt = FLT_MAX;\n"
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" for(int ic=0; ic<4; ic++)\n"
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" {\n"
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" if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
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" float4 angular0, angular1, linear;\n"
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" float4 r0 = cs->m_worldPos[ic] - posA;\n"
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" float4 r1 = cs->m_worldPos[ic] - posB;\n"
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" setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
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" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
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" *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
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" rambdaDt *= cs->m_jacCoeffInv[ic];\n"
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" {\n"
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" float prevSum = cs->m_appliedRambdaDt[ic];\n"
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" float updated = prevSum;\n"
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" updated += rambdaDt;\n"
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" updated = max2( updated, minRambdaDt );\n"
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" updated = min2( updated, maxRambdaDt );\n"
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" rambdaDt = updated - prevSum;\n"
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" cs->m_appliedRambdaDt[ic] = updated;\n"
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" }\n"
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" float4 linImp0 = invMassA*linear*rambdaDt;\n"
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" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
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" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
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" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
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" *linVelA += linImp0;\n"
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" *angVelA += angImp0;\n"
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" *linVelB += linImp1;\n"
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" *angVelB += angImp1;\n"
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" }\n"
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"}\n"
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"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
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" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
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"{\n"
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" if (fabs(n[0].z) > 0.70710678f) {\n"
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" // choose p in y-z plane\n"
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" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
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" float k = 1.f/sqrt(a);\n"
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" p[0].x = 0;\n"
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" p[0].y = -n[0].z*k;\n"
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" p[0].z = n[0].y*k;\n"
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" // set q = n x p\n"
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" q[0].x = a*k;\n"
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" q[0].y = -n[0].x*p[0].z;\n"
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" q[0].z = n[0].x*p[0].y;\n"
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" }\n"
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" else {\n"
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" // choose p in x-y plane\n"
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" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
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" float k = 1.f/sqrt(a);\n"
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" p[0].x = -n[0].y*k;\n"
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" p[0].y = n[0].x*k;\n"
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" p[0].z = 0;\n"
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" // set q = n x p\n"
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" q[0].x = -n[0].z*p[0].y;\n"
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" q[0].y = n[0].z*p[0].x;\n"
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" q[0].z = a*k;\n"
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" }\n"
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"}\n"
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"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
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"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
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"{\n"
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" //float frictionCoeff = ldsCs[0].m_linear.w;\n"
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" int aIdx = ldsCs[0].m_bodyA;\n"
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" int bIdx = ldsCs[0].m_bodyB;\n"
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" float4 posA = gBodies[aIdx].m_pos;\n"
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" float4 linVelA = gBodies[aIdx].m_linVel;\n"
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" float4 angVelA = gBodies[aIdx].m_angVel;\n"
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" float invMassA = gBodies[aIdx].m_invMass;\n"
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" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
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" float4 posB = gBodies[bIdx].m_pos;\n"
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" float4 linVelB = gBodies[bIdx].m_linVel;\n"
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" float4 angVelB = gBodies[bIdx].m_angVel;\n"
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" float invMassB = gBodies[bIdx].m_invMass;\n"
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" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
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" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
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" posB, &linVelB, &angVelB, invMassB, invInertiaB );\n"
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" if (gBodies[aIdx].m_invMass)\n"
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" {\n"
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" gBodies[aIdx].m_linVel = linVelA;\n"
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" gBodies[aIdx].m_angVel = angVelA;\n"
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" } else\n"
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" {\n"
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" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
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" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
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" \n"
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" }\n"
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" if (gBodies[bIdx].m_invMass)\n"
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" {\n"
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" gBodies[bIdx].m_linVel = linVelB;\n"
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" gBodies[bIdx].m_angVel = angVelB;\n"
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" } else\n"
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" {\n"
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" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
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" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
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" \n"
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" }\n"
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"}\n"
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"typedef struct \n"
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"{\n"
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" int m_valInt0;\n"
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" int m_valInt1;\n"
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" int m_valInt2;\n"
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" int m_valInt3;\n"
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" float m_val0;\n"
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" float m_val1;\n"
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" float m_val2;\n"
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" float m_val3;\n"
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"} SolverDebugInfo;\n"
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"__kernel\n"
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"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
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"void BatchSolveKernelContact(__global Body* gBodies,\n"
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" __global Shape* gShapes,\n"
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" __global Constraint4* gConstraints,\n"
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" __global int* gN,\n"
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" __global int* gOffsets,\n"
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" __global int* batchSizes,\n"
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" int maxBatch1,\n"
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" int cellBatch,\n"
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" int4 nSplit\n"
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" )\n"
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"{\n"
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" //__local int ldsBatchIdx[WG_SIZE+1];\n"
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" __local int ldsCurBatch;\n"
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" __local int ldsNextBatch;\n"
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" __local int ldsStart;\n"
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" int lIdx = GET_LOCAL_IDX;\n"
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" int wgIdx = GET_GROUP_IDX;\n"
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"// int gIdx = GET_GLOBAL_IDX;\n"
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"// debugInfo[gIdx].m_valInt0 = gIdx;\n"
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" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
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" \n"
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" \n"
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" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
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" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
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" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
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" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
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" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
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" //int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n"
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" //int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n"
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" //int cellIdx = xIdx+yIdx*nSplit;\n"
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" \n"
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" if( gN[cellIdx] == 0 ) \n"
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" return;\n"
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" int maxBatch = batchSizes[cellIdx];\n"
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" \n"
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" \n"
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" const int start = gOffsets[cellIdx];\n"
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" const int end = start + gN[cellIdx];\n"
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" \n"
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" \n"
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" \n"
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" if( lIdx == 0 )\n"
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" {\n"
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" ldsCurBatch = 0;\n"
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" ldsNextBatch = 0;\n"
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" ldsStart = start;\n"
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" }\n"
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" GROUP_LDS_BARRIER;\n"
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" int idx=ldsStart+lIdx;\n"
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" while (ldsCurBatch < maxBatch)\n"
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" {\n"
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|
" for(; idx<end; )\n"
|
|
" {\n"
|
|
" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
|
|
" {\n"
|
|
" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
|
" idx+=64;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" break;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" GROUP_LDS_BARRIER;\n"
|
|
" \n"
|
|
" if( lIdx == 0 )\n"
|
|
" {\n"
|
|
" ldsCurBatch++;\n"
|
|
" }\n"
|
|
" GROUP_LDS_BARRIER;\n"
|
|
" }\n"
|
|
" \n"
|
|
" \n"
|
|
"}\n"
|
|
"__kernel void solveSingleContactKernel(__global Body* gBodies,\n"
|
|
" __global Shape* gShapes,\n"
|
|
" __global Constraint4* gConstraints,\n"
|
|
" int cellIdx,\n"
|
|
" int batchOffset,\n"
|
|
" int numConstraintsInBatch\n"
|
|
" )\n"
|
|
"{\n"
|
|
" int index = get_global_id(0);\n"
|
|
" if (index < numConstraintsInBatch)\n"
|
|
" {\n"
|
|
" int idx=batchOffset+index;\n"
|
|
" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
|
" } \n"
|
|
"}\n";
|