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b3Solver -> pass pointer to source instead of 0 (was left over from a debugging session), thanks to David for the report

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Break up clipHullHullConcaveConvexKernel into multiple stages, so it might 'fit' in Apple's OpenCL implementation
Implemented bvhTraversalKernel and findConcaveSeparatingAxis on CPU (debugging, possible future CPU version)
This commit is contained in:
erwin coumans
2013-12-13 07:52:41 -08:00
parent c155e126d0
commit 3fe969c4ee
18 changed files with 800 additions and 295 deletions
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127
src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
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@@ -203,7 +203,98 @@ bool b3FindSeparatingAxisEdgeEdge( const b3ConvexPolyhedronData* hullA, __global
return true;
}
// work-in-progress
inline int b3FindClippingFaces(b3Float4ConstArg separatingNormal,
__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
b3Float4ConstArg posA, b3QuatConstArg ornA,b3Float4ConstArg posB, b3QuatConstArg ornB,
__global b3Float4* worldVertsA1,
__global b3Float4* worldNormalsA1,
__global b3Float4* worldVertsB1,
int capacityWorldVerts,
const float minDist, float maxDist,
__global const b3Float4* verticesA,
__global const b3GpuFace_t* facesA,
__global const int* indicesA,
__global const b3Float4* verticesB,
__global const b3GpuFace_t* facesB,
__global const int* indicesB,
__global b3Int4* clippingFaces, int pairIndex)
{
int numContactsOut = 0;
int numWorldVertsB1= 0;
int closestFaceB=-1;
float dmax = -FLT_MAX;
{
for(int face=0;face<hullB->m_numFaces;face++)
{
const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset+face].m_plane.x,
facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
float d = b3Dot(WorldNormal,separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
{
const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];
const int numVertices = polyB.m_numIndices;
for(int e0=0;e0<numVertices;e0++)
{
const b3Float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = b3TransformPoint(b,posB,ornB);
}
}
int closestFaceA=-1;
{
float dmin = FLT_MAX;
for(int face=0;face<hullA->m_numFaces;face++)
{
const b3Float4 Normal = b3MakeFloat4(
facesA[hullA->m_faceOffset+face].m_plane.x,
facesA[hullA->m_faceOffset+face].m_plane.y,
facesA[hullA->m_faceOffset+face].m_plane.z,
0.f);
const b3Float4 faceANormalWS = b3QuatRotate(ornA,Normal);
float d = b3Dot(faceANormalWS,separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
worldNormalsA1[pairIndex] = faceANormalWS;
}
}
}
int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
for(int e0=0;e0<numVerticesA;e0++)
{
const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
worldVertsA1[pairIndex*capacityWorldVerts+e0] = b3TransformPoint(a, posA,ornA);
}
clippingFaces[pairIndex].x = closestFaceA;
clippingFaces[pairIndex].y = closestFaceB;
clippingFaces[pairIndex].z = numVerticesA;
clippingFaces[pairIndex].w = numWorldVertsB1;
return numContactsOut;
}
__kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs,
__global const b3RigidBodyData* rigidBodies,
__global const b3Collidable* collidables,
@@ -215,6 +306,12 @@ __kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
__global const b3GpuChildShape* gpuChildShapes,
__global b3Aabb* aabbs,
__global b3Float4* concaveSeparatingNormalsOut,
__global b3Int4* clippingFacesOut,
__global b3Vector3* worldVertsA1Out,
__global b3Vector3* worldNormalsA1Out,
__global b3Vector3* worldVertsB1Out,
__global int* hasSeparatingNormals,
int vertexFaceCapacity,
int numConcavePairs,
int pairIdx
)
@@ -242,7 +339,7 @@ __kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
return;
}
hasSeparatingNormals[i] = 0;
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
int numActualConcaveConvexTests = 0;
@@ -454,8 +551,34 @@ __kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
if (hasSeparatingAxis)
{
hasSeparatingNormals[i]=1;
sepAxis.w = dmin;
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
//now compute clipping faces A and B, and world-space clipping vertices A and B...
float minDist = -1e30f;
float maxDist = 0.02f;
b3FindClippingFaces(sepAxis,
&convexPolyhedronA,
&convexShapes[shapeIndexB],
posA,ornA,
posB,ornB,
worldVertsA1Out,
worldNormalsA1Out,
worldVertsB1Out,
vertexFaceCapacity,
minDist, maxDist,
verticesA,
facesA,
indicesA,
vertices,
faces,
indices,
clippingFacesOut, pairIdx);
} else
{
//mark this pair as in-active