void SimpleContactSolver::solveContacts(unsigned numContacts,
CUDABuffer * contactBuf,
CUDABuffer * pairBuf,
void * objectData)
{
#if DISABLE_COLLISION_RESOLUTION
return;
#endif
if(numContacts < 1) return;
m_numContacts = numContacts;
const unsigned indBufLength = iRound1024(numContacts * 2);
m_sortedInd[0]->create(indBufLength * 8);
m_sortedInd[1]->create(indBufLength * 8);
void * bodyContactHash = m_sortedInd[0]->bufferOnDevice();
void * pairs = pairBuf->bufferOnDevice();
simpleContactSolverWriteContactIndex((KeyValuePair *)bodyContactHash, (uint *)pairs, numContacts * 2, indBufLength);
void * tmp = m_sortedInd[1]->bufferOnDevice();
RadixSort((KeyValuePair *)bodyContactHash, (KeyValuePair *)tmp, indBufLength, 30);
m_splitPair->create(numContacts * 8);
void * splits = m_splitPair->bufferOnDevice();
const unsigned splitBufLength = numContacts * 2;
simpleContactSolverComputeSplitBufLoc((uint2 *)splits,
(uint2 *)pairs,
(KeyValuePair *)bodyContactHash,
splitBufLength);
m_bodyCount->create(splitBufLength * 4);
void * bodyCount = m_bodyCount->bufferOnDevice();
simpleContactSolverCountBody((uint *)bodyCount,
(KeyValuePair *)bodyContactHash,
splitBufLength);
int mxcount = 0;
max<int>(mxcount, (int *)bodyCount, splitBufLength);
// if(mxcount>9) std::cout<<" max count per contact "<<mxcount;
int numiterations = mxcount + 3;
m_splitInverseMass->create(splitBufLength * 4);
void * splitMass = m_splitInverseMass->bufferOnDevice();
CudaNarrowphase::CombinedObjectBuffer * objectBuf = (CudaNarrowphase::CombinedObjectBuffer *)objectData;
void * pos = objectBuf->m_pos->bufferOnDevice();
void * vel = objectBuf->m_vel->bufferOnDevice();
void * mass = objectBuf->m_mass->bufferOnDevice();
void * ind = objectBuf->m_ind->bufferOnDevice();
void * perObjPointStart = objectBuf->m_pointCacheLoc->bufferOnDevice();
void * perObjectIndexStart = objectBuf->m_indexCacheLoc->bufferOnDevice();
simpleContactSolverComputeSplitInverseMass((float *)splitMass,
(uint2 *)splits,
(uint2 *)pairs,
(float *)mass,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
(uint *)bodyCount,
splitBufLength);
m_constraint->create(numContacts * 64);
void * constraint = m_constraint->bufferOnDevice();
void * contacts = contactBuf->bufferOnDevice();
simpleContactSolverSetContactConstraint((ContactConstraint *)constraint,
(uint2 *)splits,
(uint2 *)pairs,
(float3 *)pos,
(float3 *)vel,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
(float *)splitMass,
(ContactData *)contacts,
numContacts * 2);
CudaBase::CheckCudaError("jacobi solver set constraint");
m_deltaLinearVelocity->create(nextPow2(splitBufLength * 12));
m_deltaAngularVelocity->create(nextPow2(splitBufLength * 12));
void * deltaLinVel = m_deltaLinearVelocity->bufferOnDevice();
void * deltaAngVel = m_deltaAngularVelocity->bufferOnDevice();
simpleContactSolverClearDeltaVelocity((float3 *)deltaLinVel,
(float3 *)deltaAngVel,
splitBufLength);
/*
const unsigned scanBufLength = iRound1024(numContacts * 2);
m_bodyCount->create(scanBufLength * 4);
m_scanBodyCount[0]->create(scanBufLength * 4);
m_scanBodyCount[1]->create(scanBufLength * 4);
void * scanResult = m_scanBodyCount[0]->bufferOnDevice();
void * scanIntermediate = m_scanBodyCount[1]->bufferOnDevice();
scanExclusive((uint *)scanResult, (uint *)bodyCount, (uint *)scanIntermediate, scanBufLength / 1024, 1024);
const unsigned numSplitBodies = ScanUtil::getScanResult(m_bodyCount, m_scanBodyCount[0], scanBufLength);
*/
int i;
for(i=0; i< numiterations; i++) {
// compute impulse and velocity changes per contact
simpleContactSolverSolveContactWoJ((ContactConstraint *)constraint,
(float3 *)deltaLinVel,
(float3 *)deltaAngVel,
(uint2 *)pairs,
(uint2 *)splits,
(float *)splitMass,
(ContactData *)contacts,
(float3 *)pos,
(float3 *)vel,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
numContacts * 2);
CudaBase::CheckCudaError("jacobi solver solve impulse");
simpleContactSolverAverageVelocities((float3 *)deltaLinVel,
(float3 *)deltaAngVel,
(uint *)bodyCount,
(KeyValuePair *)bodyContactHash,
splitBufLength);
CudaBase::CheckCudaError("jacobi solver average velocity");
}
// 2 tet per contact, 4 pnt per tet, key is pnt index, value is tet index in split
const unsigned pntHashBufLength = iRound1024(numContacts * 2 * 4);
// std::cout<<"\n pntHashBufLength"<<pntHashBufLength
// <<" numContact"<<numContacts;
m_pntTetHash[0]->create(pntHashBufLength * 8);
m_pntTetHash[1]->create(pntHashBufLength * 8);
void * pntTetHash = m_pntTetHash[0]->bufferOnDevice();
simpleContactSolverWritePointTetHash((KeyValuePair *)pntTetHash,
(uint2 *)pairs,
(uint2 *)splits,
(uint *)bodyCount,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
numContacts * 2,
pntHashBufLength);
CudaBase::CheckCudaError(CudaBase::Synchronize(),
"jacobi solver point-tetra hash");
void * intermediate = m_pntTetHash[1]->bufferOnDevice();
RadixSort((KeyValuePair *)pntTetHash, (KeyValuePair *)intermediate, pntHashBufLength, 24);
#if 0
svlg.writeHash(m_pntTetHash[1], numContacts * 2,
"pnttet_hash", CudaDbgLog::FAlways);
#endif
simpleContactSolverUpdateVelocity((float3 *)vel,
(float3 *)deltaLinVel,
(float3 *)deltaAngVel,
(KeyValuePair *)pntTetHash,
(uint2 *)pairs,
(uint2 *)splits,
(ContactConstraint *)constraint,
(ContactData *)contacts,
(float3 *)pos,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
numContacts * 2 * 4);
CudaBase::CheckCudaError(CudaBase::Synchronize(),
"jacobi solver update velocity");
}
void CudaBroadphase::computeOverlappingPairs()
{
#if DISABLE_COLLISION_DETECTION
return;
#endif
if(m_numObjects < 1) return;
unsigned i, j;
resetPairCounts();
for(j = 0; j<m_numObjects; j++) {
for(i = j+1; i<m_numObjects; i++) {
countOverlappingPairs(j, i);
}
}
for(j = 0; j<m_numObjects; j++) {
countOverlappingPairs(j, j);
}
m_pairCacheLength = m_scanIntermediate->prefixSum(m_pairStart, m_pairCounts, m_scanBufferLength);
if(m_pairCacheLength < 1) return;
#if 0
bphlg.writeUInt(m_pairCounts,
m_numBoxes,
"overlapping_counts", CudaDbgLog::FAlways);
#endif
#if 0
bphlg.writeUInt(m_pairStart,
m_numBoxes,
"overlapping_offsets", CudaDbgLog::FAlways);
std::cout<<" overlapping pair cache length "<<m_pairCacheLength<<"\n";
#endif
setWriteLocation();
#if 0
bphlg.writeUInt(m_pairWriteLocation,
m_numBoxes,
"overlapping_write_location0", CudaDbgLog::FAlways);
#endif
m_pairCache->create(m_pairCacheLength * 8);
void * cache = m_pairCache->bufferOnDevice();
broadphaseResetPairCache((uint2 *)cache, m_pairCacheLength);
for(j = 0; j<m_numObjects; j++) {
for(i = j+1; i<m_numObjects; i++) {
writeOverlappingPairs(j, i);
}
}
for(j = 0; j<m_numObjects; j++) {
writeOverlappingPairs(j, j);
}
#if 0
bphlg.writeUInt(m_pairWriteLocation,
m_numBoxes,
"overlapping_write_location1", CudaDbgLog::FAlways);
#endif
#if 0
bphlg.writeHash(m_pairCache,
m_pairCacheLength,
"overlapping_pairs", CudaDbgLog::FAlways);
#endif
}
void SolverThread::stepPhysics(float dt)
{
computeForces();
clearStiffnessAssembly();
if(bUseStiffnessWarping)
updateOrientation();
else
resetOrientation();
stiffnessAssembly();
// addPlasticityForce(dt);
dynamicsAssembly(dt);
#if SOLVEONGPU
solveGpu(m_V, m_stiffnessMatrix);
#else
solve(m_V);
#endif
updatePosition(dt);
#if ENABLE_DBG
dbglg.write("Re");
unsigned totalTetrahedra = m_mesh->numTetrahedra();
FEMTetrahedronMesh::Tetrahedron * tetrahedra = m_mesh->tetrahedra();
for(unsigned k=0;k<totalTetrahedra;k++) {
dbglg.write(k);
dbglg.write(tetrahedra[k].Re.str());
}
dbglg.writeMat33(m_stiffnessMatrix->valueBuf(),
m_stiffnessMatrix->numNonZero(),
"K ");
dbglg.write("Rhs");
unsigned totalPoints = m_mesh->numPoints();
for(unsigned k=0;k<totalPoints;k++) {
dbglg.write(k);
dbglg.write(rightHandSide()[k].str());
dbglg.newLine();
}
dbglg.write("F0");
for(unsigned k=0;k<totalPoints;k++) {
dbglg.write(k);
dbglg.write(m_F0[k].str());
dbglg.newLine();
}
#endif
}
void SolverThread::calculateK()
{
#if ENABLE_DBG
dbglg.write("Ke");
#endif
unsigned totalTetrahedra = m_mesh->numTetrahedra();
Vector3F * Xi = m_mesh->Xi();
FEMTetrahedronMesh::Tetrahedron * tetrahedra = m_mesh->tetrahedra();
for(unsigned k=0;k<totalTetrahedra;k++) {
Vector3F x0 = Xi[tetrahedra[k].indices[0]];
Vector3F x1 = Xi[tetrahedra[k].indices[1]];
Vector3F x2 = Xi[tetrahedra[k].indices[2]];
Vector3F x3 = Xi[tetrahedra[k].indices[3]];
//For this check page no.: 344-346 of Kenny Erleben's book Physics based Animation
//Eq. 10.30(a-c)
Vector3F e10 = x1-x0;
Vector3F e20 = x2-x0;
Vector3F e30 = x3-x0;
// tetrahedra[k].e1 = e10;
// tetrahedra[k].e2 = e20;
// tetrahedra[k].e3 = e30;
tetrahedra[k].volume= FEMTetrahedronMesh::getTetraVolume(e10,e20,e30);
//Eq. 10.32
Matrix33F E;
E.fill(e10, e20, e30);
float detE = E.determinant(); if(detE ==0.f) std::cout<<" zero det "<<E.str()<<"\n";
float invDetE = 1.0f/detE;
//Eq. 10.40 (a) & Eq. 10.42 (a)
//Shape function derivatives wrt x,y,z
// d/dx N0
float invE10 = (e20.z*e30.y - e20.y*e30.z)*invDetE;
float invE20 = (e10.y*e30.z - e10.z*e30.y)*invDetE;
float invE30 = (e10.z*e20.y - e10.y*e20.z)*invDetE;
float invE00 = -invE10-invE20-invE30;
//Eq. 10.40 (b) & Eq. 10.42 (b)
// d/dy N0
float invE11 = (e20.x*e30.z - e20.z*e30.x)*invDetE;
float invE21 = (e10.z*e30.x - e10.x*e30.z)*invDetE;
float invE31 = (e10.x*e20.z - e10.z*e20.x)*invDetE;
float invE01 = -invE11-invE21-invE31;
//Eq. 10.40 (c) & Eq. 10.42 (c)
// d/dz N0
float invE12 = (e20.y*e30.x - e20.x*e30.y)*invDetE;
float invE22 = (e10.x*e30.y - e10.y*e30.x)*invDetE;
float invE32 = (e10.y*e20.x - e10.x*e20.y)*invDetE;
float invE02 = -invE12-invE22-invE32;
//Eq. 10.43
//Bn ~ [bn cn dn]^T
// bn = d/dx N0 = [ invE00 invE10 invE20 invE30 ]
// cn = d/dy N0 = [ invE01 invE11 invE21 invE31 ]
// dn = d/dz N0 = [ invE02 invE12 invE22 invE32 ]
tetrahedra[k].B[0] = Vector3F(invE00, invE01, invE02);
tetrahedra[k].B[1] = Vector3F(invE10, invE11, invE12);
tetrahedra[k].B[2] = Vector3F(invE20, invE21, invE22);
tetrahedra[k].B[3] = Vector3F(invE30, invE31, invE32);
// std::cout<<"B[0] "<<tetrahedra[k].B[0]<<"\n";
// std::cout<<"B[1] "<<tetrahedra[k].B[1]<<"\n";
// std::cout<<"B[2] "<<tetrahedra[k].B[2]<<"\n";
// std::cout<<"B[3] "<<tetrahedra[k].B[3]<<"\n";
for(unsigned i=0;i<4;i++) {
for(unsigned j=0;j<4;j++) {
Matrix33F & Ke = tetrahedra[k].Ke[i][j];
float d19 = tetrahedra[k].B[i].x;
float d20 = tetrahedra[k].B[i].y;
float d21 = tetrahedra[k].B[i].z;
float d22 = tetrahedra[k].B[j].x;
float d23 = tetrahedra[k].B[j].y;
float d24 = tetrahedra[k].B[j].z;
*Ke.m(0, 0)= d16 * d19 * d22 + d18 * (d20 * d23 + d21 * d24);
*Ke.m(0, 1)= d17 * d19 * d23 + d18 * (d20 * d22);
*Ke.m(0, 2)= d17 * d19 * d24 + d18 * (d21 * d22);
*Ke.m(1, 0)= d17 * d20 * d22 + d18 * (d19 * d23);
*Ke.m(1, 1)= d16 * d20 * d23 + d18 * (d19 * d22 + d21 * d24);
*Ke.m(1, 2)= d17 * d20 * d24 + d18 * (d21 * d23);
*Ke.m(2, 0)= d17 * d21 * d22 + d18 * (d19 * d24);
*Ke.m(2, 1)= d17 * d21 * d23 + d18 * (d20 * d24);
*Ke.m(2, 2)= d16 * d21 * d24 + d18 * (d20 * d23 + d19 * d22);
Ke *= tetrahedra[k].volume;
#if ENABLE_DBG
dbglg.write("kij");
dbglg.write(k);
dbglg.write(i);
dbglg.write(j);
dbglg.write(Ke.str());
#endif
}
}
}
}
void SimpleContactSolver::solveContacts(unsigned numContacts,
CUDABuffer * contactBuf,
CUDABuffer * pairBuf,
void * objectData)
{
#if DISABLE_COLLISION_RESOLUTION
return;
#endif
if(numContacts < 1) return;
#if 0
svlg.writeInt2( pairBuf,
numContacts,
"pair", CudaDbgLog::FAlways);
#endif
const unsigned indBufLength = iRound1024(numContacts * 2);
m_sortedInd[0]->create(indBufLength * 8);
m_sortedInd[1]->create(indBufLength * 8);
void * bodyContactHash = m_sortedInd[0]->bufferOnDevice();
void * pairs = pairBuf->bufferOnDevice();
/*
* for either side of each contact pair, set
* key: body index
* velue: contact index
* n x 2 hash
* sort by body index to put the same body together
*/
simpleContactSolverWriteContactIndex((KeyValuePair *)bodyContactHash,
(uint *)pairs,
numContacts * 2,
indBufLength);
void * tmp = m_sortedInd[1]->bufferOnDevice();
RadixSort((KeyValuePair *)bodyContactHash, (KeyValuePair *)tmp, indBufLength, 30);
#if 0
svlg.writeHash( m_sortedInd[0],
numContacts * 2,
"body-contact", CudaDbgLog::FAlways);
#endif
/*
* for each hash, find the index of contact pair
* set the indirection from contact pair to hash index
*/
m_splitPair->create(numContacts * 8);
void * splits = m_splitPair->bufferOnDevice();
const unsigned splitBufLength = numContacts * 2;
simpleContactSolverComputeSplitBufLoc((uint2 *)splits,
(uint2 *)pairs,
(KeyValuePair *)bodyContactHash,
splitBufLength);
#if 0
svlg.writeInt2( m_splitPair,
numContacts,
"splitpair", CudaDbgLog::FAlways);
#endif
m_bodyCount->create(splitBufLength * 4);
void * bodyCount = m_bodyCount->bufferOnDevice();
simpleContactSolverCountBody((uint *)bodyCount,
(KeyValuePair *)bodyContactHash,
splitBufLength);
#if 0
// num iterattions by max contacts per object
// todo ignore static object count
int mxcount = 0;
max<int>(mxcount, (int *)bodyCount, splitBufLength);
int numiterations = mxcount + 3;
#else
int numiterations = 9;
#endif
m_splitInverseMass->create(splitBufLength * 4);
void * splitMass = m_splitInverseMass->bufferOnDevice();
CudaNarrowphase::CombinedObjectBuffer * objectBuf = (CudaNarrowphase::CombinedObjectBuffer *)objectData;
void * pos = objectBuf->m_pos->bufferOnDevice();
void * vel = objectBuf->m_vel->bufferOnDevice();
void * mass = objectBuf->m_mass->bufferOnDevice();
void * linearImpulse = objectBuf->m_linearImpulse->bufferOnDevice();
void * ind = objectBuf->m_ind->bufferOnDevice();
void * perObjPointStart = objectBuf->m_pointCacheLoc->bufferOnDevice();
void * perObjectIndexStart = objectBuf->m_indexCacheLoc->bufferOnDevice();
m_bodyTetInd->create(4* 4 * numContacts *2);
simpleContactSolverComputeSplitInverseMass((float *)splitMass,
(uint2 *)splits,
(uint2 *)pairs,
(float *)mass,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
(uint *)bodyCount,
(uint4 *)m_bodyTetInd->bufferOnDevice(),
numContacts * 2);
#if 0
// svlg.writeFlt( m_splitInverseMass,
// numContacts,
// "masstensor", CudaDbgLog::FAlways);
svlg.writeUInt( objectBuf->m_pointCacheLoc,
2,
"pstart", CudaDbgLog::FAlways);
svlg.writeUInt( objectBuf->m_indexCacheLoc,
2,
"istart", CudaDbgLog::FAlways);
#endif
m_constraint->create(numContacts * 64);
m_contactLinearVelocity->create(numContacts * 2 * 12);
void * constraint = m_constraint->bufferOnDevice();
void * contactLinearVel = m_contactLinearVelocity->bufferOnDevice();
void * contacts = contactBuf->bufferOnDevice();
contactconstraint::prepareNoPenetratingContact((ContactConstraint *)constraint,
(float3 *)contactLinearVel,
(uint2 *)splits,
(uint2 *)pairs,
(float3 *)pos,
(float3 *)vel,
(float3 *)linearImpulse,
(float *)splitMass,
(ContactData *)contacts,
(uint4 *)m_bodyTetInd->bufferOnDevice(),
numContacts * 2);
CudaBase::CheckCudaError("jacobi solver prepare constraint");
#if 0
svlg.writeUInt( m_bodyTetInd,
numContacts * 8,
"tet", CudaDbgLog::FAlways);
#endif
#if 0
svlg.writeFlt( contactBuf,
numContacts * 12,
"contact", CudaDbgLog::FAlways);
#endif
#if 0
svlg.writeStruct(m_constraint, numContacts,
"constraint",
constraintDesc,
64,
CudaDbgLog::FAlways);
// svlg.writeVec3(m_contactLinearVelocity, numContacts * 2,
// "contact_vel", CudaDbgLog::FAlways);
#endif
m_deltaLinearVelocity->create(nextPow2(splitBufLength * 12));
m_deltaAngularVelocity->create(nextPow2(splitBufLength * 12));
void * deltaLinVel = m_deltaLinearVelocity->bufferOnDevice();
void * deltaAngVel = m_deltaAngularVelocity->bufferOnDevice();
simpleContactSolverClearDeltaVelocity((float3 *)deltaLinVel,
(float3 *)deltaAngVel,
splitBufLength);
int i;
for(i=0; i< numiterations; i++) {
// compute impulse and velocity changes per contact
collisionres::resolveCollision((ContactConstraint *)constraint,
(float3 *)contactLinearVel,
(float3 *)deltaLinVel,
(uint2 *)pairs,
(uint2 *)splits,
(float *)splitMass,
(ContactData *)contacts,
numContacts * 2);
CudaBase::CheckCudaError("jacobi solver resolve collision");
#if 0
unsigned ii = i;
svlg.write(ii);
#endif
#if 0
svlg.writeVec3(m_deltaLinearVelocity, numContacts * 2,
"deltaV_b4", CudaDbgLog::FAlways);
#endif
simpleContactSolverAverageVelocities((float3 *)deltaLinVel,
(float3 *)deltaAngVel,
(uint *)bodyCount,
(KeyValuePair *)bodyContactHash,
splitBufLength);
CudaBase::CheckCudaError("jacobi solver average velocity");
#if 0
svlg.writeVec3(m_deltaLinearVelocity, numContacts * 2,
"deltaV_avg", CudaDbgLog::FAlways);
#endif
collisionres::resolveFriction((ContactConstraint *)constraint,
(float3 *)contactLinearVel,
(float3 *)deltaLinVel,
(uint2 *)pairs,
(uint2 *)splits,
(float *)splitMass,
(ContactData *)contacts,
numContacts * 2);
CudaBase::CheckCudaError("jacobi solver resolve friction");
simpleContactSolverAverageVelocities((float3 *)deltaLinVel,
(float3 *)deltaAngVel,
(uint *)bodyCount,
(KeyValuePair *)bodyContactHash,
splitBufLength);
CudaBase::CheckCudaError("jacobi solver average velocity");
}
// 2 tet per contact, 4 pnt per tet, key is pnt index, value is tet index in split
const unsigned pntHashBufLength = iRound1024(numContacts * 2 * 4);
// std::cout<<"\n pntHashBufLength"<<pntHashBufLength
// <<" numContact"<<numContacts;
m_pntTetHash[0]->create(pntHashBufLength * 8);
m_pntTetHash[1]->create(pntHashBufLength * 8);
void * pntTetHash = m_pntTetHash[0]->bufferOnDevice();
simpleContactSolverWritePointTetHash((KeyValuePair *)pntTetHash,
(uint2 *)pairs,
(uint2 *)splits,
(uint *)bodyCount,
(uint4 *)m_bodyTetInd->bufferOnDevice(),
numContacts * 2,
pntHashBufLength);
CudaBase::CheckCudaError(// CudaBase::Synchronize(),
"jacobi solver point-tetra hash");
void * intermediate = m_pntTetHash[1]->bufferOnDevice();
RadixSort((KeyValuePair *)pntTetHash, (KeyValuePair *)intermediate, pntHashBufLength, 24);
#if 0
svlg.writeHash(m_pntTetHash[1], numContacts * 2,
"pnttet_hash", CudaDbgLog::FAlways);
#endif
contactsolver::updateImpulse((float3 *)linearImpulse,
(float3 *)deltaLinVel,
(float3 *)deltaAngVel,
(KeyValuePair *)pntTetHash,
(uint2 *)pairs,
(uint2 *)splits,
(ContactConstraint *)constraint,
(ContactData *)contacts,
(float3 *)pos,
(uint4 *)ind,
(uint * )perObjPointStart,
(uint * )perObjectIndexStart,
numContacts * 2 * 4);
CudaBase::CheckCudaError(// CudaBase::Synchronize(),
"jacobi solver update velocity");
}
