ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h

@@ -1,691 +0,0 @@
-/*
-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_ACCELERATED_SOFT_BODY_DX11_SOLVER_H
-#define BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H
-
-
-#include "vectormath/vmInclude.h"
-#include "BulletSoftBody/btSoftBodySolvers.h"
-#include "btSoftBodySolverVertexBuffer_DX11.h"
-#include "btSoftBodySolverLinkData_DX11.h"
-#include "btSoftBodySolverVertexData_DX11.h"
-#include "btSoftBodySolverTriangleData_DX11.h"
-
-
-
-class DXFunctions
-{
-public:
-	
-	typedef HRESULT (WINAPI * CompileFromMemoryFunc)(LPCSTR,SIZE_T,LPCSTR,const D3D10_SHADER_MACRO*,LPD3D10INCLUDE,LPCSTR,LPCSTR,UINT,UINT,ID3DX11ThreadPump*,ID3D10Blob**,ID3D10Blob**,HRESULT*);
-
-	ID3D11Device *		 m_dx11Device;
-	ID3D11DeviceContext* m_dx11Context;
-	CompileFromMemoryFunc m_dx11CompileFromMemory;
-
-	DXFunctions(ID3D11Device *dx11Device, ID3D11DeviceContext* dx11Context, CompileFromMemoryFunc dx11CompileFromMemory) :
-		m_dx11Device( dx11Device ),
-		m_dx11Context( dx11Context ),
-		m_dx11CompileFromMemory( dx11CompileFromMemory )
-	{
-
-	}
-
-	class KernelDesc
-	{
-	protected:
-		
-
-	public:
-		ID3D11ComputeShader* kernel;
-		ID3D11Buffer* constBuffer;
-
-		KernelDesc()
-		{
-			kernel = 0;
-			constBuffer = 0;
-		}
-
-		virtual ~KernelDesc()
-		{
-			// TODO: this should probably destroy its kernel but we need to be careful
-			// in case KernelDescs are copied
-		}
-	}; 
-
-	/**
-	 * Compile a compute shader kernel from a string and return the appropriate KernelDesc object.
-	 */
-	KernelDesc compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize, D3D10_SHADER_MACRO *compileMacros = 0 );
-
-};
-
-class btDX11SoftBodySolver : public btSoftBodySolver
-{
-protected:
-	/**
-	 * 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;
-		
-		float margin;
-		float friction;
-
-		CollisionShapeDescription()
-		{
-			collisionShapeType = 0;
-			margin = 0;
-			friction = 0;
-		}
-	};
-
-	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;
-	};
-
-
-
-public:
-	/**
-	 * SoftBody class to maintain information about a soft body instance
-	 * within a solver.
-	 * This data addresses the main solver arrays.
-	 */
-	class btAcceleratedSoftBodyInterface
-	{
-	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:
-		btAcceleratedSoftBodyInterface( 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() const
-		{
-			return m_numVertices;
-		}
-
-		int getNumTriangles() const
-		{
-			return m_numTriangles;
-		}
-
-		int getMaxVertices() const
-		{
-			return m_maxVertices;
-		}
-
-		int getMaxTriangles() const
-		{
-			return m_maxTriangles;
-		}
-
-		int getFirstVertex() const
-		{
-			return m_firstVertex;
-		}
-
-		int getFirstTriangle() const
-		{
-			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;
-		}
-
-	};
-
-	
-	struct CollisionObjectIndices
-	{
-		CollisionObjectIndices( int f, int e )
-		{
-			firstObject = f;
-			endObject = e;
-		}
-
-		int firstObject;
-		int endObject;
-	};
-
-
-
-
-
-	struct PrepareLinksCB
-	{		
-		int numLinks;
-		int padding0;
-		int padding1;
-		int padding2;
-	};
-
-	struct SolvePositionsFromLinksKernelCB
-	{		
-		int startLink;
-		int numLinks;
-		float kst;
-		float ti;
-	};
-
-	struct IntegrateCB
-	{
-		int numNodes;
-		float solverdt;
-		int padding1;
-		int padding2;
-	};
-
-	struct UpdatePositionsFromVelocitiesCB
-	{
-		int numNodes;
-		float solverSDT;
-		int padding1;
-		int padding2;
-	};
-
-	struct UpdateVelocitiesFromPositionsWithoutVelocitiesCB
-	{
-		int numNodes;
-		float isolverdt;
-		int padding1;
-		int padding2;
-	};
-
-	struct UpdateVelocitiesFromPositionsWithVelocitiesCB
-	{
-		int numNodes;
-		float isolverdt;
-		int padding1;
-		int padding2;
-	};
-
-	struct UpdateSoftBodiesCB
-	{
-		int numNodes;
-		int startFace;
-		int numFaces;
-		float epsilon;
-	};
-
-
-	struct ApplyForcesCB
-	{
-		unsigned int numNodes;
-		float solverdt;
-		float epsilon;
-		int padding3;
-	};
-
-	struct AddVelocityCB
-	{
-		int startNode;
-		int lastNode;
-		float velocityX;
-		float velocityY;
-		float velocityZ;
-		int padding1;
-		int padding2;
-		int padding3;
-	};
-
-	struct VSolveLinksCB
-	{
-		int startLink;
-		int numLinks;
-		float kst;
-		int padding;
-	};
-
-	struct ComputeBoundsCB
-	{
-		int numNodes;
-		int numSoftBodies;
-		int padding1;
-		int padding2;
-	};
-
-	struct SolveCollisionsAndUpdateVelocitiesCB
-	{
-		unsigned int numNodes;
-		float isolverdt;
-		int padding0;
-		int padding1;
-	};
-
-	
-
-
-protected:
-	ID3D11Device *		 m_dx11Device;
-	ID3D11DeviceContext* m_dx11Context;
-	
-	DXFunctions dxFunctions;
-public:
-	/** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */
-	btSoftBodyLinkDataDX11 m_linkData;
-	btSoftBodyVertexDataDX11 m_vertexData;
-	btSoftBodyTriangleDataDX11 m_triangleData;
-
-protected:
-
-	/** 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< btAcceleratedSoftBodyInterface * > 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;
-	btDX11Buffer<Vectormath::Aos::Vector3>				m_dx11PerClothAcceleration;
-
-	/** 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;
-	btDX11Buffer<Vectormath::Aos::Vector3>				m_dx11PerClothWindVelocity;
-
-	/** Velocity damping factor */
-	btAlignedObjectArray< float >						m_perClothDampingFactor;
-	btDX11Buffer<float>									m_dx11PerClothDampingFactor;
-
-	/** Velocity correction coefficient */
-	btAlignedObjectArray< float >						m_perClothVelocityCorrectionCoefficient;
-	btDX11Buffer<float>									m_dx11PerClothVelocityCorrectionCoefficient;
-
-	/** Lift parameter for wind effect on cloth. */
-	btAlignedObjectArray< float >						m_perClothLiftFactor;
-	btDX11Buffer<float>									m_dx11PerClothLiftFactor;
-	
-	/** Drag parameter for wind effect on cloth. */
-	btAlignedObjectArray< float >						m_perClothDragFactor;
-	btDX11Buffer<float>									m_dx11PerClothDragFactor;
-
-	/** Density of the medium in which each cloth sits */
-	btAlignedObjectArray< float >						m_perClothMediumDensity;
-	btDX11Buffer<float>									m_dx11PerClothMediumDensity;
-
-	
-	/** 
-	 * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects.
-	 */
-	btAlignedObjectArray< CollisionObjectIndices >		m_perClothCollisionObjects;
-	btDX11Buffer<CollisionObjectIndices>				m_dx11PerClothCollisionObjects;
-
-	/** 
-	 * Collision shapes being passed across to the cloths in this solver.
-	 */
-	btAlignedObjectArray< CollisionShapeDescription >	m_collisionObjectDetails;
-	btDX11Buffer< CollisionShapeDescription >			m_dx11CollisionObjectDetails;
-
-	/** 
-	 * Minimum bounds for each cloth.
-	 * Updated by GPU and returned for use by broad phase.
-	 * These are int vectors as a reminder that they store the int representation of a float, not a float.
-	 * Bit 31 is inverted - is floats are stored with int-sortable values.
-	 */
-	btAlignedObjectArray< UIntVector3 >	m_perClothMinBounds;
-	btDX11Buffer< UIntVector3 >			m_dx11PerClothMinBounds;
-
-	/** 
-	 * Maximum bounds for each cloth.
-	 * Updated by GPU and returned for use by broad phase.
-	 * These are int vectors as a reminder that they store the int representation of a float, not a float.
-	 * Bit 31 is inverted - is floats are stored with int-sortable values.
-	 */
-	btAlignedObjectArray< UIntVector3 >	m_perClothMaxBounds;
-	btDX11Buffer< UIntVector3 >			m_dx11PerClothMaxBounds;
-
-	
-	/** 
-	 * Friction coefficient for each cloth
-	 */
-	btAlignedObjectArray< float >	m_perClothFriction;
-	btDX11Buffer< float >			m_dx11PerClothFriction;
-
-	DXFunctions::KernelDesc		prepareLinksKernel;
-	DXFunctions::KernelDesc		solvePositionsFromLinksKernel;
-	DXFunctions::KernelDesc		vSolveLinksKernel;
-	DXFunctions::KernelDesc		integrateKernel;
-	DXFunctions::KernelDesc		addVelocityKernel;
-	DXFunctions::KernelDesc		updatePositionsFromVelocitiesKernel;
-	DXFunctions::KernelDesc		updateVelocitiesFromPositionsWithoutVelocitiesKernel;
-	DXFunctions::KernelDesc		updateVelocitiesFromPositionsWithVelocitiesKernel;
-	DXFunctions::KernelDesc		solveCollisionsAndUpdateVelocitiesKernel;
-	DXFunctions::KernelDesc		resetNormalsAndAreasKernel;
-	DXFunctions::KernelDesc		normalizeNormalsAndAreasKernel;
-	DXFunctions::KernelDesc		computeBoundsKernel;
-	DXFunctions::KernelDesc		updateSoftBodiesKernel;
-
-	DXFunctions::KernelDesc		applyForcesKernel;
-
-	bool	m_enableUpdateBounds;
-
-	/**
-	 * Integrate motion on the solver.
-	 */
-	virtual void integrate( float solverdt );
-	float computeTriangleArea( 
-		const Vectormath::Aos::Point3 &vertex0,
-		const Vectormath::Aos::Point3 &vertex1,
-		const Vectormath::Aos::Point3 &vertex2 );
-
-
-	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 );
-
-	virtual void applyForces( float solverdt );
-	
-	virtual void updateConstants( float timeStep );
-	int findSoftBodyIndex( const btSoftBody* const softBody );
-
-	//////////////////////////////////////
-	// Kernel dispatches
-	virtual void prepareLinks();
-
-	void updatePositionsFromVelocities( float solverdt );
-	void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
-	void solveLinksForVelocity( int startLink, int numLinks, float kst );
-	
-	void updateVelocitiesFromPositionsWithVelocities( float isolverdt );
-	void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt );
-	void computeBounds( );
-	void solveCollisionsAndUpdateVelocities( float isolverdt );
-
-	// End kernel dispatches
-	/////////////////////////////////////
-
-	void updateBounds();
-
-	
-	void releaseKernels();
-
-public:
-	btDX11SoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory);
-
-	virtual ~btDX11SoftBodySolver();
-	
-	
-	virtual SolverTypes getSolverType() const
-	{
-		return DX_SOLVER;
-	}
-
-	void	setEnableUpdateBounds(bool enableBounds)
-	{
-		m_enableUpdateBounds = enableBounds;
-	}
-	bool getEnableUpdateBounds() const
-	{
-		return  m_enableUpdateBounds;
-	}
-
-
-
-	virtual btSoftBodyLinkData &getLinkData();
-
-	virtual btSoftBodyVertexData &getVertexData();
-
-	virtual btSoftBodyTriangleData &getTriangleData();
-
-
-
-	
-
-	btAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
-	const btAcceleratedSoftBodyInterface * const findSoftBodyInterface( const btSoftBody* const softBody ) const;
-
-	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* );
-
-};
-
-
-
-/** 
- * Class to manage movement of data from a solver to a given target.
- * This version is the DX to CPU version.
- */
-class btSoftBodySolverOutputDXtoCPU : public btSoftBodySolverOutput
-{
-protected:
-
-public:
-	btSoftBodySolverOutputDXtoCPU()
-	{
-	}
-
-	/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
-	virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
-};
-
-/** 
- * Class to manage movement of data from a solver to a given target.
- * This version is the DX to DX version and subclasses DX to CPU so that it works for that too.
- */
-class btSoftBodySolverOutputDXtoDX : public btSoftBodySolverOutputDXtoCPU
-{
-protected:
-	struct OutputToVertexArrayCB
-	{
-		int startNode;
-		int numNodes;
-		int positionOffset;
-		int positionStride;
-		
-		int normalOffset;	
-		int normalStride;
-		int padding1;
-		int padding2;
-	};
-	
-	DXFunctions dxFunctions;
-	DXFunctions::KernelDesc outputToVertexArrayWithNormalsKernel;
-	DXFunctions::KernelDesc outputToVertexArrayWithoutNormalsKernel;
-
-	
-	bool m_shadersInitialized;
-
-	bool checkInitialized();
-	bool buildShaders();
-	void releaseKernels();
-
-public:
-	btSoftBodySolverOutputDXtoDX(ID3D11Device *dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory) :
-	  dxFunctions( dx11Device, dx11Context, dx11CompileFromMemory )
-	{
-		m_shadersInitialized = false;
-	}
-
-	~btSoftBodySolverOutputDXtoDX()
-	{
-		releaseKernels();
-	}
-
-	/** 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_ACCELERATED_SOFT_BODY_DX11_SOLVER_H
-
-