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change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines

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remove duplicate data in b3Contact4 (now in btContact4Data shared between CPU/C++ and OpenCL)
OpenCL kernels use #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
Increase number of batches back to 250 (from 50), need to fix this hard coded number (see https://github.com/erwincoumans/bullet3/issues/12)
Work towards GJK/EPA, in addition to SAT/clipping (early on)
This commit is contained in:
erwincoumans
2013-08-08 12:24:09 -07:00
parent 46a08e3282
commit 3bf003ace1
50 changed files with 920 additions and 2731 deletions
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79
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -19,13 +19,14 @@ subject to the following restrictions:
///And contact clipping based on work from Simon Hobbs
//#define B3_DEBUG_SAT_FACE
//#define CHECK_ON_HOST
int b3g_actualSATPairTests=0;
#include "b3ConvexHullContact.h"
#include <string.h>//memcpy
#include "b3ConvexPolyhedronCL.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h"
typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
@@ -1603,7 +1604,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
transB.setRotation(rigidBodies[bodyIndexB].m_quat);
float maximumDistanceSquared = 1e30f;
b3Vector3 resultPointOnB;
b3Vector3 resultPointOnBWorld;
b3Vector3 sepAxis2(0,1,0);
b3Scalar distance2 = 1e30f;
@@ -1618,7 +1619,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
maximumDistanceSquared,
sepAxis2,
distance2,
resultPointOnB);
resultPointOnBWorld);
if (result2)
@@ -1627,31 +1628,58 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
{
contactIndex = nGlobalContactsOut;
globalContactsOut.expand();
b3Contact4& contact = globalContactsOut.at(nGlobalContactsOut);
contact.m_batchIdx = 0;//i;
contact.m_bodyAPtrAndSignBit = (rigidBodies.at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
contact.m_bodyBPtrAndSignBit = (rigidBodies.at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
b3Contact4& newContact = globalContactsOut.at(nGlobalContactsOut);
newContact.m_batchIdx = 0;//i;
newContact.m_bodyAPtrAndSignBit = (rigidBodies.at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
newContact.m_bodyBPtrAndSignBit = (rigidBodies.at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
contact.m_frictionCoeffCmp = 45874;
contact.m_restituitionCoeffCmp = 0;
newContact.m_frictionCoeffCmp = 45874;
newContact.m_restituitionCoeffCmp = 0;
int numPoints = 1;
if (pairs[pairIndex].z>=0)
int numPoints = 0;
if (0)//pairs[pairIndex].z>=0)
{
printf("add existing points?\n");
//printf("add existing points?\n");
//refresh
}
for (int p=0;p<numPoints;p++)
{
resultPointOnB.w = distance2;
int numOldPoints = oldContacts[pairs[pairIndex].z].getNPoints();
if (numOldPoints)
{
newContact = oldContacts[pairs[pairIndex].z];
//b3ContactCache::refreshContactPoints(transA,transB,newContact);
}
numPoints = b3Contact4Data_getNumPoints(&newContact);
contact.m_worldPos[p] = resultPointOnB;
contact.m_worldNormal = -sepAxis2;
}
/*
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
} else
{
insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
}
*/
int p=numPoints;
if (numPoints<3)
{
numPoints++;
}
{
resultPointOnBWorld.w = distance2;
newContact.m_worldPos[p] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
//newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
// newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
newContact.m_worldNormal = sepAxis2;
}
//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
contact.m_worldNormal.w = (b3Scalar)numPoints;
newContact.m_worldNormal.w = (b3Scalar)numPoints;
nGlobalContactsOut++;
} else
{
@@ -1797,7 +1825,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
return;
//#define CHECK_ON_HOST
#ifdef CHECK_ON_HOST
b3AlignedObjectArray<b3YetAnotherAabb> hostAabbs;
clAabbsWS.copyToHost(hostAabbs);
@@ -1909,9 +1937,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
oldHostContacts);
int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
// oldHostContacts);
if (contactIndex>=0)
{