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more fixes towards working convex-convex, in case of (too) many edge-edge cases:

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1) sample directions over a unit sphere and
2) add a contact, using mpr
add missing bullet.pc.cmake file (for old Bullet 2.x)
This commit is contained in:
erwin coumans
2014-01-09 16:22:34 -08:00
parent 080d22d6ec
commit 2e55d03fd9
11 changed files with 603 additions and 72 deletions
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103
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -17,6 +17,7 @@ bool findSeparatingAxisOnGpu = true;
bool splitSearchSepAxisConcave = false;
bool splitSearchSepAxisConvex = true;
bool useMprGpu = false;//use mpr for edge-edge (+contact point) or sat. Needs testing on main OpenCL platforms, before enabling...
bool useUnitDirections = false;
bool bvhTraversalKernelGPU = true;
bool findConcaveSeparatingAxisKernelGPU = true;
bool clipConcaveFacesAndFindContactsCPU = false;//false;//true;
@@ -118,7 +119,8 @@ m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue),
m_dmins(m_context,m_queue)
m_dmins(m_context,m_queue),
m_unitSphereDirections(m_context,m_queue)
{
m_totalContactsOut.push_back(0);
@@ -134,8 +136,8 @@ m_dmins(m_context,m_queue)
// sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/sat.cl");
//#endif
m_mprPenetrationKernel = 0;
if (useMprGpu)
m_findSeparatingAxisUnitSphereKernel = 0;
if (useMprGpu||useUnitDirections)
{
cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,mprSrc,&errNum,flags,BT_NARROWPHASE_MPR_PATH);
b3Assert(errNum==CL_SUCCESS);
@@ -143,6 +145,16 @@ m_dmins(m_context,m_queue)
m_mprPenetrationKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,mprSrc, "mprPenetrationKernel",&errNum,mprProg );
b3Assert(m_mprPenetrationKernel);
b3Assert(errNum==CL_SUCCESS);
m_findSeparatingAxisUnitSphereKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,mprSrc, "findSeparatingAxisUnitSphereKernel",&errNum,mprProg );
b3Assert(m_findSeparatingAxisUnitSphereKernel);
b3Assert(errNum==CL_SUCCESS);
int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
m_unitSphereDirections.resize(numDirections);
m_unitSphereDirections.copyFromHostPointer(unitSphere162,numDirections,0,true);
}
@@ -278,6 +290,9 @@ GpuSatCollision::~GpuSatCollision()
if (m_mprPenetrationKernel)
clReleaseKernel(m_mprPenetrationKernel);
if (m_findSeparatingAxisUnitSphereKernel)
clReleaseKernel(m_findSeparatingAxisUnitSphereKernel);
if (m_findSeparatingAxisKernel)
clReleaseKernel(m_findSeparatingAxisKernel);
@@ -3108,9 +3123,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
m_dmins.resize(nPairs);
if (splitSearchSepAxisConvex)
{
if (useMprGpu)
{
nContacts = m_totalContactsOut.at(0);
nContacts = m_totalContactsOut.at(0);
{
B3_PROFILE("mprPenetrationKernel");
b3BufferInfoCL bInfo[] = {
@@ -3142,7 +3159,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
*/
nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts);
//printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
// printf("nContacts (after mprPenetrationKernel) = %d\n",nContacts);
if (nContacts>maxContactCapacity)
{
@@ -3151,37 +3168,67 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
}
} //else
}
// else
if (1)
{
{
B3_PROFILE("findSeparatingAxisVertexFaceKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_dmins.getBufferCL())
};
B3_PROFILE("findSeparatingAxisVertexFaceKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_dmins.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisVertexFaceKernel,"findSeparatingAxisVertexFaceKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
b3LauncherCL launcher(m_queue, m_findSeparatingAxisVertexFaceKernel,"findSeparatingAxisVertexFaceKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
}
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
}
if (useUnitDirections)
{
B3_PROFILE("findSeparatingAxisUnitSphereKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( m_unitSphereDirections.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_dmins.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisUnitSphereKernel,"findSeparatingAxisUnitSphereKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
launcher.setConst( numDirections);
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
} else
{
B3_PROFILE("findSeparatingAxisEdgeEdgeKernel");
b3BufferInfoCL bInfo[] = {