e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
709 lines
22 KiB
C++
709 lines
22 KiB
C++
/*
|
|
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 "b3GpuRigidBodyPipeline.h"
|
|
#include "b3GpuRigidBodyPipelineInternalData.h"
|
|
#include "kernels/integrateKernel.h"
|
|
#include "kernels/updateAabbsKernel.h"
|
|
|
|
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
|
|
#include "b3GpuNarrowPhase.h"
|
|
#include "Bullet3Geometry/b3AabbUtil.h"
|
|
#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
|
|
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
|
|
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
|
|
#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h"
|
|
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
|
|
|
|
//#define TEST_OTHER_GPU_SOLVER
|
|
|
|
#define B3_RIGIDBODY_INTEGRATE_PATH "src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl"
|
|
#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
|
|
|
|
bool useBullet2CpuSolver = true;
|
|
|
|
//choice of contact solver
|
|
bool gUseJacobi = false;
|
|
bool gUseDbvt = false;
|
|
bool gDumpContactStats = false;
|
|
bool gCalcWorldSpaceAabbOnCpu = false;
|
|
bool gUseCalculateOverlappingPairsHost = false;
|
|
bool gIntegrateOnCpu = false;
|
|
bool gClearPairsOnGpu = true;
|
|
|
|
#define TEST_OTHER_GPU_SOLVER 1
|
|
#ifdef TEST_OTHER_GPU_SOLVER
|
|
#include "b3GpuJacobiContactSolver.h"
|
|
#endif //TEST_OTHER_GPU_SOLVER
|
|
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
|
|
#include "Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h"
|
|
|
|
#include "b3GpuPgsContactSolver.h"
|
|
#include "b3Solver.h"
|
|
|
|
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
|
|
#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
|
|
|
|
|
|
#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
|
|
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
|
|
|
|
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
|
|
{
|
|
m_data = new b3GpuRigidBodyPipelineInternalData;
|
|
m_data->m_constraintUid=0;
|
|
m_data->m_config = config;
|
|
m_data->m_context = ctx;
|
|
m_data->m_device = device;
|
|
m_data->m_queue = q;
|
|
|
|
m_data->m_solver = new b3PgsJacobiSolver(true);//new b3PgsJacobiSolver(true);
|
|
m_data->m_gpuSolver = new b3GpuPgsConstraintSolver(ctx,device,q,true);//new b3PgsJacobiSolver(true);
|
|
|
|
m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
|
|
m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
|
|
|
|
m_data->m_gpuConstraints = new b3OpenCLArray<b3GpuGenericConstraint>(ctx,q);
|
|
#ifdef TEST_OTHER_GPU_SOLVER
|
|
m_data->m_solver3 = new b3GpuJacobiContactSolver(ctx,device,q,config.m_maxBroadphasePairs);
|
|
#endif // TEST_OTHER_GPU_SOLVER
|
|
|
|
m_data->m_solver2 = new b3GpuPgsContactSolver(ctx,device,q,config.m_maxBroadphasePairs);
|
|
|
|
m_data->m_raycaster = new b3GpuRaycast(ctx,device,q);
|
|
|
|
|
|
m_data->m_broadphaseDbvt = broadphaseDbvt;
|
|
m_data->m_broadphaseSap = broadphaseSap;
|
|
m_data->m_narrowphase = narrowphase;
|
|
m_data->m_gravity.setValue(0.f,-9.8f,0.f);
|
|
|
|
cl_int errNum=0;
|
|
|
|
{
|
|
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,integrateKernelCL,&errNum,"",B3_RIGIDBODY_INTEGRATE_PATH);
|
|
b3Assert(errNum==CL_SUCCESS);
|
|
m_data->m_integrateTransformsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,integrateKernelCL, "integrateTransformsKernel",&errNum,prog);
|
|
b3Assert(errNum==CL_SUCCESS);
|
|
clReleaseProgram(prog);
|
|
}
|
|
{
|
|
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,updateAabbsKernelCL,&errNum,"",B3_RIGIDBODY_UPDATEAABB_PATH);
|
|
b3Assert(errNum==CL_SUCCESS);
|
|
m_data->m_updateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "initializeGpuAabbsFull",&errNum,prog);
|
|
b3Assert(errNum==CL_SUCCESS);
|
|
|
|
|
|
m_data->m_clearOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "clearOverlappingPairsKernel",&errNum,prog);
|
|
b3Assert(errNum==CL_SUCCESS);
|
|
|
|
clReleaseProgram(prog);
|
|
}
|
|
|
|
|
|
}
|
|
|
|
b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
|
|
{
|
|
if (m_data->m_integrateTransformsKernel)
|
|
clReleaseKernel(m_data->m_integrateTransformsKernel);
|
|
|
|
if (m_data->m_updateAabbsKernel)
|
|
clReleaseKernel(m_data->m_updateAabbsKernel);
|
|
|
|
if (m_data->m_clearOverlappingPairsKernel)
|
|
clReleaseKernel(m_data->m_clearOverlappingPairsKernel);
|
|
delete m_data->m_raycaster;
|
|
delete m_data->m_solver;
|
|
delete m_data->m_allAabbsGPU;
|
|
delete m_data->m_gpuConstraints;
|
|
delete m_data->m_overlappingPairsGPU;
|
|
|
|
#ifdef TEST_OTHER_GPU_SOLVER
|
|
delete m_data->m_solver3;
|
|
#endif //TEST_OTHER_GPU_SOLVER
|
|
|
|
delete m_data->m_solver2;
|
|
|
|
|
|
delete m_data;
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::reset()
|
|
{
|
|
m_data->m_gpuConstraints->resize(0);
|
|
m_data->m_cpuConstraints.resize(0);
|
|
m_data->m_allAabbsGPU->resize(0);
|
|
m_data->m_allAabbsCPU.resize(0);
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
|
|
{
|
|
m_data->m_joints.push_back(constraint);
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
|
|
{
|
|
m_data->m_joints.remove(constraint);
|
|
}
|
|
|
|
|
|
|
|
void b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
|
|
{
|
|
m_data->m_gpuSolver->recomputeBatches();
|
|
//slow linear search
|
|
m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
|
|
//remove
|
|
for (int i=0;i<m_data->m_cpuConstraints.size();i++)
|
|
{
|
|
if (m_data->m_cpuConstraints[i].m_uid == uid)
|
|
{
|
|
//m_data->m_cpuConstraints.remove(m_data->m_cpuConstraints[i]);
|
|
m_data->m_cpuConstraints.swap(i,m_data->m_cpuConstraints.size()-1);
|
|
m_data->m_cpuConstraints.pop_back();
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (m_data->m_cpuConstraints.size())
|
|
{
|
|
m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
|
|
} else
|
|
{
|
|
m_data->m_gpuConstraints->resize(0);
|
|
}
|
|
|
|
}
|
|
int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold)
|
|
{
|
|
m_data->m_gpuSolver->recomputeBatches();
|
|
b3GpuGenericConstraint c;
|
|
c.m_uid = m_data->m_constraintUid;
|
|
m_data->m_constraintUid++;
|
|
c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
|
|
c.m_rbA = bodyA;
|
|
c.m_rbB = bodyB;
|
|
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
|
|
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
|
|
c.m_breakingImpulseThreshold = breakingThreshold;
|
|
c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE;
|
|
m_data->m_cpuConstraints.push_back(c);
|
|
return c.m_uid;
|
|
}
|
|
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB,float breakingThreshold)
|
|
{
|
|
m_data->m_gpuSolver->recomputeBatches();
|
|
b3GpuGenericConstraint c;
|
|
c.m_uid = m_data->m_constraintUid;
|
|
m_data->m_constraintUid++;
|
|
c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
|
|
c.m_rbA = bodyA;
|
|
c.m_rbB = bodyB;
|
|
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
|
|
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
|
|
c.m_relTargetAB.setValue(relTargetAB[0],relTargetAB[1],relTargetAB[2],relTargetAB[3]);
|
|
c.m_breakingImpulseThreshold = breakingThreshold;
|
|
c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE;
|
|
|
|
m_data->m_cpuConstraints.push_back(c);
|
|
return c.m_uid;
|
|
}
|
|
|
|
|
|
void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
|
|
{
|
|
|
|
//update worldspace AABBs from local AABB/worldtransform
|
|
{
|
|
B3_PROFILE("setupGpuAabbs");
|
|
setupGpuAabbsFull();
|
|
}
|
|
|
|
int numPairs =0;
|
|
|
|
//compute overlapping pairs
|
|
{
|
|
|
|
if (gUseDbvt)
|
|
{
|
|
{
|
|
B3_PROFILE("setAabb");
|
|
m_data->m_allAabbsGPU->copyToHost(m_data->m_allAabbsCPU);
|
|
for (int i=0;i<m_data->m_allAabbsCPU.size();i++)
|
|
{
|
|
b3Vector3 aabbMin=b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
|
|
b3Vector3 aabbMax=b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
|
|
m_data->m_broadphaseDbvt->setAabb(i,aabbMin,aabbMax,0);
|
|
}
|
|
}
|
|
|
|
{
|
|
B3_PROFILE("calculateOverlappingPairs");
|
|
m_data->m_broadphaseDbvt->calculateOverlappingPairs();
|
|
}
|
|
numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
|
|
|
|
} else
|
|
{
|
|
if (gUseCalculateOverlappingPairsHost)
|
|
{
|
|
m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs);
|
|
} else
|
|
{
|
|
m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
|
|
}
|
|
numPairs = m_data->m_broadphaseSap->getNumOverlap();
|
|
}
|
|
}
|
|
|
|
//compute contact points
|
|
// printf("numPairs=%d\n",numPairs);
|
|
|
|
int numContacts = 0;
|
|
|
|
|
|
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
|
|
|
|
if (numPairs)
|
|
{
|
|
cl_mem pairs =0;
|
|
cl_mem aabbsWS =0;
|
|
if (gUseDbvt)
|
|
{
|
|
B3_PROFILE("m_overlappingPairsGPU->copyFromHost");
|
|
m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
|
|
pairs = m_data->m_overlappingPairsGPU->getBufferCL();
|
|
aabbsWS = m_data->m_allAabbsGPU->getBufferCL();
|
|
} else
|
|
{
|
|
pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
|
|
aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS();
|
|
}
|
|
|
|
m_data->m_overlappingPairsGPU->resize(numPairs);
|
|
|
|
//mark the contacts for each pair as 'unused'
|
|
if (numPairs)
|
|
{
|
|
b3OpenCLArray<b3BroadphasePair> gpuPairs(this->m_data->m_context,m_data->m_queue);
|
|
gpuPairs.setFromOpenCLBuffer(pairs,numPairs);
|
|
|
|
if (gClearPairsOnGpu)
|
|
{
|
|
|
|
|
|
//b3AlignedObjectArray<b3BroadphasePair> hostPairs;//just for debugging
|
|
//gpuPairs.copyToHost(hostPairs);
|
|
|
|
b3LauncherCL launcher(m_data->m_queue,m_data->m_clearOverlappingPairsKernel,"clearOverlappingPairsKernel");
|
|
launcher.setBuffer(pairs);
|
|
launcher.setConst(numPairs);
|
|
launcher.launch1D(numPairs);
|
|
|
|
|
|
//gpuPairs.copyToHost(hostPairs);
|
|
|
|
|
|
} else
|
|
{
|
|
b3AlignedObjectArray<b3BroadphasePair> hostPairs;
|
|
gpuPairs.copyToHost(hostPairs);
|
|
|
|
for (int i=0;i<hostPairs.size();i++)
|
|
{
|
|
hostPairs[i].z = 0xffffffff;
|
|
}
|
|
|
|
gpuPairs.copyFromHost(hostPairs);
|
|
}
|
|
}
|
|
|
|
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
|
|
numContacts = m_data->m_narrowphase->getNumContactsGpu();
|
|
|
|
if (gUseDbvt)
|
|
{
|
|
///store the cached information (contact locations in the 'z' component)
|
|
B3_PROFILE("m_overlappingPairsGPU->copyToHost");
|
|
m_data->m_overlappingPairsGPU->copyToHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
|
|
}
|
|
if (gDumpContactStats && numContacts)
|
|
{
|
|
m_data->m_narrowphase->getContactsGpu();
|
|
|
|
printf("numContacts = %d\n", numContacts);
|
|
|
|
int totalPoints = 0;
|
|
const b3Contact4* contacts = m_data->m_narrowphase->getContactsCPU();
|
|
|
|
for (int i=0;i<numContacts;i++)
|
|
{
|
|
totalPoints += contacts->getNPoints();
|
|
}
|
|
printf("totalPoints=%d\n",totalPoints);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
//convert contact points to contact constraints
|
|
|
|
//solve constraints
|
|
|
|
b3OpenCLArray<b3RigidBodyData> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
|
|
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumRigidBodies());
|
|
b3OpenCLArray<b3InertiaData> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
|
|
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumRigidBodies());
|
|
b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
|
|
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
|
|
|
|
int numJoints = m_data->m_joints.size() ? m_data->m_joints.size() : m_data->m_cpuConstraints.size();
|
|
if (useBullet2CpuSolver && numJoints)
|
|
{
|
|
|
|
// b3AlignedObjectArray<b3Contact4> hostContacts;
|
|
//gpuContacts.copyToHost(hostContacts);
|
|
{
|
|
bool useGpu = m_data->m_joints.size()==0;
|
|
|
|
// b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
|
|
//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
|
|
if (useGpu)
|
|
{
|
|
m_data->m_gpuSolver->solveJoints(m_data->m_narrowphase->getNumRigidBodies(),&gpuBodies,&gpuInertias,numJoints, m_data->m_gpuConstraints);
|
|
} else
|
|
{
|
|
b3AlignedObjectArray<b3RigidBodyData> hostBodies;
|
|
gpuBodies.copyToHost(hostBodies);
|
|
b3AlignedObjectArray<b3InertiaData> hostInertias;
|
|
gpuInertias.copyToHost(hostInertias);
|
|
|
|
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
|
|
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
|
|
gpuBodies.copyFromHost(hostBodies);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (numContacts)
|
|
{
|
|
|
|
#ifdef TEST_OTHER_GPU_SOLVER
|
|
|
|
if (gUseJacobi)
|
|
{
|
|
bool useGpu = true;
|
|
if (useGpu)
|
|
{
|
|
|
|
bool forceHost = false;
|
|
if (forceHost)
|
|
{
|
|
b3AlignedObjectArray<b3RigidBodyData> hostBodies;
|
|
b3AlignedObjectArray<b3InertiaData> hostInertias;
|
|
b3AlignedObjectArray<b3Contact4> hostContacts;
|
|
|
|
{
|
|
B3_PROFILE("copyToHost");
|
|
gpuBodies.copyToHost(hostBodies);
|
|
gpuInertias.copyToHost(hostInertias);
|
|
gpuContacts.copyToHost(hostContacts);
|
|
}
|
|
|
|
{
|
|
b3JacobiSolverInfo solverInfo;
|
|
m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),solverInfo);
|
|
|
|
|
|
}
|
|
{
|
|
B3_PROFILE("copyFromHost");
|
|
gpuBodies.copyFromHost(hostBodies);
|
|
}
|
|
} else
|
|
|
|
|
|
{
|
|
int static0Index = m_data->m_narrowphase->getStatic0Index();
|
|
b3JacobiSolverInfo solverInfo;
|
|
//m_data->m_solver3->solveContacts( >solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo);
|
|
//m_data->m_solver3->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
|
|
m_data->m_solver3->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),m_data->m_config, static0Index);
|
|
}
|
|
} else
|
|
{
|
|
b3AlignedObjectArray<b3RigidBodyData> hostBodies;
|
|
gpuBodies.copyToHost(hostBodies);
|
|
b3AlignedObjectArray<b3InertiaData> hostInertias;
|
|
gpuInertias.copyToHost(hostInertias);
|
|
b3AlignedObjectArray<b3Contact4> hostContacts;
|
|
gpuContacts.copyToHost(hostContacts);
|
|
{
|
|
//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
|
|
}
|
|
gpuBodies.copyFromHost(hostBodies);
|
|
}
|
|
|
|
} else
|
|
#endif //TEST_OTHER_GPU_SOLVER
|
|
{
|
|
|
|
int static0Index = m_data->m_narrowphase->getStatic0Index();
|
|
m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),m_data->m_config, static0Index);
|
|
|
|
//m_data->m_solver4->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(), gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL());
|
|
|
|
|
|
/*m_data->m_solver3->solveContactConstraintHost(
|
|
(b3OpenCLArray<RigidBodyBase::Body>*)&gpuBodies,
|
|
(b3OpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias,
|
|
(b3OpenCLArray<Constraint4>*) &gpuContacts,
|
|
0,numContacts,256);
|
|
*/
|
|
}
|
|
}
|
|
|
|
integrate(deltaTime);
|
|
|
|
}
|
|
|
|
|
|
void b3GpuRigidBodyPipeline::integrate(float timeStep)
|
|
{
|
|
//integrate
|
|
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
|
|
float angularDamp = 0.99f;
|
|
|
|
if (gIntegrateOnCpu)
|
|
{
|
|
if(numBodies)
|
|
{
|
|
b3GpuNarrowPhaseInternalData* npData = m_data->m_narrowphase->getInternalData();
|
|
npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU);
|
|
|
|
b3RigidBodyData_t* bodies = &npData->m_bodyBufferCPU->at(0);
|
|
|
|
for (int nodeID=0;nodeID<numBodies;nodeID++)
|
|
{
|
|
integrateSingleTransform( bodies,nodeID, timeStep, angularDamp, m_data->m_gravity);
|
|
}
|
|
npData->m_bodyBufferGPU->copyFromHost(*npData->m_bodyBufferCPU);
|
|
}
|
|
} else
|
|
{
|
|
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel,"m_integrateTransformsKernel");
|
|
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
|
|
|
|
launcher.setConst(numBodies);
|
|
launcher.setConst(timeStep);
|
|
launcher.setConst(angularDamp);
|
|
launcher.setConst(m_data->m_gravity);
|
|
launcher.launch1D(numBodies);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
|
|
{
|
|
cl_int ciErrNum=0;
|
|
|
|
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
|
|
if (!numBodies)
|
|
return;
|
|
|
|
if (gCalcWorldSpaceAabbOnCpu)
|
|
{
|
|
|
|
if (numBodies)
|
|
{
|
|
if (gUseDbvt)
|
|
{
|
|
m_data->m_allAabbsCPU.resize(numBodies);
|
|
m_data->m_narrowphase->readbackAllBodiesToCpu();
|
|
for (int i=0;i<numBodies;i++)
|
|
{
|
|
b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_allAabbsCPU[0]);
|
|
}
|
|
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
|
|
} else
|
|
{
|
|
m_data->m_broadphaseSap->getAllAabbsCPU().resize(numBodies);
|
|
m_data->m_narrowphase->readbackAllBodiesToCpu();
|
|
for (int i=0;i<numBodies;i++)
|
|
{
|
|
b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_broadphaseSap->getAllAabbsCPU()[0]);
|
|
}
|
|
m_data->m_broadphaseSap->getAllAabbsGPU().copyFromHost(m_data->m_broadphaseSap->getAllAabbsCPU());
|
|
//m_data->m_broadphaseSap->writeAabbsToGpu();
|
|
}
|
|
}
|
|
} else
|
|
{
|
|
//__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
|
|
b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel,"m_updateAabbsKernel");
|
|
launcher.setConst(numBodies);
|
|
cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
|
|
launcher.setBuffer(bodies);
|
|
cl_mem collidables = m_data->m_narrowphase->getCollidablesGpu();
|
|
launcher.setBuffer(collidables);
|
|
cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu();
|
|
launcher.setBuffer(localAabbs);
|
|
|
|
cl_mem worldAabbs =0;
|
|
if (gUseDbvt)
|
|
{
|
|
worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
|
|
} else
|
|
{
|
|
worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
|
|
}
|
|
launcher.setBuffer(worldAabbs);
|
|
launcher.launch1D(numBodies);
|
|
|
|
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
|
}
|
|
|
|
/*
|
|
b3AlignedObjectArray<b3SapAabb> aabbs;
|
|
m_data->m_broadphaseSap->m_allAabbsGPU.copyToHost(aabbs);
|
|
|
|
printf("numAabbs = %d\n", aabbs.size());
|
|
|
|
for (int i=0;i<aabbs.size();i++)
|
|
{
|
|
printf("aabb[%d].m_min=%f,%f,%f,%d\n",i,aabbs[i].m_minVec[0],aabbs[i].m_minVec[1],aabbs[i].m_minVec[2],aabbs[i].m_minIndices[3]);
|
|
printf("aabb[%d].m_max=%f,%f,%f,%d\n",i,aabbs[i].m_maxVec[0],aabbs[i].m_maxVec[1],aabbs[i].m_maxVec[2],aabbs[i].m_signedMaxIndices[3]);
|
|
|
|
};
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
cl_mem b3GpuRigidBodyPipeline::getBodyBuffer()
|
|
{
|
|
return m_data->m_narrowphase->getBodiesGpu();
|
|
}
|
|
|
|
int b3GpuRigidBodyPipeline::getNumBodies() const
|
|
{
|
|
return m_data->m_narrowphase->getNumRigidBodies();
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::setGravity(const float* grav)
|
|
{
|
|
m_data->m_gravity.setValue(grav[0],grav[1],grav[2]);
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::copyConstraintsToHost()
|
|
{
|
|
m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
|
|
{
|
|
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
|
|
m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
|
|
}
|
|
|
|
|
|
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
|
|
{
|
|
|
|
b3Vector3 aabbMin=b3MakeVector3(0,0,0),aabbMax=b3MakeVector3(0,0,0);
|
|
|
|
|
|
if (collidableIndex>=0)
|
|
{
|
|
b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
|
|
b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
|
|
b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
|
|
|
|
b3Scalar margin = 0.01f;
|
|
b3Transform t;
|
|
t.setIdentity();
|
|
t.setOrigin(b3MakeVector3(position[0],position[1],position[2]));
|
|
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
|
|
b3TransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
|
|
} else
|
|
{
|
|
b3Error("registerPhysicsInstance using invalid collidableIndex\n");
|
|
return -1;
|
|
}
|
|
|
|
|
|
bool writeToGpu = false;
|
|
int bodyIndex = m_data->m_narrowphase->getNumRigidBodies();
|
|
bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu);
|
|
|
|
if (bodyIndex>=0)
|
|
{
|
|
if (gUseDbvt)
|
|
{
|
|
m_data->m_broadphaseDbvt->createProxy(aabbMin,aabbMax,bodyIndex,0,1,1);
|
|
b3SapAabb aabb;
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
aabb.m_min[i] = aabbMin[i];
|
|
aabb.m_max[i] = aabbMax[i];
|
|
aabb.m_minIndices[3] = bodyIndex;
|
|
}
|
|
m_data->m_allAabbsCPU.push_back(aabb);
|
|
if (writeInstanceToGpu)
|
|
{
|
|
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
|
|
}
|
|
} else
|
|
{
|
|
if (mass)
|
|
{
|
|
m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher);
|
|
} else
|
|
{
|
|
m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
if (mass>0.f)
|
|
m_numDynamicPhysicsInstances++;
|
|
|
|
m_numPhysicsInstances++;
|
|
*/
|
|
|
|
return bodyIndex;
|
|
}
|
|
|
|
void b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults)
|
|
{
|
|
this->m_data->m_raycaster->castRays(rays,hitResults,
|
|
getNumBodies(),this->m_data->m_narrowphase->getBodiesCpu(),
|
|
m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu(),
|
|
m_data->m_narrowphase->getInternalData(), m_data->m_broadphaseSap);
|
|
}
|