Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

22
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
View File

@@ -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);
}