change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines
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
@@ -5,14 +5,11 @@ static const char* rayCastKernelCL= \
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"#define SHAPE_CONCAVE_TRIMESH 5\n"
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"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
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"#define SHAPE_SPHERE 7\n"
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"\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float4 m_from;\n"
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" float4 m_to;\n"
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"} b3RayInfo;\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float m_hitFraction;\n"
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@@ -22,20 +19,17 @@ static const char* rayCastKernelCL= \
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" float4 m_hitPoint;\n"
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" float4 m_hitNormal;\n"
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"} b3RayHit;\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float4 m_pos;\n"
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" float4 m_quat;\n"
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" float4 m_linVel;\n"
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" float4 m_angVel;\n"
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"\n"
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" unsigned int m_collidableIdx;\n"
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" float m_invMass;\n"
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" float m_restituitionCoeff;\n"
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" float m_frictionCoeff;\n"
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"} Body;\n"
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"\n"
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"typedef struct Collidable\n"
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"{\n"
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" union {\n"
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@@ -46,53 +40,37 @@ static const char* rayCastKernelCL= \
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" int m_shapeType;\n"
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" int m_shapeIndex;\n"
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"} Collidable;\n"
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"\n"
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"\n"
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"typedef struct \n"
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"{\n"
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" float4 m_localCenter;\n"
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" float4 m_extents;\n"
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" float4 mC;\n"
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" float4 mE;\n"
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"\n"
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" float m_radius;\n"
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" int m_faceOffset;\n"
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" int m_numFaces;\n"
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" int m_numVertices;\n"
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"\n"
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" int m_vertexOffset;\n"
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" int m_uniqueEdgesOffset;\n"
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" int m_numUniqueEdges;\n"
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" int m_unused;\n"
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"\n"
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"} ConvexPolyhedronCL;\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float4 m_plane;\n"
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" int m_indexOffset;\n"
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" int m_numIndices;\n"
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"} b3GpuFace;\n"
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"\n"
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"\n"
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"\n"
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"///////////////////////////////////////\n"
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"// Quaternion\n"
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"///////////////////////////////////////\n"
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"\n"
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"typedef float4 Quaternion;\n"
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"\n"
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"__inline\n"
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" Quaternion qtMul(Quaternion a, Quaternion b);\n"
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"\n"
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"__inline\n"
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" Quaternion qtNormalize(Quaternion in);\n"
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"\n"
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"\n"
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"__inline\n"
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" Quaternion qtInvert(Quaternion q);\n"
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"\n"
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"\n"
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"__inline\n"
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" float dot3F4(float4 a, float4 b)\n"
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"{\n"
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@@ -100,8 +78,6 @@ static const char* rayCastKernelCL= \
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" float4 b1 = (float4)(b.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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"}\n"
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"\n"
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"\n"
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"__inline\n"
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" Quaternion qtMul(Quaternion a, Quaternion b)\n"
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"{\n"
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@@ -112,7 +88,6 @@ static const char* rayCastKernelCL= \
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" ans.w = a.w*b.w - dot3F4(a, b);\n"
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" return ans;\n"
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"}\n"
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"\n"
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"__inline\n"
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" Quaternion qtNormalize(Quaternion in)\n"
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"{\n"
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@@ -130,39 +105,28 @@ static const char* rayCastKernelCL= \
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" out = qtMul(out,qInv);\n"
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" return out;\n"
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"}\n"
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"\n"
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"__inline\n"
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" Quaternion qtInvert(Quaternion q)\n"
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"{\n"
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" return (Quaternion)(-q.xyz, q.w);\n"
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"}\n"
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"\n"
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"__inline\n"
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" float4 qtInvRotate(const Quaternion q, float4 vec)\n"
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"{\n"
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" return qtRotate( qtInvert( q ), vec );\n"
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"}\n"
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"\n"
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"\n"
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"\n"
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"void trInverse(float4 translationIn, Quaternion orientationIn,\n"
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" float4* translationOut, Quaternion* orientationOut)\n"
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"{\n"
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" *orientationOut = qtInvert(orientationIn);\n"
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" *translationOut = qtRotate(*orientationOut, -translationIn);\n"
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"}\n"
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"\n"
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"\n"
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"\n"
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"\n"
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"\n"
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"bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,\n"
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" __global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)\n"
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"{\n"
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" rayFromLocal.w = 0.f;\n"
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" rayToLocal.w = 0.f;\n"
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" bool result = true;\n"
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"\n"
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" float exitFraction = hitFraction[0];\n"
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" float enterFraction = -0.3f;\n"
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" float4 curHitNormal = (float4)(0,0,0,0);\n"
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@@ -200,12 +164,10 @@ static const char* rayCastKernelCL= \
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" if (exitFraction <= enterFraction)\n"
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" result = false;\n"
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" }\n"
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"\n"
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" if (enterFraction < 0.f)\n"
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" {\n"
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" result = false;\n"
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" }\n"
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"\n"
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" if (result)\n"
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" { \n"
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" hitFraction[0] = enterFraction;\n"
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@@ -213,12 +175,6 @@ static const char* rayCastKernelCL= \
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" }\n"
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" return result;\n"
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"}\n"
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"\n"
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"\n"
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"\n"
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"\n"
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"\n"
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"\n"
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"bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n"
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"{\n"
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" float4 rs = rayFrom - spherePos;\n"
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@@ -228,13 +184,10 @@ static const char* rayCastKernelCL= \
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" float A = dot(rayDir,rayDir);\n"
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" float B = dot(rs, rayDir);\n"
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" float C = dot(rs, rs) - (radius * radius);\n"
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"\n"
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" float D = B * B - A*C;\n"
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"\n"
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" if (D > 0.0f)\n"
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" {\n"
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" float t = (-B - sqrt(D))/A;\n"
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"\n"
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" if ( (t >= 0.0f) && (t < (*hitFraction)) )\n"
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" {\n"
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" *hitFraction = t;\n"
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@@ -243,7 +196,6 @@ static const char* rayCastKernelCL= \
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" }\n"
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" return false;\n"
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"}\n"
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"\n"
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"float4 setInterpolate3(float4 from, float4 to, float t)\n"
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"{\n"
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" float s = 1.0f - t;\n"
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@@ -252,7 +204,6 @@ static const char* rayCastKernelCL= \
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" result.w = 0.f; \n"
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" return result; \n"
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"}\n"
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"\n"
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"__kernel void rayCastKernel( \n"
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" int numRays, \n"
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" const __global b3RayInfo* rays, \n"
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@@ -263,23 +214,18 @@ static const char* rayCastKernelCL= \
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" __global const b3GpuFace* faces,\n"
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" __global const ConvexPolyhedronCL* convexShapes )\n"
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"{\n"
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"\n"
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" int i = get_global_id(0);\n"
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" if (i>=numRays)\n"
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" return;\n"
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"\n"
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" hitResults[i].m_hitFraction = 1.f;\n"
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"\n"
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" float4 rayFrom = rays[i].m_from;\n"
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" float4 rayTo = rays[i].m_to;\n"
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" float hitFraction = 1.f;\n"
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" float4 hitPoint;\n"
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" float4 hitNormal;\n"
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" int hitBodyIndex= -1;\n"
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"\n"
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" int cachedCollidableIndex = -1;\n"
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" Collidable cachedCollidable;\n"
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"\n"
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" for (int b=0;b<numBodies;b++)\n"
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" {\n"
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" if (hitResults[i].m_hitResult2==b)\n"
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@@ -294,7 +240,6 @@ static const char* rayCastKernelCL= \
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" }\n"
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" if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
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" {\n"
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"\n"
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" float4 invPos = (float4)(0,0,0,0);\n"
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" float4 invOrn = (float4)(0,0,0,0);\n"
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" float4 rayFromLocal = (float4)(0,0,0,0);\n"
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@@ -327,7 +272,6 @@ static const char* rayCastKernelCL= \
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" }\n"
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" }\n"
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" }\n"
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"\n"
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" if (hitBodyIndex>=0)\n"
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" {\n"
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" hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
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@@ -336,6 +280,5 @@ static const char* rayCastKernelCL= \
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" hitResults[i].m_hitNormal = normalize(hitNormal);\n"
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" hitResults[i].m_hitResult0 = hitBodyIndex;\n"
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" }\n"
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"\n"
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"}\n"
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;
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