ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,1051 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 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.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+ #include <cstdio>
17
+
18
+
19
+ #define WAVEFRONT_SIZE 32
20
+ #define WAVEFRONT_BLOCK_MULTIPLIER 2
21
+ #define GROUP_SIZE (WAVEFRONT_SIZE*WAVEFRONT_BLOCK_MULTIPLIER)
22
+ #define LINKS_PER_SIMD_LANE 16
23
+
24
+ #define STRINGIFY( S ) STRINGIFY2( S )
25
+ #define STRINGIFY2( S ) #S
26
+
27
+ #include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
28
+ #include "vectormath/vmInclude.h"
29
+
30
+ #include "btSoftBodySolverLinkData_DX11SIMDAware.h"
31
+ #include "btSoftBodySolver_DX11SIMDAware.h"
32
+ #include "btSoftBodySolverVertexBuffer_DX11.h"
33
+ #include "BulletSoftBody/btSoftBody.h"
34
+ #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
35
+
36
+ #define MSTRINGIFY(A) #A
37
+ static char* UpdatePositionsFromVelocitiesHLSLString =
38
+ #include "HLSL/UpdatePositionsFromVelocities.hlsl"
39
+ static char* SolvePositionsSIMDBatchedHLSLString =
40
+ #include "HLSL/SolvePositionsSIMDBatched.hlsl"
41
+ static char* UpdateNodesHLSLString =
42
+ #include "HLSL/UpdateNodes.hlsl"
43
+ static char* UpdatePositionsHLSLString =
44
+ #include "HLSL/UpdatePositions.hlsl"
45
+ static char* UpdateConstantsHLSLString =
46
+ #include "HLSL/UpdateConstants.hlsl"
47
+ static char* IntegrateHLSLString =
48
+ #include "HLSL/Integrate.hlsl"
49
+ static char* ApplyForcesHLSLString =
50
+ #include "HLSL/ApplyForces.hlsl"
51
+ static char* UpdateNormalsHLSLString =
52
+ #include "HLSL/UpdateNormals.hlsl"
53
+ static char* OutputToVertexArrayHLSLString =
54
+ #include "HLSL/OutputToVertexArray.hlsl"
55
+ static char* VSolveLinksHLSLString =
56
+ #include "HLSL/VSolveLinks.hlsl"
57
+ static char* ComputeBoundsHLSLString =
58
+ #include "HLSL/ComputeBounds.hlsl"
59
+ static char* SolveCollisionsAndUpdateVelocitiesHLSLString =
60
+ #include "HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl"
61
+
62
+
63
+
64
+ btSoftBodyLinkDataDX11SIMDAware::btSoftBodyLinkDataDX11SIMDAware( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) :
65
+ m_d3dDevice( d3dDevice ),
66
+ m_d3dDeviceContext( d3dDeviceContext ),
67
+ m_wavefrontSize( WAVEFRONT_SIZE ),
68
+ m_linksPerWorkItem( LINKS_PER_SIMD_LANE ),
69
+ m_maxBatchesWithinWave( 0 ),
70
+ m_maxLinksPerWavefront( m_wavefrontSize * m_linksPerWorkItem ),
71
+ m_numWavefronts( 0 ),
72
+ m_maxVertex( 0 ),
73
+ m_dx11NumBatchesAndVerticesWithinWaves( d3dDevice, d3dDeviceContext, &m_numBatchesAndVerticesWithinWaves, true ),
74
+ m_dx11WavefrontVerticesGlobalAddresses( d3dDevice, d3dDeviceContext, &m_wavefrontVerticesGlobalAddresses, true ),
75
+ m_dx11LinkVerticesLocalAddresses( d3dDevice, d3dDeviceContext, &m_linkVerticesLocalAddresses, true ),
76
+ m_dx11LinkStrength( d3dDevice, d3dDeviceContext, &m_linkStrength, true ),
77
+ m_dx11LinksMassLSC( d3dDevice, d3dDeviceContext, &m_linksMassLSC, true ),
78
+ m_dx11LinksRestLengthSquared( d3dDevice, d3dDeviceContext, &m_linksRestLengthSquared, true ),
79
+ m_dx11LinksRestLength( d3dDevice, d3dDeviceContext, &m_linksRestLength, true ),
80
+ m_dx11LinksMaterialLinearStiffnessCoefficient( d3dDevice, d3dDeviceContext, &m_linksMaterialLinearStiffnessCoefficient, true )
81
+ {
82
+ m_d3dDevice = d3dDevice;
83
+ m_d3dDeviceContext = d3dDeviceContext;
84
+ }
85
+
86
+ btSoftBodyLinkDataDX11SIMDAware::~btSoftBodyLinkDataDX11SIMDAware()
87
+ {
88
+ }
89
+
90
+ static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec )
91
+ {
92
+ Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() );
93
+ return outVec;
94
+ }
95
+
96
+ void btSoftBodyLinkDataDX11SIMDAware::createLinks( int numLinks )
97
+ {
98
+ int previousSize = m_links.size();
99
+ int newSize = previousSize + numLinks;
100
+
101
+ btSoftBodyLinkData::createLinks( numLinks );
102
+
103
+ // Resize the link addresses array as well
104
+ m_linkAddresses.resize( newSize );
105
+ }
106
+
107
+ void btSoftBodyLinkDataDX11SIMDAware::setLinkAt( const btSoftBodyLinkData::LinkDescription &link, int linkIndex )
108
+ {
109
+ btSoftBodyLinkData::setLinkAt( link, linkIndex );
110
+
111
+ if( link.getVertex0() > m_maxVertex )
112
+ m_maxVertex = link.getVertex0();
113
+ if( link.getVertex1() > m_maxVertex )
114
+ m_maxVertex = link.getVertex1();
115
+
116
+ // Set the link index correctly for initialisation
117
+ m_linkAddresses[linkIndex] = linkIndex;
118
+ }
119
+
120
+ bool btSoftBodyLinkDataDX11SIMDAware::onAccelerator()
121
+ {
122
+ return m_onGPU;
123
+ }
124
+
125
+ bool btSoftBodyLinkDataDX11SIMDAware::moveToAccelerator()
126
+ {
127
+ bool success = true;
128
+
129
+ success = success && m_dx11NumBatchesAndVerticesWithinWaves.moveToGPU();
130
+ success = success && m_dx11WavefrontVerticesGlobalAddresses.moveToGPU();
131
+ success = success && m_dx11LinkVerticesLocalAddresses.moveToGPU();
132
+ success = success && m_dx11LinkStrength.moveToGPU();
133
+ success = success && m_dx11LinksMassLSC.moveToGPU();
134
+ success = success && m_dx11LinksRestLengthSquared.moveToGPU();
135
+ success = success && m_dx11LinksRestLength.moveToGPU();
136
+ success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveToGPU();
137
+
138
+ if( success )
139
+ m_onGPU = true;
140
+
141
+ return success;
142
+ }
143
+
144
+ bool btSoftBodyLinkDataDX11SIMDAware::moveFromAccelerator()
145
+ {
146
+ bool success = true;
147
+ success = success && m_dx11NumBatchesAndVerticesWithinWaves.moveFromGPU();
148
+ success = success && m_dx11WavefrontVerticesGlobalAddresses.moveFromGPU();
149
+ success = success && m_dx11LinkVerticesLocalAddresses.moveFromGPU();
150
+ success = success && m_dx11LinkStrength.moveFromGPU();
151
+ success = success && m_dx11LinksMassLSC.moveFromGPU();
152
+ success = success && m_dx11LinksRestLengthSquared.moveFromGPU();
153
+ success = success && m_dx11LinksRestLength.moveFromGPU();
154
+ success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveFromGPU();
155
+
156
+ if( success )
157
+ m_onGPU = false;
158
+
159
+ return success;
160
+ }
161
+
162
+
163
+
164
+
165
+
166
+
167
+
168
+
169
+
170
+
171
+
172
+
173
+
174
+
175
+
176
+ btDX11SIMDAwareSoftBodySolver::btDX11SIMDAwareSoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory) :
177
+ btDX11SoftBodySolver( dx11Device, dx11Context, dx11CompileFromMemory ),
178
+ m_linkData(m_dx11Device, m_dx11Context)
179
+ {
180
+ // Initial we will clearly need to update solver constants
181
+ // For now this is global for the cloths linked with this solver - we should probably make this body specific
182
+ // for performance in future once we understand more clearly when constants need to be updated
183
+ m_updateSolverConstants = true;
184
+
185
+ m_shadersInitialized = false;
186
+ }
187
+
188
+ btDX11SIMDAwareSoftBodySolver::~btDX11SIMDAwareSoftBodySolver()
189
+ {
190
+ releaseKernels();
191
+ }
192
+
193
+
194
+ btSoftBodyLinkData &btDX11SIMDAwareSoftBodySolver::getLinkData()
195
+ {
196
+ // TODO: Consider setting link data to "changed" here
197
+ return m_linkData;
198
+ }
199
+
200
+
201
+
202
+ void btDX11SIMDAwareSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate)
203
+ {
204
+ if(forceUpdate || m_softBodySet.size() != softBodies.size() )
205
+ {
206
+ // Have a change in the soft body set so update, reloading all the data
207
+ getVertexData().clear();
208
+ getTriangleData().clear();
209
+ getLinkData().clear();
210
+ m_softBodySet.resize(0);
211
+
212
+
213
+ for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
214
+ {
215
+ btSoftBody *softBody = softBodies[ softBodyIndex ];
216
+ using Vectormath::Aos::Matrix3;
217
+ using Vectormath::Aos::Point3;
218
+
219
+ // Create SoftBody that will store the information within the solver
220
+ btAcceleratedSoftBodyInterface *newSoftBody = new btAcceleratedSoftBodyInterface( softBody );
221
+ m_softBodySet.push_back( newSoftBody );
222
+
223
+ m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) );
224
+ m_perClothDampingFactor.push_back(softBody->m_cfg.kDP);
225
+ m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF );
226
+ m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
227
+ m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
228
+ m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
229
+ // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
230
+ m_perClothMinBounds.push_back( UIntVector3( 0, 0, 0 ) );
231
+ m_perClothMaxBounds.push_back( UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX ) );
232
+ m_perClothFriction.push_back( softBody->getFriction() );
233
+ m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
234
+
235
+ // Add space for new vertices and triangles in the default solver for now
236
+ // TODO: Include space here for tearing too later
237
+ int firstVertex = getVertexData().getNumVertices();
238
+ int numVertices = softBody->m_nodes.size();
239
+ // Round maxVertices to a multiple of the workgroup size so we know we're safe to run over in a given group
240
+ // maxVertices can be increased to allow tearing, but should be used sparingly because these extra verts will always be processed
241
+ int maxVertices = GROUP_SIZE*((numVertices+GROUP_SIZE)/GROUP_SIZE);
242
+ // Allocate space for new vertices in all the vertex arrays
243
+ getVertexData().createVertices( numVertices, softBodyIndex, maxVertices );
244
+
245
+ int firstTriangle = getTriangleData().getNumTriangles();
246
+ int numTriangles = softBody->m_faces.size();
247
+ int maxTriangles = numTriangles;
248
+ getTriangleData().createTriangles( maxTriangles );
249
+
250
+ // Copy vertices from softbody into the solver
251
+ for( int vertex = 0; vertex < numVertices; ++vertex )
252
+ {
253
+ Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ());
254
+ btSoftBodyVertexData::VertexDescription desc;
255
+
256
+ // TODO: Position in the softbody might be pre-transformed
257
+ // or we may need to adapt for the pose.
258
+ //desc.setPosition( cloth.getMeshTransform()*multPoint );
259
+ desc.setPosition( multPoint );
260
+
261
+ float vertexInverseMass = softBody->m_nodes[vertex].m_im;
262
+ desc.setInverseMass(vertexInverseMass);
263
+ getVertexData().setVertexAt( desc, firstVertex + vertex );
264
+ }
265
+
266
+ // Copy triangles similarly
267
+ // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene
268
+ for( int triangle = 0; triangle < numTriangles; ++triangle )
269
+ {
270
+ // Note that large array storage is relative to the array not to the cloth
271
+ // So we need to add firstVertex to each value
272
+ int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0]));
273
+ int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0]));
274
+ int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0]));
275
+ btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex);
276
+ getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle );
277
+
278
+ // Increase vertex triangle counts for this triangle
279
+ getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++;
280
+ getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++;
281
+ getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++;
282
+ }
283
+
284
+ int firstLink = getLinkData().getNumLinks();
285
+ int numLinks = softBody->m_links.size();
286
+ int maxLinks = numLinks;
287
+
288
+ // Allocate space for the links
289
+ getLinkData().createLinks( numLinks );
290
+
291
+ // Add the links
292
+ for( int link = 0; link < numLinks; ++link )
293
+ {
294
+ int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]);
295
+ int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]);
296
+
297
+ btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST);
298
+ newLink.setLinkStrength(1.f);
299
+ getLinkData().setLinkAt(newLink, firstLink + link);
300
+ }
301
+
302
+ newSoftBody->setFirstVertex( firstVertex );
303
+ newSoftBody->setFirstTriangle( firstTriangle );
304
+ newSoftBody->setNumVertices( numVertices );
305
+ newSoftBody->setMaxVertices( maxVertices );
306
+ newSoftBody->setNumTriangles( numTriangles );
307
+ newSoftBody->setMaxTriangles( maxTriangles );
308
+ newSoftBody->setFirstLink( firstLink );
309
+ newSoftBody->setNumLinks( numLinks );
310
+ }
311
+
312
+
313
+
314
+ updateConstants(0.f);
315
+
316
+
317
+ m_linkData.generateBatches();
318
+ m_triangleData.generateBatches();
319
+
320
+
321
+ // Build the shaders to match the batching parameters
322
+ buildShaders();
323
+ }
324
+
325
+ }
326
+
327
+
328
+
329
+ void btDX11SIMDAwareSoftBodySolver::solveConstraints( float solverdt )
330
+ {
331
+
332
+ //std::cerr << "'GPU' solve constraints\n";
333
+ using Vectormath::Aos::Vector3;
334
+ using Vectormath::Aos::Point3;
335
+ using Vectormath::Aos::lengthSqr;
336
+ using Vectormath::Aos::dot;
337
+
338
+ // Prepare links
339
+ int numLinks = m_linkData.getNumLinks();
340
+ int numVertices = m_vertexData.getNumVertices();
341
+
342
+ float kst = 1.f;
343
+ float ti = 0.f;
344
+
345
+
346
+ m_dx11PerClothDampingFactor.moveToGPU();
347
+ m_dx11PerClothVelocityCorrectionCoefficient.moveToGPU();
348
+
349
+
350
+
351
+ // Ensure data is on accelerator
352
+ m_linkData.moveToAccelerator();
353
+ m_vertexData.moveToAccelerator();
354
+
355
+
356
+
357
+ prepareCollisionConstraints();
358
+
359
+
360
+ // Solve drift
361
+ for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
362
+ {
363
+
364
+ for( int i = 0; i < m_linkData.m_wavefrontBatchStartLengths.size(); ++i )
365
+ {
366
+ int startWave = m_linkData.m_wavefrontBatchStartLengths[i].start;
367
+ int numWaves = m_linkData.m_wavefrontBatchStartLengths[i].length;
368
+
369
+ solveLinksForPosition( startWave, numWaves, kst, ti );
370
+ }
371
+
372
+ } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
373
+
374
+
375
+
376
+
377
+ // At this point assume that the force array is blank - we will overwrite it
378
+ solveCollisionsAndUpdateVelocities( 1.f/solverdt );
379
+
380
+ } // btDX11SIMDAwareSoftBodySolver::solveConstraints
381
+
382
+
383
+ void btDX11SIMDAwareSoftBodySolver::updateConstants( float timeStep )
384
+ {
385
+ using namespace Vectormath::Aos;
386
+
387
+ if( m_updateSolverConstants )
388
+ {
389
+ m_updateSolverConstants = false;
390
+
391
+ // Will have to redo this if we change the structure (tear, maybe) or various other possible changes
392
+
393
+ // Initialise link constants
394
+ const int numLinks = m_linkData.getNumLinks();
395
+ for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
396
+ {
397
+ btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) );
398
+ m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 )));
399
+ float invMass0 = m_vertexData.getInverseMass(vertices.vertex0);
400
+ float invMass1 = m_vertexData.getInverseMass(vertices.vertex1);
401
+ float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex);
402
+ float massLSC = (invMass0 + invMass1)/linearStiffness;
403
+ m_linkData.getMassLSC(linkIndex) = massLSC;
404
+ float restLength = m_linkData.getRestLength(linkIndex);
405
+ float restLengthSquared = restLength*restLength;
406
+ m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared;
407
+ }
408
+ }
409
+ } // btDX11SIMDAwareSoftBodySolver::updateConstants
410
+
411
+ //////////////////////////////////////
412
+ // Kernel dispatches
413
+
414
+
415
+ void btDX11SIMDAwareSoftBodySolver::solveLinksForPosition( int startWave, int numWaves, float kst, float ti )
416
+ {
417
+
418
+
419
+ m_vertexData.moveToAccelerator();
420
+ m_linkData.moveToAccelerator();
421
+
422
+ // Copy kernel parameters to GPU
423
+ SolvePositionsFromLinksKernelCB constBuffer;
424
+
425
+ // Set the first wave of the batch and the number of waves
426
+ constBuffer.startWave = startWave;
427
+ constBuffer.numWaves = numWaves;
428
+
429
+ constBuffer.kst = kst;
430
+ constBuffer.ti = ti;
431
+
432
+ D3D11_MAPPED_SUBRESOURCE MappedResource = {0};
433
+ m_dx11Context->Map( solvePositionsFromLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource );
434
+ memcpy( MappedResource.pData, &constBuffer, sizeof(SolvePositionsFromLinksKernelCB) );
435
+ m_dx11Context->Unmap( solvePositionsFromLinksKernel.constBuffer, 0 );
436
+ m_dx11Context->CSSetConstantBuffers( 0, 1, &solvePositionsFromLinksKernel.constBuffer );
437
+
438
+ // Set resources and dispatch
439
+ m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11NumBatchesAndVerticesWithinWaves.getSRV()) );
440
+ m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11WavefrontVerticesGlobalAddresses.getSRV()) );
441
+ m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) );
442
+ m_dx11Context->CSSetShaderResources( 3, 1, &(m_linkData.m_dx11LinkVerticesLocalAddresses.getSRV()) );
443
+ m_dx11Context->CSSetShaderResources( 4, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) );
444
+ m_dx11Context->CSSetShaderResources( 5, 1, &(m_linkData.m_dx11LinksRestLengthSquared.getSRV()) );
445
+
446
+ m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL );
447
+
448
+ // Execute the kernel
449
+ m_dx11Context->CSSetShader( solvePositionsFromLinksKernel.kernel, NULL, 0 );
450
+
451
+ int numBlocks = ((constBuffer.numWaves + WAVEFRONT_BLOCK_MULTIPLIER - 1) / WAVEFRONT_BLOCK_MULTIPLIER );
452
+ m_dx11Context->Dispatch(numBlocks , 1, 1 );
453
+
454
+ {
455
+ // Tidy up
456
+ ID3D11ShaderResourceView* pViewNULL = NULL;
457
+ m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL );
458
+ m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL );
459
+ m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL );
460
+ m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL );
461
+ m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL );
462
+ m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL );
463
+
464
+ ID3D11UnorderedAccessView* pUAViewNULL = NULL;
465
+ m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL );
466
+
467
+ ID3D11Buffer *pBufferNull = NULL;
468
+ m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull );
469
+ }
470
+ } // btDX11SIMDAwareSoftBodySolver::solveLinksForPosition
471
+
472
+
473
+
474
+ // End kernel dispatches
475
+ /////////////////////////////////////
476
+
477
+
478
+
479
+
480
+
481
+
482
+
483
+
484
+
485
+ bool btDX11SIMDAwareSoftBodySolver::buildShaders()
486
+ {
487
+ // Ensure current kernels are released first
488
+ releaseKernels();
489
+
490
+ bool returnVal = true;
491
+
492
+
493
+ if( m_shadersInitialized )
494
+ return true;
495
+
496
+
497
+ updatePositionsFromVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsFromVelocitiesHLSLString, "UpdatePositionsFromVelocitiesKernel", sizeof(UpdatePositionsFromVelocitiesCB) );
498
+ if( !updatePositionsFromVelocitiesKernel.constBuffer )
499
+ returnVal = false;
500
+
501
+ char maxVerticesPerWavefront[20];
502
+ char maxBatchesPerWavefront[20];
503
+ char waveFrontSize[20];
504
+ char waveFrontBlockMultiplier[20];
505
+ char blockSize[20];
506
+
507
+ sprintf(maxVerticesPerWavefront, "%d", m_linkData.getMaxVerticesPerWavefront());
508
+ sprintf(maxBatchesPerWavefront, "%d", m_linkData.getMaxBatchesPerWavefront());
509
+ sprintf(waveFrontSize, "%d", m_linkData.getWavefrontSize());
510
+ sprintf(waveFrontBlockMultiplier, "%d", WAVEFRONT_BLOCK_MULTIPLIER);
511
+ sprintf(blockSize, "%d", WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize());
512
+
513
+ D3D10_SHADER_MACRO solvePositionsMacros[6] = { "MAX_NUM_VERTICES_PER_WAVE", maxVerticesPerWavefront, "MAX_BATCHES_PER_WAVE", maxBatchesPerWavefront, "WAVEFRONT_SIZE", waveFrontSize, "WAVEFRONT_BLOCK_MULTIPLIER", waveFrontBlockMultiplier, "BLOCK_SIZE", blockSize, 0, 0 };
514
+
515
+ solvePositionsFromLinksKernel = dxFunctions.compileComputeShaderFromString( SolvePositionsSIMDBatchedHLSLString, "SolvePositionsFromLinksKernel", sizeof(SolvePositionsFromLinksKernelCB), solvePositionsMacros );
516
+ if( !solvePositionsFromLinksKernel.constBuffer )
517
+ returnVal = false;
518
+
519
+ updateVelocitiesFromPositionsWithVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNodesHLSLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) );
520
+ if( !updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer )
521
+ returnVal = false;
522
+ updateVelocitiesFromPositionsWithoutVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsHLSLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB));
523
+ if( !updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer )
524
+ returnVal = false;
525
+ integrateKernel = dxFunctions.compileComputeShaderFromString( IntegrateHLSLString, "IntegrateKernel", sizeof(IntegrateCB) );
526
+ if( !integrateKernel.constBuffer )
527
+ returnVal = false;
528
+ applyForcesKernel = dxFunctions.compileComputeShaderFromString( ApplyForcesHLSLString, "ApplyForcesKernel", sizeof(ApplyForcesCB) );
529
+ if( !applyForcesKernel.constBuffer )
530
+ returnVal = false;
531
+ solveCollisionsAndUpdateVelocitiesKernel = dxFunctions.compileComputeShaderFromString( SolveCollisionsAndUpdateVelocitiesHLSLString, "SolveCollisionsAndUpdateVelocitiesKernel", sizeof(SolveCollisionsAndUpdateVelocitiesCB) );
532
+ if( !solveCollisionsAndUpdateVelocitiesKernel.constBuffer )
533
+ returnVal = false;
534
+ resetNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "ResetNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) );
535
+ if( !resetNormalsAndAreasKernel.constBuffer )
536
+ returnVal = false;
537
+ normalizeNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "NormalizeNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) );
538
+ if( !normalizeNormalsAndAreasKernel.constBuffer )
539
+ returnVal = false;
540
+ updateSoftBodiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "UpdateSoftBodiesKernel", sizeof(UpdateSoftBodiesCB) );
541
+ if( !updateSoftBodiesKernel.constBuffer )
542
+ returnVal = false;
543
+
544
+ computeBoundsKernel = dxFunctions.compileComputeShaderFromString( ComputeBoundsHLSLString, "ComputeBoundsKernel", sizeof(ComputeBoundsCB) );
545
+ if( !computeBoundsKernel.constBuffer )
546
+ returnVal = false;
547
+
548
+ if( returnVal )
549
+ m_shadersInitialized = true;
550
+
551
+ return returnVal;
552
+ } // btDX11SIMDAwareSoftBodySolver::buildShaders
553
+
554
+ static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform )
555
+ {
556
+ Vectormath::Aos::Transform3 outTransform;
557
+ outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0)));
558
+ outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1)));
559
+ outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2)));
560
+ outTransform.setCol(3, toVector3(transform.getOrigin()));
561
+ return outTransform;
562
+ }
563
+
564
+
565
+
566
+
567
+
568
+
569
+
570
+
571
+
572
+
573
+
574
+
575
+ static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, btSoftBodyLinkData &linkData, int numVertices, btAlignedObjectArray < btAlignedObjectArray <int> > &wavefrontBatches )
576
+ {
577
+ // A per-batch map of truth values stating whether a given vertex is in that batch
578
+ // This allows us to significantly optimize the batching
579
+ btAlignedObjectArray <btAlignedObjectArray<bool> > mapOfVerticesInBatches;
580
+
581
+ for( int waveIndex = 0; waveIndex < linksForWavefronts.size(); ++waveIndex )
582
+ {
583
+ btAlignedObjectArray <int> &wavefront( linksForWavefronts[waveIndex] );
584
+
585
+ int batch = 0;
586
+ bool placed = false;
587
+ while( batch < wavefrontBatches.size() && !placed )
588
+ {
589
+ // Test the current batch, see if this wave shares any vertex with the waves in the batch
590
+ bool foundSharedVertex = false;
591
+ for( int link = 0; link < wavefront.size(); ++link )
592
+ {
593
+ btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
594
+ if( (mapOfVerticesInBatches[batch])[vertices.vertex0] || (mapOfVerticesInBatches[batch])[vertices.vertex1] )
595
+ {
596
+ foundSharedVertex = true;
597
+ }
598
+ }
599
+
600
+ if( !foundSharedVertex )
601
+ {
602
+ wavefrontBatches[batch].push_back( waveIndex );
603
+ // Insert vertices into this batch too
604
+ for( int link = 0; link < wavefront.size(); ++link )
605
+ {
606
+ btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
607
+ (mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
608
+ (mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
609
+ }
610
+ placed = true;
611
+ }
612
+ batch++;
613
+ }
614
+ if( batch == wavefrontBatches.size() && !placed )
615
+ {
616
+ wavefrontBatches.resize( batch + 1 );
617
+ wavefrontBatches[batch].push_back( waveIndex );
618
+
619
+ // And resize map as well
620
+ mapOfVerticesInBatches.resize( batch + 1 );
621
+
622
+ // Resize maps with total number of vertices
623
+ mapOfVerticesInBatches[batch].resize( numVertices+1, false );
624
+
625
+ // Insert vertices into this batch too
626
+ for( int link = 0; link < wavefront.size(); ++link )
627
+ {
628
+ btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
629
+ (mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
630
+ (mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
631
+ }
632
+ }
633
+ }
634
+ mapOfVerticesInBatches.clear();
635
+ }
636
+
637
+ // Function to remove an object from a vector maintaining correct ordering of the vector
638
+ template< typename T > static void removeFromVector( btAlignedObjectArray< T > &vectorToUpdate, int indexToRemove )
639
+ {
640
+ int currentSize = vectorToUpdate.size();
641
+ for( int i = indexToRemove; i < (currentSize-1); ++i )
642
+ {
643
+ vectorToUpdate[i] = vectorToUpdate[i+1];
644
+ }
645
+ if( currentSize > 0 )
646
+ vectorToUpdate.resize( currentSize - 1 );
647
+ }
648
+
649
+ /**
650
+ * Insert element into vectorToUpdate at index index.
651
+ */
652
+ template< typename T > static void insertAtIndex( btAlignedObjectArray< T > &vectorToUpdate, int index, T element )
653
+ {
654
+ vectorToUpdate.resize( vectorToUpdate.size() + 1 );
655
+ for( int i = (vectorToUpdate.size() - 1); i > index; --i )
656
+ {
657
+ vectorToUpdate[i] = vectorToUpdate[i-1];
658
+ }
659
+ vectorToUpdate[index] = element;
660
+ }
661
+
662
+ /**
663
+ * Insert into btAlignedObjectArray assuming the array is ordered and maintaining both ordering and uniqueness.
664
+ * ie it treats vectorToUpdate as an ordered set.
665
+ */
666
+ template< typename T > static void insertUniqueAndOrderedIntoVector( btAlignedObjectArray<T> &vectorToUpdate, T element )
667
+ {
668
+ int index = 0;
669
+ while( index < vectorToUpdate.size() && vectorToUpdate[index] < element )
670
+ {
671
+ index++;
672
+ }
673
+ if( index == vectorToUpdate.size() || vectorToUpdate[index] != element )
674
+ insertAtIndex( vectorToUpdate, index, element );
675
+ }
676
+
677
+ static void generateLinksPerVertex( int numVertices, btSoftBodyLinkData &linkData, btAlignedObjectArray< int > &listOfLinksPerVertex, btAlignedObjectArray <int> &numLinksPerVertex, int &maxLinks )
678
+ {
679
+ for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
680
+ {
681
+ btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
682
+ numLinksPerVertex[nodes.vertex0]++;
683
+ numLinksPerVertex[nodes.vertex1]++;
684
+ }
685
+ int maxLinksPerVertex = 0;
686
+ for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
687
+ {
688
+ maxLinksPerVertex = btMax(numLinksPerVertex[vertexIndex], maxLinksPerVertex);
689
+ }
690
+ maxLinks = maxLinksPerVertex;
691
+
692
+ btAlignedObjectArray< int > linksFoundPerVertex;
693
+ linksFoundPerVertex.resize( numVertices, 0 );
694
+
695
+ listOfLinksPerVertex.resize( maxLinksPerVertex * numVertices );
696
+
697
+ for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
698
+ {
699
+ btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
700
+ {
701
+ // Do vertex 0
702
+ int vertexIndex = nodes.vertex0;
703
+ int linkForVertex = linksFoundPerVertex[nodes.vertex0];
704
+ int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
705
+
706
+ listOfLinksPerVertex[linkAddress] = linkIndex;
707
+
708
+ linksFoundPerVertex[nodes.vertex0] = linkForVertex + 1;
709
+ }
710
+ {
711
+ // Do vertex 1
712
+ int vertexIndex = nodes.vertex1;
713
+ int linkForVertex = linksFoundPerVertex[nodes.vertex1];
714
+ int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
715
+
716
+ listOfLinksPerVertex[linkAddress] = linkIndex;
717
+
718
+ linksFoundPerVertex[nodes.vertex1] = linkForVertex + 1;
719
+ }
720
+ }
721
+ }
722
+
723
+ static void computeBatchingIntoWavefronts(
724
+ btSoftBodyLinkData &linkData,
725
+ int wavefrontSize,
726
+ int linksPerWorkItem,
727
+ int maxLinksPerWavefront,
728
+ btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts,
729
+ btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > &batchesWithinWaves, /* wave, batch, links in batch */
730
+ btAlignedObjectArray< btAlignedObjectArray< int > > &verticesForWavefronts /* wavefront, vertex */
731
+ )
732
+ {
733
+
734
+
735
+ // Attempt generation of larger batches of links.
736
+ btAlignedObjectArray< bool > processedLink;
737
+ processedLink.resize( linkData.getNumLinks() );
738
+ btAlignedObjectArray< int > listOfLinksPerVertex;
739
+ int maxLinksPerVertex = 0;
740
+
741
+ // Count num vertices
742
+ int numVertices = 0;
743
+ for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
744
+ {
745
+ btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
746
+ numVertices = btMax( numVertices, nodes.vertex0 + 1 );
747
+ numVertices = btMax( numVertices, nodes.vertex1 + 1 );
748
+ }
749
+
750
+ // Need list of links per vertex
751
+ // Compute valence of each vertex
752
+ btAlignedObjectArray <int> numLinksPerVertex;
753
+ numLinksPerVertex.resize(0);
754
+ numLinksPerVertex.resize( numVertices, 0 );
755
+
756
+ generateLinksPerVertex( numVertices, linkData, listOfLinksPerVertex, numLinksPerVertex, maxLinksPerVertex );
757
+
758
+
759
+ // At this point we know what links we have for each vertex so we can start batching
760
+
761
+ // We want a vertex to start with, let's go with 0
762
+ int currentVertex = 0;
763
+ int linksProcessed = 0;
764
+
765
+ btAlignedObjectArray <int> verticesToProcess;
766
+
767
+ while( linksProcessed < linkData.getNumLinks() )
768
+ {
769
+ // Next wavefront
770
+ int nextWavefront = linksForWavefronts.size();
771
+ linksForWavefronts.resize( nextWavefront + 1 );
772
+ btAlignedObjectArray <int> &linksForWavefront(linksForWavefronts[nextWavefront]);
773
+ verticesForWavefronts.resize( nextWavefront + 1 );
774
+ btAlignedObjectArray<int> &vertexSet( verticesForWavefronts[nextWavefront] );
775
+
776
+ linksForWavefront.resize(0);
777
+
778
+ // Loop to find enough links to fill the wavefront
779
+ // Stopping if we either run out of links, or fill it
780
+ while( linksProcessed < linkData.getNumLinks() && linksForWavefront.size() < maxLinksPerWavefront )
781
+ {
782
+ // Go through the links for the current vertex
783
+ for( int link = 0; link < numLinksPerVertex[currentVertex] && linksForWavefront.size() < maxLinksPerWavefront; ++link )
784
+ {
785
+ int linkAddress = currentVertex * maxLinksPerVertex + link;
786
+ int linkIndex = listOfLinksPerVertex[linkAddress];
787
+
788
+ // If we have not already processed this link, add it to the wavefront
789
+ // Claim it as another processed link
790
+ // Add the vertex at the far end to the list of vertices to process.
791
+ if( !processedLink[linkIndex] )
792
+ {
793
+ linksForWavefront.push_back( linkIndex );
794
+ linksProcessed++;
795
+ processedLink[linkIndex] = true;
796
+ int v0 = linkData.getVertexPair(linkIndex).vertex0;
797
+ int v1 = linkData.getVertexPair(linkIndex).vertex1;
798
+ if( v0 == currentVertex )
799
+ verticesToProcess.push_back( v1 );
800
+ else
801
+ verticesToProcess.push_back( v0 );
802
+ }
803
+ }
804
+ if( verticesToProcess.size() > 0 )
805
+ {
806
+ // Get the element on the front of the queue and remove it
807
+ currentVertex = verticesToProcess[0];
808
+ removeFromVector( verticesToProcess, 0 );
809
+ } else {
810
+ // If we've not yet processed all the links, find the first unprocessed one
811
+ // and select one of its vertices as the current vertex
812
+ if( linksProcessed < linkData.getNumLinks() )
813
+ {
814
+ int searchLink = 0;
815
+ while( processedLink[searchLink] )
816
+ searchLink++;
817
+ currentVertex = linkData.getVertexPair(searchLink).vertex0;
818
+ }
819
+ }
820
+ }
821
+
822
+ // We have either finished or filled a wavefront
823
+ for( int link = 0; link < linksForWavefront.size(); ++link )
824
+ {
825
+ int v0 = linkData.getVertexPair( linksForWavefront[link] ).vertex0;
826
+ int v1 = linkData.getVertexPair( linksForWavefront[link] ).vertex1;
827
+ insertUniqueAndOrderedIntoVector( vertexSet, v0 );
828
+ insertUniqueAndOrderedIntoVector( vertexSet, v1 );
829
+ }
830
+ // Iterate over links mapped to the wave and batch those
831
+ // We can run a batch on each cycle trivially
832
+
833
+ batchesWithinWaves.resize( batchesWithinWaves.size() + 1 );
834
+ btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWave( batchesWithinWaves[batchesWithinWaves.size()-1] );
835
+
836
+
837
+ for( int link = 0; link < linksForWavefront.size(); ++link )
838
+ {
839
+ int linkIndex = linksForWavefront[link];
840
+ btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( linkIndex );
841
+
842
+ int batch = 0;
843
+ bool placed = false;
844
+ while( batch < batchesWithinWave.size() && !placed )
845
+ {
846
+ bool foundSharedVertex = false;
847
+ if( batchesWithinWave[batch].size() >= wavefrontSize )
848
+ {
849
+ // If we have already filled this batch, move on to another
850
+ foundSharedVertex = true;
851
+ } else {
852
+ for( int link2 = 0; link2 < batchesWithinWave[batch].size(); ++link2 )
853
+ {
854
+ btSoftBodyLinkData::LinkNodePair vertices2 = linkData.getVertexPair( (batchesWithinWave[batch])[link2] );
855
+
856
+ if( vertices.vertex0 == vertices2.vertex0 ||
857
+ vertices.vertex1 == vertices2.vertex0 ||
858
+ vertices.vertex0 == vertices2.vertex1 ||
859
+ vertices.vertex1 == vertices2.vertex1 )
860
+ {
861
+ foundSharedVertex = true;
862
+ break;
863
+ }
864
+ }
865
+ }
866
+ if( !foundSharedVertex )
867
+ {
868
+ batchesWithinWave[batch].push_back( linkIndex );
869
+ placed = true;
870
+ } else {
871
+ ++batch;
872
+ }
873
+ }
874
+ if( batch == batchesWithinWave.size() && !placed )
875
+ {
876
+ batchesWithinWave.resize( batch + 1 );
877
+ batchesWithinWave[batch].push_back( linkIndex );
878
+ }
879
+ }
880
+
881
+ }
882
+
883
+ }
884
+
885
+ void btSoftBodyLinkDataDX11SIMDAware::generateBatches()
886
+ {
887
+ btAlignedObjectArray < btAlignedObjectArray <int> > linksForWavefronts;
888
+ btAlignedObjectArray < btAlignedObjectArray <int> > wavefrontBatches;
889
+ btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > batchesWithinWaves;
890
+ btAlignedObjectArray< btAlignedObjectArray< int > > verticesForWavefronts; // wavefronts, vertices in wavefront as an ordered set
891
+
892
+ // Group the links into wavefronts
893
+ computeBatchingIntoWavefronts( *this, m_wavefrontSize, m_linksPerWorkItem, m_maxLinksPerWavefront, linksForWavefronts, batchesWithinWaves, verticesForWavefronts );
894
+
895
+
896
+ // Batch the wavefronts
897
+ generateBatchesOfWavefronts( linksForWavefronts, *this, m_maxVertex, wavefrontBatches );
898
+
899
+ m_numWavefronts = linksForWavefronts.size();
900
+
901
+ // At this point we have a description of which links we need to process in each wavefront
902
+
903
+ // First correctly fill the batch ranges vector
904
+ int numBatches = wavefrontBatches.size();
905
+ m_wavefrontBatchStartLengths.resize(0);
906
+ int prefixSum = 0;
907
+ for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
908
+ {
909
+ int wavesInBatch = wavefrontBatches[batchIndex].size();
910
+ int nextPrefixSum = prefixSum + wavesInBatch;
911
+ m_wavefrontBatchStartLengths.push_back( BatchPair( prefixSum, nextPrefixSum - prefixSum ) );
912
+
913
+ prefixSum += wavesInBatch;
914
+ }
915
+
916
+ // Also find max number of batches within a wave
917
+ m_maxBatchesWithinWave = 0;
918
+ m_maxVerticesWithinWave = 0;
919
+ m_numBatchesAndVerticesWithinWaves.resize( m_numWavefronts );
920
+ for( int waveIndex = 0; waveIndex < m_numWavefronts; ++waveIndex )
921
+ {
922
+ // See if the number of batches in this wave is greater than the current maxium
923
+ int batchesInCurrentWave = batchesWithinWaves[waveIndex].size();
924
+ int verticesInCurrentWave = verticesForWavefronts[waveIndex].size();
925
+ m_maxBatchesWithinWave = btMax( batchesInCurrentWave, m_maxBatchesWithinWave );
926
+ m_maxVerticesWithinWave = btMax( verticesInCurrentWave, m_maxVerticesWithinWave );
927
+ }
928
+
929
+ // Add padding values both for alignment and as dudd addresses within LDS to compute junk rather than branch around
930
+ m_maxVerticesWithinWave = 16*((m_maxVerticesWithinWave/16)+2);
931
+
932
+ // Now we know the maximum number of vertices per-wave we can resize the global vertices array
933
+ m_wavefrontVerticesGlobalAddresses.resize( m_maxVerticesWithinWave * m_numWavefronts );
934
+
935
+ // Grab backup copies of all the link data arrays for the sorting process
936
+ btAlignedObjectArray<btSoftBodyLinkData::LinkNodePair> m_links_Backup(m_links);
937
+ btAlignedObjectArray<float> m_linkStrength_Backup(m_linkStrength);
938
+ btAlignedObjectArray<float> m_linksMassLSC_Backup(m_linksMassLSC);
939
+ btAlignedObjectArray<float> m_linksRestLengthSquared_Backup(m_linksRestLengthSquared);
940
+ //btAlignedObjectArray<Vectormath::Aos::Vector3> m_linksCLength_Backup(m_linksCLength);
941
+ //btAlignedObjectArray<float> m_linksLengthRatio_Backup(m_linksLengthRatio);
942
+ btAlignedObjectArray<float> m_linksRestLength_Backup(m_linksRestLength);
943
+ btAlignedObjectArray<float> m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient);
944
+
945
+ // Resize to a wavefront sized batch per batch per wave so we get perfectly coherent memory accesses.
946
+ m_links.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
947
+ m_linkVerticesLocalAddresses.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
948
+ m_linkStrength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
949
+ m_linksMassLSC.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
950
+ m_linksRestLengthSquared.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
951
+ m_linksRestLength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
952
+ m_linksMaterialLinearStiffnessCoefficient.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
953
+
954
+ // Then re-order links into wavefront blocks
955
+
956
+ // Total number of wavefronts moved. This will decide the ordering of sorted wavefronts.
957
+ int wavefrontCount = 0;
958
+
959
+ // Iterate over batches of wavefronts, then wavefronts in the batch
960
+ for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
961
+ {
962
+ btAlignedObjectArray <int> &batch( wavefrontBatches[batchIndex] );
963
+ int wavefrontsInBatch = batch.size();
964
+
965
+
966
+ for( int wavefrontIndex = 0; wavefrontIndex < wavefrontsInBatch; ++wavefrontIndex )
967
+ {
968
+
969
+ int originalWavefrontIndex = batch[wavefrontIndex];
970
+ btAlignedObjectArray< int > &wavefrontVertices( verticesForWavefronts[originalWavefrontIndex] );
971
+ int verticesUsedByWavefront = wavefrontVertices.size();
972
+
973
+ // Copy the set of vertices into the correctly structured array for use on the device
974
+ // Fill the non-vertices with -1s
975
+ // so we can mask out those reads
976
+ for( int vertex = 0; vertex < verticesUsedByWavefront; ++vertex )
977
+ {
978
+ m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = wavefrontVertices[vertex];
979
+ }
980
+ for( int vertex = verticesUsedByWavefront; vertex < m_maxVerticesWithinWave; ++vertex )
981
+ {
982
+ m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = -1;
983
+ }
984
+
985
+ // Obtain the set of batches within the current wavefront
986
+ btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWavefront( batchesWithinWaves[originalWavefrontIndex] );
987
+ // Set the size of the batches for use in the solver, correctly ordered
988
+ NumBatchesVerticesPair batchesAndVertices;
989
+ batchesAndVertices.numBatches = batchesWithinWavefront.size();
990
+ batchesAndVertices.numVertices = verticesUsedByWavefront;
991
+ m_numBatchesAndVerticesWithinWaves[wavefrontCount] = batchesAndVertices;
992
+
993
+
994
+ // Now iterate over batches within the wavefront to structure the links correctly
995
+ for( int wavefrontBatch = 0; wavefrontBatch < batchesWithinWavefront.size(); ++wavefrontBatch )
996
+ {
997
+ btAlignedObjectArray <int> &linksInBatch( batchesWithinWavefront[wavefrontBatch] );
998
+ int wavefrontBatchSize = linksInBatch.size();
999
+
1000
+ int batchAddressInTarget = m_maxBatchesWithinWave * m_wavefrontSize * wavefrontCount + m_wavefrontSize * wavefrontBatch;
1001
+
1002
+ for( int linkIndex = 0; linkIndex < wavefrontBatchSize; ++linkIndex )
1003
+ {
1004
+ int originalLinkAddress = linksInBatch[linkIndex];
1005
+ // Reorder simple arrays trivially
1006
+ m_links[batchAddressInTarget + linkIndex] = m_links_Backup[originalLinkAddress];
1007
+ m_linkStrength[batchAddressInTarget + linkIndex] = m_linkStrength_Backup[originalLinkAddress];
1008
+ m_linksMassLSC[batchAddressInTarget + linkIndex] = m_linksMassLSC_Backup[originalLinkAddress];
1009
+ m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = m_linksRestLengthSquared_Backup[originalLinkAddress];
1010
+ m_linksRestLength[batchAddressInTarget + linkIndex] = m_linksRestLength_Backup[originalLinkAddress];
1011
+ m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = m_linksMaterialLinearStiffnessCoefficient_Backup[originalLinkAddress];
1012
+
1013
+ // The local address is more complicated. We need to work out where a given vertex will end up
1014
+ // by searching the set of vertices for this link and using the index as the local address
1015
+ btSoftBodyLinkData::LinkNodePair localPair;
1016
+ btSoftBodyLinkData::LinkNodePair globalPair = m_links[batchAddressInTarget + linkIndex];
1017
+ localPair.vertex0 = wavefrontVertices.findLinearSearch( globalPair.vertex0 );
1018
+ localPair.vertex1 = wavefrontVertices.findLinearSearch( globalPair.vertex1 );
1019
+ m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
1020
+ }
1021
+ for( int linkIndex = wavefrontBatchSize; linkIndex < m_wavefrontSize; ++linkIndex )
1022
+ {
1023
+ // Put 0s into these arrays for padding for cleanliness
1024
+ m_links[batchAddressInTarget + linkIndex] = btSoftBodyLinkData::LinkNodePair(0, 0);
1025
+ m_linkStrength[batchAddressInTarget + linkIndex] = 0.f;
1026
+ m_linksMassLSC[batchAddressInTarget + linkIndex] = 0.f;
1027
+ m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = 0.f;
1028
+ m_linksRestLength[batchAddressInTarget + linkIndex] = 0.f;
1029
+ m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = 0.f;
1030
+
1031
+
1032
+ // For local addresses of junk data choose a set of addresses just above the range of valid ones
1033
+ // and cycling tyhrough % 16 so that we don't have bank conficts between all dud addresses
1034
+ // The valid addresses will do scatter and gather in the valid range, the junk ones should happily work
1035
+ // off the end of that range so we need no control
1036
+ btSoftBodyLinkData::LinkNodePair localPair;
1037
+ localPair.vertex0 = verticesUsedByWavefront + (linkIndex % 16);
1038
+ localPair.vertex1 = verticesUsedByWavefront + (linkIndex % 16);
1039
+ m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
1040
+ }
1041
+
1042
+ }
1043
+
1044
+
1045
+ wavefrontCount++;
1046
+ }
1047
+
1048
+
1049
+ }
1050
+
1051
+ } // void btSoftBodyLinkDataDX11SIMDAware::generateBatches()