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SolverGPU.cu
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#include "SolverGPU.cuh"
void check(cudaError x) {
fprintf(stderr, "%s\n", cudaGetErrorString(x));
}
typedef unsigned long uint64_t;
void PrintCudaCards()
{
int GPU_N;
printf("Starting MultiGPU\n");
cudaGetDeviceCount(&GPU_N);
if (GPU_N > 4)
{
GPU_N = 4;
}
printf("CUDA-capable device count: %i\n", GPU_N);
}
__global__ void initkernelParticals(Player *bots,int numElements, GameConstants* gconst)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
for (int pos = tid; pos < numElements; pos += threadN)
{
for (int l=0;l<gconst->TypeSize;l++)
{
bots[pos].typeAmount[l]=0;
for (int l1=0;l1<gconst->TypeSize;l1++)
{
bots[pos].typeAmountPP[l][l1]=0;
}
}
}
}
__device__ inline float cLength(Vec3 v)
{
float lSq = cLengthSq(v);
if (lSq>0.0f)
return sqrtf(lSq);
else
return 0.0f;
}
__device__ inline float cLengthSq(Vec3 v)
{
return Dot(v,v);
}
__device__ inline Vec3 cSafeNormalize(Vec3 v, Vec3 fallback)
{
float l = cLengthSq(v);
if (l > 0.0f)
{
return v * cInvSqrt(l);
}
else
return fallback;
}
__device__ inline float cDistance(Vec3 v1, Vec3 v2)
{
return cLength(v1-v2);
}
__device__ inline float cInvSqrt(float x)
{
return 1.0f/sqrtf(x);
}
__device__ Vec3 projectUonV(const Vec3& u, const Vec3& v)
{
Vec3 r=Vec3(0,0,0);
float DotVV=Dot(v, v);
if(DotVV!=0)
r = v* (Dot(u, v)/DotVV);
return r;
}
__device__ void performCollision(Player& s1, Player& s2)
{
float softCoeff=0.973f;
Vec3 nv1; // new velocity for sphere 1
Vec3 nv2; // new velocity for sphere 2
// this can probably be optimised a bit, but it basically swaps the velocity amounts
// that are perpendicular to the surface of the collistion.
// If the spheres had different masses, then u would need to scale the amounts of
// velocities exchanged inversely proportional to their masses.
nv1 = s1.velocity;
nv1 =nv1+ projectUonV(s2.velocity, s2.currPos- s1.currPos);
nv1 =nv1- projectUonV(s1.velocity, s1.currPos- s2.currPos);
nv2 = s2.velocity;
nv2 =nv2+ projectUonV(s1.velocity, s2.currPos- s1.currPos);
nv2 =nv2- projectUonV(s2.velocity, s1.currPos- s2.currPos);
s1.velocity = softCoeff*nv1;
s2.velocity = softCoeff*nv2;
}
__device__ inline int array2D(int a, int b, int numElements)
{
return a*numElements+b;
}
__global__ void UpdateBallVelocity(Player* bot, Constraint* allconstr, GameConstants* gconst,int numElements)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float m=10.0f;
float deltaTime=gconst->deltaTime;
for (int pos = tid; pos < numElements; pos += threadN)
{
Vec3 directForce=Vec3(0,0,0);
for (int i = 0; i< numElements; i++)
{
if(pos!=i)
{
bool collide=false;
bot[pos].force=0.0f;
float dotV2=cDistance(bot[pos].currPos,bot[i].currPos);
float dotV=cDistance(bot[pos].currPos,bot[i].currPos)-(bot[pos].radius+bot[i].radius);
float dotVC=cDistance(bot[pos].currPos,Vec3(0,0,0));
Vec3 directPP=bot[pos].currPos-bot[i].currPos;
if(dotV<0.0f)
{
collide=true;
}
if(dotV<15.0f)
// if(bot[pos].link)
{
if(LinksField[bot[pos].type][bot[i].type]==1)
bot[pos].force-=directPP*gconst->gravconst2*(bot[pos].mass*bot[i].mass)/(dotV2*dotV2+0.001f);
else {
bot[pos].force+=directPP*gconst->gravconst2*(bot[pos].mass*bot[i].mass)/(dotV2*dotV2+0.001f);
}
}
if (allconstr[array2D(pos,i,numElements)].active )
//or allconstr[array2D(i,pos,numElements)].active)
{
if (dotV>gconst->constrLenth)
//bot[pos].force-=directPP*gconst->gravconst*(bot[pos].mass*bot[i].mass)/(1-(dotV2-gconst->constrLenth)/gconst->constrLenth);
bot[pos].force-=directPP*gconst->gravconst*(bot[pos].mass*bot[i].mass)/abs(1-(dotV-gconst->constrLenth)/gconst->constrLenth);
if(dotV<gconst->constrLenth)
//bot[pos].force+=directPP*gconst->gravconst*(bot[pos].mass*bot[i].mass)/(1-(gconst->constrLenth-dotV2)/gconst->constrLenth);
bot[pos].force+=directPP*gconst->gravconst*(bot[pos].mass*bot[i].mass)/abs(1-(gconst->constrLenth-dotV)/gconst->constrLenth);
}
else
{
if(dotVC>175)
{
bot[pos].force-=directPP*gconst->gravconst*(bot[pos].mass*bot[pos].mass)/(dotVC*dotVC+0.001f);
//bot[pos].velocity=bot[pos].velocity+deltaTime*bot[pos].force;
}
}
bot[pos].velocity=bot[pos].velocity+deltaTime*bot[pos].force;
if(collide)
{
//move to real point of collide
float dotV2=cDistance(bot[pos].currPos,bot[i].currPos);
float dist=0.001+(bot[pos].radius+bot[i].radius)-dotV2;
float distHalf=dist/2.f;
Vec3 directPP=bot[pos].currPos-bot[i].currPos;
bot[pos].currPos=bot[pos].currPos+ distHalf*cSafeNormalize(directPP,Vec3(0,0,0));
bot[i].currPos=bot[i].currPos- distHalf*cSafeNormalize(directPP,Vec3(0,0,0));
if(!bot[pos].collide)
{
bot[pos].collide=true;
bot[i].collide=true;
performCollision(bot[pos],bot[i]);
bot[i].force=Vec3(0,0,0);
bot[pos].force=Vec3(0,0,0);
}
}
}
}
}
}
__global__ void UpdateBallPos(Player* bot, GameConstants* gconst, int numElements)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float deltaTime=gconst->deltaTime;
for (int pos = tid; pos < numElements; pos += threadN)
{
//float dotV=cDistance(bot[pos].currPos,Vec3(0,0,0));
// if(dotV>95.0f)
// bot[pos].velocity=-0.75f*bot[pos].velocity;
if(cLength(bot[pos].velocity)>gconst->speedLimit)
{
bot[pos].velocity=cSafeNormalize(bot[pos].velocity, Vec3(0,0,0))*gconst->speedLimit;
}
/*
int sumlink=0;
for(int l=0;l<3;l++)
{
sumlink+=bot[pos].typeAmount[l];
}
if(sumlink>0)
bot[pos].link=true;
else {
bot[pos].link=false;
}
*/
//if(abs(bot[pos].currPos.x)>gconst->WIDTH)
// bot[pos].velocity.x=-bot[pos].velocity.x;
//if(abs(bot[pos].currPos.y)>gconst->HEIGHT)
// bot[pos].velocity.y=-bot[pos].velocity.y;
//if(abs(bot[pos].currPos.z)>gconst->DEPTH)
// bot[pos].velocity.z=-bot[pos].velocity.z;
bot[pos].currPos=bot[pos].currPos+deltaTime*bot[pos].velocity;
bot[pos].collide=false;
bot[pos].velocity_old=bot[pos].velocity;
}
}
__global__ void UpdateBallPos2(Player* bot, int numElements)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float m=10.0f;
float deltaTime=0.01f;
for (int pos = tid; pos < numElements; pos += threadN)
{
//float dotV=cDistance(bot[pos].currPos,Vec3(0,0,0));
// if(dotV>95.0f)
// bot[pos].velocity=-0.75f*bot[pos].velocity;
// bot[pos].accelerate=bot[pos].force/bot[pos].mass;
bot[pos].velocity=bot[pos].velocity+deltaTime*bot[pos].accelerate;
bot[pos].currPos=bot[pos].currPos+deltaTime*bot[pos].velocity;
bot[pos].collide=false;
bot[pos].velocity_old=bot[pos].velocity;
bot[pos].force=Vec3(0, 0, 0);
}
}
__global__ void UpdateConstrains2(Player* bot, Constraint* constr, Constraint* allconstr, GameConstants* gconst, int numElements, int numElements2)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float m=10.0f;
float deltaTime=gconst->deltaTime;
for (int pos = tid; pos < numElements; pos += threadN)
{
for (int i = 0; i< numElements; i++)
{
if(pos!=i)
{
float dotV=cDistance(bot[pos].currPos,bot[i].currPos)-(bot[pos].radius+bot[i].radius);
allconstr[array2D(pos,i, gconst->number_of_bots)].restlength=dotV;
if(dotV<gconst->constrLenthCreate && Links[bot[pos].type][bot[i].type]==1
// && bot[pos].typeAmount[bot[i].type]<LinkTypeSize[bot[i].type]
&& bot[pos].typeAmount[bot[i].type]<LinkTypeSize[bot[i].type]
&& bot[i].typeAmount[bot[pos].type]<LinkTypeSize[bot[pos].type]
&& bot[pos].typeAmountPP[bot[pos].type][bot[i].type]<LinkTypePP[bot[pos].type][bot[i].type]
&& bot[i].typeAmountPP[bot[i].type][bot[pos].type]<LinkTypePP[bot[i].type][bot[pos].type]
&& (allconstr[array2D(pos,i, gconst->number_of_bots)].active!=true or
allconstr[array2D(i,pos, gconst->number_of_bots)].active!=true)
//&& bot[i].typeAmount[bot[pos].type]<LinkTypeSize[bot[pos].type]
)
{
//constr[pos].active=true;
// atomicAdd(&bot[pos].typeAmount[bot[i].type],1);
// atomicAdd(&bot[i].typeAmount[bot[pos].type],1);
bot[pos].typeAmount[bot[i].type]+=1;
bot[i].typeAmount[bot[pos].type]+=1;
bot[pos].typeAmountPP[bot[pos].type][bot[i].type]+=1;
bot[i].typeAmountPP[bot[i].type][bot[pos].type]+=1;
allconstr[array2D(pos,i, gconst->number_of_bots)].active=true;
allconstr[array2D(i,pos, gconst->number_of_bots)].active=true;
bot[pos].link=true;
bot[i].link=true;
}
}
}
}
}
__global__ void UpdateConstrains3(Player* bot, Constraint* constr, Constraint* allconstr, GameConstants* gconst, int numElements, int numElements2)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float m=10.0f;
float deltaTime=gconst->deltaTime;
for (int pos = tid; pos < numElements; pos += threadN)
{
for (int i = 0; i< numElements; i++)
{
if(pos!=i)
{
float dotV=cDistance(bot[pos].currPos,bot[i].currPos)-(bot[pos].radius+bot[i].radius);
allconstr[array2D(pos,i, gconst->number_of_bots)].restlength=dotV;
if(dotV>=gconst->constrLenthCreate &&
(allconstr[array2D(pos,i, gconst->number_of_bots)].active==true
or
allconstr[array2D(i,pos, gconst->number_of_bots)].active==true))
{
/*
if(bot[pos].typeAmount[bot[i].type]>0)
atomicAdd(&bot[pos].typeAmount[bot[i].type],-1);
if(bot[i].typeAmount[bot[pos].type]>0)
atomicAdd(&bot[i].typeAmount[bot[pos].type],-1);
*/
if(bot[pos].typeAmount[bot[i].type]>0)
bot[pos].typeAmount[bot[i].type]-=1;
if(bot[i].typeAmount[bot[pos].type]>0)
bot[i].typeAmount[bot[pos].type]-=1;
if(bot[pos].typeAmount[bot[i].type]<=0)
{
bot[pos].typeAmount[bot[i].type]=0;
bot[pos].link=false;
}
if(bot[i].typeAmount[bot[pos].type]<=0)
{
bot[i].typeAmount[bot[pos].type]=0;
bot[i].link=false;
}
if(bot[pos].typeAmountPP[bot[pos].type][bot[i].type]>0)
bot[pos].typeAmountPP[bot[pos].type][bot[i].type]-=1;
if(bot[i].typeAmountPP[bot[i].type][bot[pos].type]>0)
bot[i].typeAmountPP[bot[i].type][bot[pos].type]-=1;
if(bot[pos].typeAmountPP[bot[pos].type][bot[i].type]<=0)
{
bot[pos].typeAmountPP[bot[pos].type][bot[i].type]=0;
}
if(bot[i].typeAmountPP[bot[i].type][bot[pos].type]<=0)
{
bot[i].typeAmountPP[bot[i].type][bot[pos].type]=0;
bot[i].link=false;
}
allconstr[array2D(pos,i, gconst->number_of_bots)].active=false;
allconstr[array2D(i,pos, gconst->number_of_bots)].active=false;
}
}
}
}
}
__global__ void UpdateConstrains(Player* bot, Constraint* constr, Constraint* allconstr, GameConstants* gconst, int numElements, int numElements2)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float m=10.0f;
float deltaTime=gconst->deltaTime;
for (int pos = tid; pos < numElements; pos += threadN)
{
float dotV=cDistance(bot[constr[pos].particleA].currPos, bot[constr[pos].particleB].currPos)-(bot[constr[pos].particleA].radius+bot[constr[pos].particleB].radius);
constr[pos].restlength=dotV;
/*
if (pos == 0)
{
for (int i = 0; i < 3; ++i)
printf(" particals type %1d %5d ", i, bot[constr[pos].particleA].typeAmount[i]);
printf("\n");
}
*/
if(dotV<5.5f && (Links[bot[constr[pos].particleA].type][bot[constr[pos].particleB].type]==1) &&
bot[constr[pos].particleA].typeAmount[bot[constr[pos].particleB].type]<LinkTypeSize[bot[constr[pos].particleB].type] &&
bot[constr[pos].particleB].typeAmount[bot[constr[pos].particleA].type]<LinkTypeSize[bot[constr[pos].particleA].type]
)
{
constr[pos].active=true;
bot[constr[pos].particleA].typeAmount[bot[constr[pos].particleB].type]+=1;
bot[constr[pos].particleB].typeAmount[bot[constr[pos].particleA].type]+=1;
allconstr[array2D(constr[pos].particleA,constr[pos].particleB, numElements2)].active=true;
allconstr[array2D(constr[pos].particleB,constr[pos].particleA, numElements2)].active=true;
}
else
{
if(bot[constr[pos].particleA].typeAmount[bot[constr[pos].particleB].type]>0)
bot[constr[pos].particleA].typeAmount[bot[constr[pos].particleB].type]-=1;
if(bot[constr[pos].particleB].typeAmount[bot[constr[pos].particleA].type]>0)
bot[constr[pos].particleB].typeAmount[bot[constr[pos].particleA].type]-=1;
constr[pos].active=false;
allconstr[array2D(constr[pos].particleA,constr[pos].particleB, numElements2)].active=false;
allconstr[array2D(constr[pos].particleB,constr[pos].particleA, numElements2)].active=false;
}
}
}
__global__ void CalcConstrains(Player* bot, Constraint* constr, int numElements)
{
int tid = blockIdx.x * blockDim.x + threadIdx.x;
int threadN = gridDim.x * blockDim.x;
float m=10.0f;
float deltaTime=0.01f;
float gravconst=10.0f;
for (int pos = tid; pos < numElements; pos += threadN)
{
//float dotV=cDistance(bot[constr[pos].particleA].currPos, bot[constr[pos].particleB].currPos);
float dotV=constr[pos].restlength;
bool collide=false;
float sumForce=0.0f;
Vec3 directForce=Vec3(0,0,0);
if(dotV<(bot[constr[pos].particleA].radius+bot[constr[pos].particleB].radius))
{
collide=true;
}
else
{
int botTypeForceFlag=1.0f;
if(bot[constr[pos].particleA].type==bot[constr[pos].particleB].type)
botTypeForceFlag=-1.0f;
if(dotV>55.0f)
{
sumForce=-gravconst*(bot[constr[pos].particleA].mass*bot[constr[pos].particleB].mass)/(dotV*dotV);
}
else if(dotV<35.5f and dotV>9.5f)
{
sumForce=-botTypeForceFlag*gravconst*(bot[constr[pos].particleA].mass*bot[constr[pos].particleB].mass)/(dotV*dotV);
}
else
{
sumForce=gravconst*(bot[constr[pos].particleA].mass*bot[constr[pos].particleB].mass)/(dotV*dotV);
}
}
if(collide)
{
//move to real point of collide
float dist=0.001+(bot[constr[pos].particleA].radius+bot[constr[pos].particleB].radius)-dotV;
float distHalf=dist/2.f;
Vec3 directPP=bot[constr[pos].particleA].currPos-bot[constr[pos].particleB].currPos;
bot[constr[pos].particleA].currPos=bot[constr[pos].particleA].currPos+ distHalf*cSafeNormalize(directPP,Vec3(0,0,0));
bot[constr[pos].particleB].currPos=bot[constr[pos].particleB].currPos+ distHalf*cSafeNormalize(-directPP,Vec3(0,0,0));
bot[constr[pos].particleA].collide=true;
bot[constr[pos].particleB].collide=true;
performCollision(bot[constr[pos].particleA],bot[constr[pos].particleB]);
directForce=Vec3(0,0,0);
sumForce=0;
}
Vec3 directPP=bot[constr[pos].particleA].currPos-bot[constr[pos].particleB].currPos;
bot[constr[pos].particleA].force=bot[constr[pos].particleA].force+sumForce*cSafeNormalize(directPP,Vec3(0,0,0));
bot[constr[pos].particleB].force=bot[constr[pos].particleB].force-sumForce*cSafeNormalize(directPP,Vec3(0,0,0));
}
}
void initTrust(thrust::host_vector<int>& a)
{
thrust::device_vector<int> D(10, 1);
thrust::copy(a.begin(), a.end(), D.begin());
// print D
for(int i = 0; i < D.size(); i++)
std::cout << "D[" << i << "] = " << D[i] << std::endl;
}
void initKernelParticals(Player *bots,int numElements, GameConstants* gconst)
{
initkernelParticals<< < int(1 + numElements/ 32), 64 >> > ( bots, numElements, gconst);
gpuAssert(cudaThreadSynchronize());
}
void updateBallVelocity(Player* bot, Constraint* allconstr,GameConstants* gconst,int numElements)
{
UpdateBallVelocity<< < int(1 + numElements / 32), 64 >> > (bot, allconstr, gconst, numElements);
gpuAssert(cudaThreadSynchronize());
UpdateBallPos << < int(1 + numElements / 32), 64 >> > (bot, gconst, numElements);
gpuAssert(cudaThreadSynchronize());
}
void updateConstrains(Player* bot, Constraint* constr, Constraint* allconstr, GameConstants* gconst, int numElements, int numElements2)
{
UpdateConstrains2 << < int(1 + numElements/ 32), 64 >> > (bot, constr, allconstr, gconst, numElements, numElements2);
gpuAssert(cudaThreadSynchronize());
UpdateConstrains3 << < int(1 + numElements/ 32), 64 >> > (bot, constr, allconstr, gconst, numElements, numElements2);
gpuAssert(cudaThreadSynchronize());
}