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

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

@@ -1,527 +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_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

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

@@ -1,81 +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_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H
-#define BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H
-
-#include "stddef.h" //for size_t
-#include "vectormath/vmInclude.h"
-
-#include "btSoftBodySolver_OpenCL.h"
-#include "btSoftBodySolverBuffer_OpenCL.h"
-#include "btSoftBodySolverLinkData_OpenCLSIMDAware.h"
-#include "btSoftBodySolverVertexData_OpenCL.h"
-#include "btSoftBodySolverTriangleData_OpenCL.h"
-
-
-
-
-
-class btOpenCLSoftBodySolverSIMDAware : public btOpenCLSoftBodySolver
-{
-protected:
-	
-
-	btSoftBodyLinkDataOpenCLSIMDAware m_linkData;
-
-
-
-
-	virtual bool buildShaders();
-
-
-	void updateConstants( float timeStep );
-
-	float computeTriangleArea( 
-		const Vectormath::Aos::Point3 &vertex0,
-		const Vectormath::Aos::Point3 &vertex1,
-		const Vectormath::Aos::Point3 &vertex2 );
-
-
-	//////////////////////////////////////
-	// Kernel dispatches
-	void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
-	
-	void solveCollisionsAndUpdateVelocities( float isolverdt );
-	// End kernel dispatches
-	/////////////////////////////////////
-
-public:
-	btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue,cl_context	ctx, bool bUpdateAchchoredNodePos = false);
-
-	virtual ~btOpenCLSoftBodySolverSIMDAware();
-
-	virtual SolverTypes getSolverType() const
-	{
-		return CL_SIMD_SOLVER;
-	}
-
-
-	virtual btSoftBodyLinkData &getLinkData();
-
-
-	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
-
-	virtual void solveConstraints( float solverdt );
-
-}; // btOpenCLSoftBodySolverSIMDAware
-
-#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H