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start implementing ray-convex on GPU (work-in-progress)

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This commit is contained in:
erwin coumans
2013-06-20 11:33:00 -07:00
parent c959f32d7e
commit 330bf3ea09
4 changed files with 421 additions and 25 deletions
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22
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
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@@ -76,14 +76,14 @@ bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vect
}
bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronCL& poly,
const struct b3GpuNarrowPhaseInternalData* narrowphaseData, float& hitFraction, b3Vector3& hitNormal)
const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal)
{
float exitFraction = hitFraction;
float enterFraction = -0.1f;
b3Vector3 curHitNormal(0,0,0);
for (int i=0;i<poly.m_numFaces;i++)
{
const b3GpuFace& face = narrowphaseData->m_convexFaces[poly.m_faceOffset+i];
const b3GpuFace& face = faces[poly.m_faceOffset+i];
float fromPlaneDist = b3Dot(rayFromLocal,face.m_plane)+face.m_plane.w;
float toPlaneDist = b3Dot(rayToLocal,face.m_plane)+face.m_plane.w;
if (fromPlaneDist<0.f)
@@ -174,7 +174,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
const b3ConvexPolyhedronCL& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData, hitFraction, hitNormal))
if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData->m_convexFaces, hitFraction, hitNormal))
{
hitBodyIndex = b;
}
@@ -218,14 +218,6 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3Align
gpuHitResults.resize(hitResults.size());
gpuHitResults.copyFromHost(hitResults);
b3OpenCLArray<b3RigidBodyCL> gpuBodies(m_data->m_context,m_data->m_q);
gpuBodies.resize(numBodies);
gpuBodies.copyFromHostPointer(bodies,numBodies);
b3OpenCLArray<b3Collidable> gpuCollidables(m_data->m_context,m_data->m_q);
gpuCollidables.resize(numCollidables);
gpuCollidables.copyFromHostPointer(collidables,numCollidables);
//run kernel
{
@@ -239,9 +231,11 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3Align
launcher.setBuffer(gpuHitResults.getBufferCL());
launcher.setConst(numBodies);
launcher.setBuffer(gpuBodies.getBufferCL());
launcher.setBuffer(gpuCollidables.getBufferCL());
launcher.setBuffer(narrowphaseData->m_bodyBufferGPU->getBufferCL());
launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL());
launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL());
launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL());
launcher.launch1D(numRays);
clFinish(m_data->m_q);
}

211
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
View File

@@ -47,6 +47,181 @@ typedef struct Collidable
} Collidable;
typedef struct
{
float4 m_localCenter;
float4 m_extents;
float4 mC;
float4 mE;
float m_radius;
int m_faceOffset;
int m_numFaces;
int m_numVertices;
int m_vertexOffset;
int m_uniqueEdgesOffset;
int m_numUniqueEdges;
int m_unused;
} ConvexPolyhedronCL;
typedef struct
{
float4 m_plane;
int m_indexOffset;
int m_numIndices;
} b3GpuFace;
///////////////////////////////////////
// Quaternion
///////////////////////////////////////
typedef float4 Quaternion;
__inline
Quaternion qtMul(Quaternion a, Quaternion b);
__inline
Quaternion qtNormalize(Quaternion in);
__inline
float4 qtRotate(Quaternion q, float4 vec);
__inline
Quaternion qtInvert(Quaternion q);
__inline
float dot3F4(float4 a, float4 b)
{
float4 a1 = (float4)(a.xyz,0.f);
float4 b1 = (float4)(b.xyz,0.f);
return dot(a1, b1);
}
__inline
Quaternion qtMul(Quaternion a, Quaternion b)
{
Quaternion ans;
ans = cross( a, b );
ans += a.w*b+b.w*a;
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
ans.w = a.w*b.w - dot3F4(a, b);
return ans;
}
__inline
Quaternion qtNormalize(Quaternion in)
{
return fast_normalize(in);
// in /= length( in );
// return in;
}
__inline
float4 qtRotate(Quaternion q, float4 vec)
{
Quaternion qInv = qtInvert( q );
float4 vcpy = vec;
vcpy.w = 0.f;
float4 out = qtMul(qtMul(q,vcpy),qInv);
return out;
}
__inline
Quaternion qtInvert(Quaternion q)
{
return (Quaternion)(-q.xyz, q.w);
}
__inline
float4 qtInvRotate(const Quaternion q, float4 vec)
{
return qtRotate( qtInvert( q ), vec );
}
__inline
float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
{
return qtRotate( *orientation, *p ) + (*translation);
}
void trInverse(float4 translationIn, Quaternion orientationIn,
float4* translationOut, Quaternion* orientationOut)
{
*orientationOut = qtInvert(orientationIn);
*translationOut = qtRotate(*orientationOut, -translationIn);
}
void trMul(float4 translationA, Quaternion orientationA,
float4 translationB, Quaternion orientationB,
float4* translationOut, Quaternion* orientationOut)
{
*orientationOut = qtMul(orientationA,orientationB);
*translationOut = transform(&translationB,&translationA,&orientationA);
}
bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,
__global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)
{
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
float exitFraction = *hitFraction;
float enterFraction = -0.1f;
float4 curHitNormal = (float4)(0,0,0,0);
for (int i=0;i<numFaces;i++)
{
b3GpuFace face = faces[faceOffset+i];
float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;
float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;
if (fromPlaneDist<0.f)
{
if (toPlaneDist >= 0.f)
{
float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
if (exitFraction>fraction)
{
exitFraction = fraction;
}
}
} else
{
if (toPlaneDist<0.f)
{
float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
if (enterFraction <= fraction)
{
enterFraction = fraction;
curHitNormal = face.m_plane;
curHitNormal.w = 0.f;
}
} else
{
return false;
}
}
if (exitFraction <= enterFraction)
return false;
}
if (enterFraction < 0.f)
return false;
*hitFraction = enterFraction;
*hitNormal = curHitNormal;
return true;
}
bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)
{
@@ -88,10 +263,11 @@ __kernel void rayCastKernel(
__global b3RayHit* hitResults,
const int numBodies,
__global Body* bodies,
__global Collidable* collidables)
__global Collidable* collidables,
__global const b3GpuFace* faces,
__global const ConvexPolyhedronCL* convexShapes )
{
int i = get_global_id(0);
if (i<numRays)
{
@@ -100,6 +276,8 @@ __kernel void rayCastKernel(
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
float hitFraction = 1.f;
float4 hitPoint;
float4 hitNormal;
int hitBodyIndex= -1;
int cachedCollidableIndex = -1;
@@ -109,7 +287,7 @@ __kernel void rayCastKernel(
{
float4 pos = bodies[b].m_pos;
// float4 orn = bodies[b].m_quat;
float4 orn = bodies[b].m_quat;
if (cachedCollidableIndex !=bodies[b].m_collidableIdx)
{
cachedCollidableIndex = bodies[b].m_collidableIdx;
@@ -123,15 +301,38 @@ __kernel void rayCastKernel(
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
hitNormal = (float4) (hitPoint-bodies[b].m_pos);
}
}
if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)
{
float4 invPos = (float4)(0,0,0,0);
float4 invOrn = (float4)(0,0,0,0);
float4 rayFromLocal = (float4)(0,0,0,0);
float4 rayToLocal = (float4)(0,0,0,0);
trInverse(pos,orn, &invPos, &invOrn);
rayFromLocal = transform(&rayFrom, &invPos, &invOrn);
rayToLocal = transform(&rayTo, &invPos, &invOrn);
int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;
int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;
if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
{
hitBodyIndex = b;
}
}
}
if (hitBodyIndex>=0)
{
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
float4 hitNormal = (float4) (hitResults[i].m_hitPoint-bodies[hitBodyIndex].m_pos);
hitResults[i].m_hitPoint = hitPoint;
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
}

211
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
View File

@@ -49,6 +49,181 @@ static const char* rayCastKernelCL= \
"} Collidable;\n"
"\n"
"\n"
"typedef struct \n"
"{\n"
" float4 m_localCenter;\n"
" float4 m_extents;\n"
" float4 mC;\n"
" float4 mE;\n"
" \n"
" float m_radius;\n"
" int m_faceOffset;\n"
" int m_numFaces;\n"
" int m_numVertices;\n"
" \n"
" int m_vertexOffset;\n"
" int m_uniqueEdgesOffset;\n"
" int m_numUniqueEdges;\n"
" int m_unused;\n"
"\n"
"} ConvexPolyhedronCL;\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_plane;\n"
" int m_indexOffset;\n"
" int m_numIndices;\n"
"} b3GpuFace;\n"
"\n"
"\n"
"\n"
"///////////////////////////////////////\n"
"// Quaternion\n"
"///////////////////////////////////////\n"
"\n"
"typedef float4 Quaternion;\n"
"\n"
"__inline\n"
"Quaternion qtMul(Quaternion a, Quaternion b);\n"
"\n"
"__inline\n"
"Quaternion qtNormalize(Quaternion in);\n"
"\n"
"__inline\n"
"float4 qtRotate(Quaternion q, float4 vec);\n"
"\n"
"__inline\n"
"Quaternion qtInvert(Quaternion q);\n"
"\n"
"\n"
"__inline\n"
"float dot3F4(float4 a, float4 b)\n"
"{\n"
" float4 a1 = (float4)(a.xyz,0.f);\n"
" float4 b1 = (float4)(b.xyz,0.f);\n"
" return dot(a1, b1);\n"
"}\n"
"\n"
"\n"
"__inline\n"
"Quaternion qtMul(Quaternion a, Quaternion b)\n"
"{\n"
" Quaternion ans;\n"
" ans = cross( a, b );\n"
" ans += a.w*b+b.w*a;\n"
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
" ans.w = a.w*b.w - dot3F4(a, b);\n"
" return ans;\n"
"}\n"
"\n"
"__inline\n"
"Quaternion qtNormalize(Quaternion in)\n"
"{\n"
" return fast_normalize(in);\n"
"// in /= length( in );\n"
"// return in;\n"
"}\n"
"__inline\n"
"float4 qtRotate(Quaternion q, float4 vec)\n"
"{\n"
" Quaternion qInv = qtInvert( q );\n"
" float4 vcpy = vec;\n"
" vcpy.w = 0.f;\n"
" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
" return out;\n"
"}\n"
"\n"
"__inline\n"
"Quaternion qtInvert(Quaternion q)\n"
"{\n"
" return (Quaternion)(-q.xyz, q.w);\n"
"}\n"
"\n"
"__inline\n"
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
"{\n"
" return qtRotate( qtInvert( q ), vec );\n"
"}\n"
"\n"
"__inline\n"
"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
"{\n"
" return qtRotate( *orientation, *p ) + (*translation);\n"
"}\n"
"\n"
"void trInverse(float4 translationIn, Quaternion orientationIn,\n"
" float4* translationOut, Quaternion* orientationOut)\n"
"{\n"
" *orientationOut = qtInvert(orientationIn);\n"
" *translationOut = qtRotate(*orientationOut, -translationIn);\n"
"}\n"
"\n"
"void trMul(float4 translationA, Quaternion orientationA,\n"
" float4 translationB, Quaternion orientationB,\n"
" float4* translationOut, Quaternion* orientationOut)\n"
"{\n"
" *orientationOut = qtMul(orientationA,orientationB);\n"
" *translationOut = transform(&translationB,&translationA,&orientationA);\n"
"}\n"
"\n"
"\n"
"\n"
"bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,\n"
" __global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)\n"
"{\n"
" rayFromLocal.w = 0.f;\n"
" rayToLocal.w = 0.f;\n"
"\n"
" float exitFraction = *hitFraction;\n"
" float enterFraction = -0.1f;\n"
" float4 curHitNormal = (float4)(0,0,0,0);\n"
" for (int i=0;i<numFaces;i++)\n"
" {\n"
" b3GpuFace face = faces[faceOffset+i];\n"
" float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;\n"
" float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;\n"
" if (fromPlaneDist<0.f)\n"
" {\n"
" if (toPlaneDist >= 0.f)\n"
" {\n"
" float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
" if (exitFraction>fraction)\n"
" {\n"
" exitFraction = fraction;\n"
" }\n"
" } \n"
" } else\n"
" {\n"
" if (toPlaneDist<0.f)\n"
" {\n"
" float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
" if (enterFraction <= fraction)\n"
" {\n"
" enterFraction = fraction;\n"
" curHitNormal = face.m_plane;\n"
" curHitNormal.w = 0.f;\n"
" }\n"
" } else\n"
" {\n"
" return false;\n"
" }\n"
" }\n"
" if (exitFraction <= enterFraction)\n"
" return false;\n"
" }\n"
"\n"
" if (enterFraction < 0.f)\n"
" return false;\n"
"\n"
" *hitFraction = enterFraction;\n"
" *hitNormal = curHitNormal;\n"
" return true;\n"
"}\n"
"\n"
"\n"
"\n"
"\n"
"\n"
"\n"
"bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n"
"{\n"
@@ -90,10 +265,11 @@ static const char* rayCastKernelCL= \
" __global b3RayHit* hitResults, \n"
" const int numBodies, \n"
" __global Body* bodies,\n"
" __global Collidable* collidables)\n"
" __global Collidable* collidables,\n"
" __global const b3GpuFace* faces,\n"
" __global const ConvexPolyhedronCL* convexShapes )\n"
"{\n"
"\n"
"\n"
" int i = get_global_id(0);\n"
" if (i<numRays)\n"
" {\n"
@@ -102,6 +278,8 @@ static const char* rayCastKernelCL= \
" float4 rayFrom = rays[i].m_from;\n"
" float4 rayTo = rays[i].m_to;\n"
" float hitFraction = 1.f;\n"
" float4 hitPoint;\n"
" float4 hitNormal;\n"
" int hitBodyIndex= -1;\n"
" \n"
" int cachedCollidableIndex = -1; \n"
@@ -111,7 +289,7 @@ static const char* rayCastKernelCL= \
" {\n"
" \n"
" float4 pos = bodies[b].m_pos;\n"
" // float4 orn = bodies[b].m_quat;\n"
" float4 orn = bodies[b].m_quat;\n"
" if (cachedCollidableIndex !=bodies[b].m_collidableIdx)\n"
" {\n"
" cachedCollidableIndex = bodies[b].m_collidableIdx;\n"
@@ -125,15 +303,38 @@ static const char* rayCastKernelCL= \
" if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n"
" {\n"
" hitBodyIndex = b;\n"
" hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
" hitNormal = (float4) (hitPoint-bodies[b].m_pos);\n"
" }\n"
" }\n"
" \n"
" if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
" {\n"
" \n"
" float4 invPos = (float4)(0,0,0,0);\n"
" float4 invOrn = (float4)(0,0,0,0);\n"
" float4 rayFromLocal = (float4)(0,0,0,0);\n"
" float4 rayToLocal = (float4)(0,0,0,0);\n"
" \n"
" trInverse(pos,orn, &invPos, &invOrn);\n"
" rayFromLocal = transform(&rayFrom, &invPos, &invOrn);\n"
" rayToLocal = transform(&rayTo, &invPos, &invOrn);\n"
" \n"
" int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;\n"
" int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;\n"
" \n"
" if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
" {\n"
" hitBodyIndex = b;\n"
" }\n"
" }\n"
" \n"
" }\n"
" \n"
" if (hitBodyIndex>=0)\n"
" {\n"
" hitResults[i].m_hitFraction = hitFraction;\n"
" hitResults[i].m_hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
" float4 hitNormal = (float4) (hitResults[i].m_hitPoint-bodies[hitBodyIndex].m_pos);\n"
" hitResults[i].m_hitPoint = hitPoint;\n"
" hitResults[i].m_hitNormal = normalize(hitNormal);\n"
" hitResults[i].m_hitResult0 = hitBodyIndex;\n"
" }\n"

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
View File

@@ -457,7 +457,7 @@ int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
void b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults)
{
this->m_data->m_raycaster->castRaysHost(rays,hitResults,
this->m_data->m_raycaster->castRays(rays,hitResults,
getNumBodies(),this->m_data->m_narrowphase->getBodiesCpu(),
m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getInternalData()
);