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add gjk/epa (host only), possibly improve convex-convex with many edge-edge tests

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more preparation towards persistent/incremental contact cache
This commit is contained in:
erwincoumans
2013-07-31 23:22:43 -07:00
parent 7992ff816b
commit 34de49d8a4
24 changed files with 3020 additions and 118 deletions
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38
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -25,14 +25,16 @@ m_queue(queue)
{
m_data = new b3GpuNarrowPhaseInternalData();
m_data->m_currentContactBuffer = 0;
memset(m_data,0,sizeof(b3GpuNarrowPhaseInternalData));
m_data->m_config = config;
m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>;
m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context,m_queue, config.m_maxTriConvexPairCapacity);
@@ -47,7 +49,8 @@ m_queue(queue)
m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaCL>();
m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx,queue,config.m_maxConvexShapes);
@@ -111,14 +114,17 @@ m_queue(queue)
b3GpuNarrowPhase::~b3GpuNarrowPhase()
{
delete m_data->m_gpuSatCollision;
delete m_data->m_pBufPairsCPU;
delete m_data->m_triangleConvexPairs;
//delete m_data->m_convexPairsOutGPU;
//delete m_data->m_planePairs;
delete m_data->m_pBufContactOutCPU;
delete m_data->m_bodyBufferCPU;
delete m_data->m_inertiaBufferCPU;
delete m_data->m_pBufContactOutGPU;
delete m_data->m_pBufContactBuffersGPU[0];
delete m_data->m_pBufContactBuffersGPU[1];
delete m_data->m_inertiaBufferGPU;
delete m_data->m_collidablesGPU;
delete m_data->m_localShapeAABBCPU;
@@ -707,16 +713,16 @@ int b3GpuNarrowPhase::getNumCollidablesGpu() const
int b3GpuNarrowPhase::getNumContactsGpu() const
{
return m_data->m_pBufContactOutGPU->size();
return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
}
cl_mem b3GpuNarrowPhase::getContactsGpu()
{
return m_data->m_pBufContactOutGPU->getBufferCL();
return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->getBufferCL();
}
const b3Contact4* b3GpuNarrowPhase::getContactsCPU() const
{
m_data->m_pBufContactOutGPU->copyToHost(*m_data->m_pBufContactOutCPU);
m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->copyToHost(*m_data->m_pBufContactOutCPU);
return &m_data->m_pBufContactOutCPU->at(0);
}
@@ -724,19 +730,29 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
{
int nContactOut = 0;
//swap buffer
m_data->m_currentContactBuffer=1-m_data->m_currentContactBuffer;
int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
int numTriConvexPairsOut=0;
b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
b3OpenCLArray<b3YetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
&broadphasePairsGPU, numBroadphasePairs,
m_data->m_bodyBufferGPU,
m_data->m_pBufContactOutGPU,
m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer],
nContactOut,
m_data->m_pBufContactBuffersGPU[1-m_data->m_currentContactBuffer],
m_data->m_config.m_maxContactCapacity,
m_data->m_config.m_compoundPairCapacity,
*m_data->m_convexPolyhedraGPU,
@@ -762,6 +778,10 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
numTriConvexPairsOut
);
/*b3AlignedObjectArray<b3Int4> broadphasePairsCPU;
broadphasePairsGPU.copyToHost(broadphasePairsCPU);
printf("checking pairs\n");
*/
}
const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const