ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
+#define BT_SOFT_BODY_SOLVER_OPENCL_H
+
+#include "stddef.h" //for size_t
+#include "vectormath/vmInclude.h"
+
+#include "BulletSoftBody/btSoftBodySolvers.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "btSoftBodySolverBuffer_OpenCL.h"
+#include "btSoftBodySolverLinkData_OpenCL.h"
+#include "btSoftBodySolverVertexData_OpenCL.h"
+#include "btSoftBodySolverTriangleData_OpenCL.h"
+
+class CLFunctions
+{
+protected:
+	cl_command_queue	m_cqCommandQue;
+	cl_context			m_cxMainContext;
+
+	int	m_kernelCompilationFailures;
+
+
+public:
+	CLFunctions(cl_command_queue cqCommandQue, cl_context cxMainContext) :
+		m_cqCommandQue( cqCommandQue ),
+		m_cxMainContext( cxMainContext ),
+		m_kernelCompilationFailures(0)
+	{
+	}
+
+	int getKernelCompilationFailures() const
+	{
+		return m_kernelCompilationFailures;
+	}
+
+	/**
+	 * Compile a compute shader kernel from a string and return the appropriate cl_kernel object.
+	 */	
+	virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros, const char* srcFileNameForCaching);
+
+	void	clearKernelCompilationFailures()
+	{
+		m_kernelCompilationFailures=0;
+	}
+};
+
+/**
+ * Entry in the collision shape array.
+ * Specifies the shape type, the transform matrix and the necessary details of the collisionShape.
+ */
+struct CollisionShapeDescription
+{
+	Vectormath::Aos::Transform3 shapeTransform;
+	Vectormath::Aos::Vector3 linearVelocity;
+	Vectormath::Aos::Vector3 angularVelocity;
+
+	int softBodyIdentifier;
+	int collisionShapeType;
+
+	// Both needed for capsule
+	float radius;
+	float halfHeight;
+	int upAxis;
+	
+	float margin;
+	float friction;
+
+	CollisionShapeDescription()
+	{
+		collisionShapeType = 0;
+		margin = 0;
+		friction = 0;
+	}
+};
+
+/**
+	 * SoftBody class to maintain information about a soft body instance
+	 * within a solver.
+	 * This data addresses the main solver arrays.
+	 */
+class btOpenCLAcceleratedSoftBodyInterface
+{
+protected:
+	/** Current number of vertices that are part of this cloth */
+	int m_numVertices;
+	/** Maximum number of vertices allocated to be part of this cloth */
+	int m_maxVertices;
+	/** Current number of triangles that are part of this cloth */
+	int m_numTriangles;
+	/** Maximum number of triangles allocated to be part of this cloth */
+	int m_maxTriangles;
+	/** Index of first vertex in the world allocated to this cloth */
+	int m_firstVertex;
+	/** Index of first triangle in the world allocated to this cloth */
+	int m_firstTriangle;
+	/** Index of first link in the world allocated to this cloth */
+	int m_firstLink;
+	/** Maximum number of links allocated to this cloth */
+	int m_maxLinks;
+	/** Current number of links allocated to this cloth */
+	int m_numLinks;
+
+	/** The actual soft body this data represents */
+	btSoftBody *m_softBody;
+
+
+public:
+	btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
+	  m_softBody( softBody )
+	{
+		m_numVertices = 0;
+		m_maxVertices = 0;
+		m_numTriangles = 0;
+		m_maxTriangles = 0;
+		m_firstVertex = 0;
+		m_firstTriangle = 0;
+		m_firstLink = 0;
+		m_maxLinks = 0;
+		m_numLinks = 0;
+	}
+	int getNumVertices()
+	{
+		return m_numVertices;
+	}
+
+	int getNumTriangles()
+	{
+		return m_numTriangles;
+	}
+
+	int getMaxVertices()
+	{
+		return m_maxVertices;
+	}
+
+	int getMaxTriangles()
+	{
+		return m_maxTriangles;
+	}
+
+	int getFirstVertex()
+	{
+		return m_firstVertex;
+	}
+
+	int getFirstTriangle()
+	{
+		return m_firstTriangle;
+	}
+	
+	/**
+	 * Update the bounds in the btSoftBody object
+	 */
+	void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound );
+
+	// TODO: All of these set functions will have to do checks and
+	// update the world because restructuring of the arrays will be necessary
+	// Reasonable use of "friend"?
+	void setNumVertices( int numVertices )
+	{
+		m_numVertices = numVertices;
+	}	
+
+	void setNumTriangles( int numTriangles )
+	{
+		m_numTriangles = numTriangles;
+	}
+
+	void setMaxVertices( int maxVertices )
+	{
+		m_maxVertices = maxVertices;
+	}
+
+	void setMaxTriangles( int maxTriangles )
+	{
+		m_maxTriangles = maxTriangles;
+	}
+
+	void setFirstVertex( int firstVertex )
+	{
+		m_firstVertex = firstVertex;
+	}
+
+	void setFirstTriangle( int firstTriangle )
+	{
+		m_firstTriangle = firstTriangle;
+	}
+
+	void setMaxLinks( int maxLinks )
+	{
+		m_maxLinks = maxLinks;
+	}
+
+	void setNumLinks( int numLinks )
+	{
+		m_numLinks = numLinks;
+	}
+
+	void setFirstLink( int firstLink )
+	{
+		m_firstLink = firstLink;
+	}
+
+	int getMaxLinks()
+	{
+		return m_maxLinks;
+	}
+
+	int getNumLinks()
+	{
+		return m_numLinks;
+	}
+
+	int getFirstLink()
+	{
+		return m_firstLink;
+	}
+
+	btSoftBody* getSoftBody()
+	{
+		return m_softBody;
+	}
+
+};
+
+
+
+class btOpenCLSoftBodySolver : public btSoftBodySolver
+{
+public:
+	
+
+	struct UIntVector3
+	{
+		UIntVector3()
+		{
+			x = 0;
+			y = 0;
+			z = 0;
+			_padding = 0;
+		}
+		
+		UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ )
+		{
+			x = x_;
+			y = y_;
+			z = z_;
+			_padding = 0;
+		}
+			
+		unsigned int x;
+		unsigned int y;
+		unsigned int z;
+		unsigned int _padding;
+	};
+
+	struct CollisionObjectIndices
+	{
+		CollisionObjectIndices( int f, int e )
+		{
+			firstObject = f;
+			endObject = e;
+		}
+
+		int firstObject;
+		int endObject;
+	};
+
+	btSoftBodyLinkDataOpenCL m_linkData;
+	btSoftBodyVertexDataOpenCL m_vertexData;
+	btSoftBodyTriangleDataOpenCL m_triangleData;
+
+protected:
+
+	CLFunctions m_defaultCLFunctions;
+	CLFunctions* m_currentCLFunctions;
+
+	/** Variable to define whether we need to update solver constants on the next iteration */
+	bool m_updateSolverConstants;
+
+	bool m_shadersInitialized;
+
+	/** 
+	 * Cloths owned by this solver.
+	 * Only our cloths are in this array.
+	 */
+	btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet;
+
+	/** Acceleration value to be applied to all non-static vertices in the solver. 
+	 * Index n is cloth n, array sized by number of cloths in the world not the solver. 
+	 */
+	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_perClothAcceleration;
+	btOpenCLBuffer<Vectormath::Aos::Vector3>			m_clPerClothAcceleration;
+
+	/** Wind velocity to be applied normal to all non-static vertices in the solver. 
+	 * Index n is cloth n, array sized by number of cloths in the world not the solver. 
+	 */
+	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_perClothWindVelocity;
+	btOpenCLBuffer<Vectormath::Aos::Vector3>			m_clPerClothWindVelocity;
+
+	/** Velocity damping factor */
+	btAlignedObjectArray< float >						m_perClothDampingFactor;
+	btOpenCLBuffer<float>								m_clPerClothDampingFactor;
+
+	/** Velocity correction coefficient */
+	btAlignedObjectArray< float >						m_perClothVelocityCorrectionCoefficient;
+	btOpenCLBuffer<float>								m_clPerClothVelocityCorrectionCoefficient;
+
+	/** Lift parameter for wind effect on cloth. */
+	btAlignedObjectArray< float >						m_perClothLiftFactor;
+	btOpenCLBuffer<float>								m_clPerClothLiftFactor;
+	
+	/** Drag parameter for wind effect on cloth. */
+	btAlignedObjectArray< float >						m_perClothDragFactor;
+	btOpenCLBuffer<float>								m_clPerClothDragFactor;
+
+	/** Density of the medium in which each cloth sits */
+	btAlignedObjectArray< float >						m_perClothMediumDensity;
+	btOpenCLBuffer<float>								m_clPerClothMediumDensity;
+
+	/** 
+	 * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects.
+	 */
+	btAlignedObjectArray< CollisionObjectIndices >		m_perClothCollisionObjects;
+	btOpenCLBuffer<CollisionObjectIndices>				m_clPerClothCollisionObjects;
+
+	/** 
+	 * Collision shapes being passed across to the cloths in this solver.
+	 */
+	btAlignedObjectArray< CollisionShapeDescription >	m_collisionObjectDetails;
+	btOpenCLBuffer< CollisionShapeDescription >			m_clCollisionObjectDetails;
+
+
+	
+	/** 
+	 * Friction coefficient for each cloth
+	 */
+	btAlignedObjectArray< float >	m_perClothFriction;
+	btOpenCLBuffer< float >			m_clPerClothFriction;
+
+	// anchor node info
+	struct AnchorNodeInfoCL
+	{
+		int clVertexIndex;
+		btSoftBody::Node* pNode;
+	};
+
+	btAlignedObjectArray<AnchorNodeInfoCL> m_anchorNodeInfoArray;
+	btAlignedObjectArray<Vectormath::Aos::Point3> m_anchorPosition;
+	btOpenCLBuffer<Vectormath::Aos::Point3>		  m_clAnchorPosition;
+	btAlignedObjectArray<int> m_anchorIndex;
+	btOpenCLBuffer<int>		  m_clAnchorIndex;
+
+	bool m_bUpdateAnchoredNodePos;
+
+	cl_kernel		m_prepareLinksKernel;
+	cl_kernel		m_solvePositionsFromLinksKernel;
+	cl_kernel		m_updateConstantsKernel;
+	cl_kernel		m_integrateKernel;
+	cl_kernel		m_addVelocityKernel;
+	cl_kernel		m_updatePositionsFromVelocitiesKernel;
+	cl_kernel		m_updateVelocitiesFromPositionsWithoutVelocitiesKernel;
+	cl_kernel		m_updateVelocitiesFromPositionsWithVelocitiesKernel;
+	cl_kernel		m_vSolveLinksKernel;
+	cl_kernel		m_solveCollisionsAndUpdateVelocitiesKernel;
+	cl_kernel		m_resetNormalsAndAreasKernel;
+	cl_kernel		m_normalizeNormalsAndAreasKernel;
+	cl_kernel		m_updateSoftBodiesKernel;
+
+	cl_kernel		m_outputToVertexArrayKernel;
+	cl_kernel		m_applyForcesKernel;
+	cl_kernel       m_updateFixedVertexPositionsKernel;	
+
+	cl_command_queue	m_cqCommandQue;
+	cl_context			m_cxMainContext;
+	
+	size_t				m_defaultWorkGroupSize;
+
+
+	virtual bool buildShaders();
+
+	void resetNormalsAndAreas( int numVertices );
+
+	void normalizeNormalsAndAreas( int numVertices );
+
+	void executeUpdateSoftBodies( int firstTriangle, int numTriangles );
+
+	void prepareCollisionConstraints();
+	
+	Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a );
+
+	void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce );
+	
+
+	int findSoftBodyIndex( const btSoftBody* const softBody );
+
+	virtual void applyForces( float solverdt );
+
+	void updateFixedVertexPositions();
+
+	/**
+	 * Integrate motion on the solver.
+	 */
+	virtual void integrate( float solverdt );
+
+	virtual void updateConstants( float timeStep );
+
+	float computeTriangleArea( 
+		const Vectormath::Aos::Point3 &vertex0,
+		const Vectormath::Aos::Point3 &vertex1,
+		const Vectormath::Aos::Point3 &vertex2 );
+
+
+	//////////////////////////////////////
+	// Kernel dispatches
+	void prepareLinks();
+
+	void solveLinksForVelocity( int startLink, int numLinks, float kst );
+
+	void updatePositionsFromVelocities( float solverdt );
+
+	virtual void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
+	
+	void updateVelocitiesFromPositionsWithVelocities( float isolverdt );
+
+	void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt );
+	virtual void solveCollisionsAndUpdateVelocities( float isolverdt );
+
+	// End kernel dispatches
+	/////////////////////////////////////
+	
+	void updateBounds();
+
+	void releaseKernels();
+
+public:
+	btOpenCLSoftBodySolver(cl_command_queue queue,cl_context	ctx, bool bUpdateAchchoredNodePos = false);
+
+	virtual ~btOpenCLSoftBodySolver();
+
+
+	
+	btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
+
+	virtual btSoftBodyLinkData &getLinkData();
+
+	virtual btSoftBodyVertexData &getVertexData();
+
+	virtual btSoftBodyTriangleData &getTriangleData();
+
+	virtual SolverTypes getSolverType() const
+	{
+		return CL_SOLVER;
+	}
+
+
+	virtual bool checkInitialized();
+
+	virtual void updateSoftBodies( );
+
+	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
+
+	virtual void copyBackToSoftBodies(bool bMove = true);
+
+	virtual void solveConstraints( float solverdt );
+
+	virtual void predictMotion( float solverdt );
+
+	virtual void processCollision( btSoftBody *, btCollisionObject* );
+
+	virtual void processCollision( btSoftBody*, btSoftBody* );
+
+	virtual void	setDefaultWorkgroupSize(size_t workGroupSize)
+	{
+		m_defaultWorkGroupSize = workGroupSize;
+	}
+	virtual size_t	getDefaultWorkGroupSize() const
+	{
+		return m_defaultWorkGroupSize;
+	}
+
+	void	setCLFunctions(CLFunctions* funcs)
+	{
+		if (funcs)
+			m_currentCLFunctions = funcs;
+		else
+			m_currentCLFunctions  = &m_defaultCLFunctions;
+	}
+
+}; // btOpenCLSoftBodySolver
+
+
+/** 
+ * Class to manage movement of data from a solver to a given target.
+ * This version is the CL to CPU version.
+ */
+class btSoftBodySolverOutputCLtoCPU : public btSoftBodySolverOutput
+{
+protected:
+
+public:
+	btSoftBodySolverOutputCLtoCPU()
+	{
+	}
+
+	/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
+	virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
+};
+
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H