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