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bugfix for compound versus concave: compute the DeltaC2 after computing the (child) transforms for proper center

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This commit is contained in:
erwin coumans
2013-04-12 13:02:35 -07:00
parent ec0d2ed523
commit 07b89beb39
9 changed files with 75 additions and 56 deletions
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36
opencl/gpu_sat/host/ConvexHullContact.cpp
View File

@@ -53,12 +53,17 @@ m_totalContactsOut(m_context, m_queue)
m_totalContactsOut.push_back(0);
cl_int errNum=0;
bool disableKernelCaching = true;
if (1)
{
const char* src = satKernelsCL;
cl_program satProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,"","opencl/gpu_sat/kernels/sat.cl",true);
char flags[1024]={0};
//#ifdef CL_PLATFORM_INTEL
// sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_sat/kernels/sat.cl");
//#endif
cl_program satProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,flags,"opencl/gpu_sat/kernels/sat.cl");
btAssert(errNum==CL_SUCCESS);
m_findSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisKernel",&errNum,satProg );
@@ -80,7 +85,13 @@ m_totalContactsOut(m_context, m_queue)
if (1)
{
const char* srcClip = satClipKernelsCL;
cl_program satClipContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,"","opencl/gpu_sat/kernels/satClipHullContacts.cl",true);
char flags[1024]={0};
//#ifdef CL_PLATFORM_INTEL
// sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_sat/kernels/satClipHullContacts.cl");
//#endif
cl_program satClipContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,flags,"opencl/gpu_sat/kernels/satClipHullContacts.cl");
btAssert(errNum==CL_SUCCESS);
m_clipHullHullKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullKernel",&errNum,satClipContactsProg);
@@ -120,8 +131,7 @@ m_totalContactsOut(m_context, m_queue)
if (1)
{
const char* srcBvh = bvhTraversalKernelCL;
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl",true);
//cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl", true);
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl");
btAssert(errNum==CL_SUCCESS);
m_bvhTraversalKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcBvh, "bvhTraversalKernel",&errNum,bvhTraversalProg,"");
@@ -131,7 +141,7 @@ m_totalContactsOut(m_context, m_queue)
{
const char* primitiveContactsSrc = primitiveContactsKernelsCL;
cl_program primitiveContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_sat/kernels/primitiveContacts.cl",true);
cl_program primitiveContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_sat/kernels/primitiveContacts.cl");
btAssert(errNum==CL_SUCCESS);
m_primitiveContactsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
@@ -1132,12 +1142,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.launch1D( num);
clFinish(m_queue);
btAlignedObjectArray<btVector3> cpuCompoundSepNormals;
concaveSepNormals.copyToHost(cpuCompoundSepNormals);
btAlignedObjectArray<btInt4> cpuConcavePairs;
triangleConvexPairsOut.copyToHost(cpuConcavePairs);
// btAlignedObjectArray<btVector3> cpuCompoundSepNormals;
// concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// btAlignedObjectArray<btInt4> cpuConcavePairs;
// triangleConvexPairsOut.copyToHost(cpuConcavePairs);
printf("!\n");
}
}
@@ -1345,7 +1354,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
//printf("nContacts after = %d\n", nContacts);
contactOut->resize(nContacts);
btAlignedObjectArray<btContact4> cpuContacts;
contactOut->copyToHost(cpuContacts);
// printf("nContacts after = %d\n", nContacts);
}

17
opencl/gpu_sat/host/btConvexUtility.cpp
View File

@@ -357,12 +357,18 @@ void btConvexUtility::initialize()
edge.normalize();
bool found = false;
btVector3 diff,diff2;
for (int p=0;p<m_uniqueEdges.size();p++)
{
if (IsAlmostZero(m_uniqueEdges[p]-edge) ||
IsAlmostZero(m_uniqueEdges[p]+edge))
diff = m_uniqueEdges[p]-edge;
diff2 = m_uniqueEdges[p]+edge;
// if ((diff.length2()==0.f) ||
// (diff2.length2()==0.f))
if (IsAlmostZero(diff) ||
IsAlmostZero(diff2))
{
found = true;
break;
@@ -376,8 +382,9 @@ void btConvexUtility::initialize()
if (edptr)
{
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1<0);
//TBD: figure out why I added this assert
// btAssert(edptr->m_face0>=0);
// btAssert(edptr->m_face1<0);
edptr->m_face1 = i;
} else
{