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Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

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Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
2014-01-04 20:54:27 -08:00
parent 999c5ff766
commit 271f458837
52 changed files with 3368 additions and 727 deletions
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10
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
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@@ -1,7 +1,7 @@
#include "b3GpuRaycast.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
@@ -75,7 +75,7 @@ bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vect
return false;
}
bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronCL& poly,
bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly,
const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal)
{
float exitFraction = hitFraction;
@@ -125,7 +125,7 @@ bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const
}
void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
int numBodies,const struct b3RigidBodyData* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
// return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
@@ -173,7 +173,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
const b3ConvexPolyhedronCL& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData->m_convexFaces, hitFraction, hitNormal))
{
hitBodyIndex = b;
@@ -206,7 +206,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
}
///todo: add some acceleration structure (AABBs, tree etc)
void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);

29
src/Bullet3OpenCL/Raycast/b3GpuRaycast.h
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@@ -18,40 +18,15 @@ public:
virtual ~b3GpuRaycast();
void castRaysHost(const b3AlignedObjectArray<b3RayInfo>& raysIn, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies, const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables,
int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
const struct b3GpuNarrowPhaseInternalData* narrowphaseData);
void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables,
int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
const struct b3GpuNarrowPhaseInternalData* narrowphaseData
);
/* const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
const b3OpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
const b3OpenCLArray<b3Vector3>& vertices,
const b3OpenCLArray<b3Vector3>& uniqueEdges,
const b3OpenCLArray<b3GpuFace>& faces,
const b3OpenCLArray<int>& indices,
const b3OpenCLArray<b3Collidable>& gpuCollidables,
const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
const b3OpenCLArray<b3YetAnotherAabb>& clAabbs,
b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
b3OpenCLArray<b3BvhInfo>* bvhInfo,
int numObjects,
int maxTriConvexPairCapacity,
b3OpenCLArray<b3Int4>& triangleConvexPairs,
int& numTriConvexPairsOut
*/
};