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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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126
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
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@@ -154,6 +154,7 @@ static const char* satKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3AtomicAdd atomic_add\n"
"#define b3Fabs fabs\n"
"#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n"
@@ -177,6 +178,9 @@ static const char* satKernelsCL= \
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
" #define b3MinFloat4 min\n"
" #define b3MaxFloat4 max\n"
" #define b3Normalized(a) normalize(a)\n"
"#endif \n"
" \n"
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
@@ -633,7 +637,7 @@ static const char* satKernelsCL= \
" float4* sep,\n"
" float* dmin)\n"
"{\n"
" int i = get_global_id(0);\n"
" \n"
" float4 posA = posA1;\n"
" posA.w = 0.f;\n"
" float4 posB = posB1;\n"
@@ -682,7 +686,6 @@ static const char* satKernelsCL= \
" float4* sep,\n"
" float* dmin)\n"
"{\n"
" int i = get_global_id(0);\n"
" float4 posA = posA1;\n"
" posA.w = 0.f;\n"
" float4 posB = posB1;\n"
@@ -731,7 +734,6 @@ static const char* satKernelsCL= \
" float4* sep,\n"
" float* dmin)\n"
"{\n"
" int i = get_global_id(0);\n"
" float4 posA = posA1;\n"
" posA.w = 0.f;\n"
" float4 posB = posB1;\n"
@@ -815,7 +817,7 @@ static const char* satKernelsCL= \
" float4* sep,\n"
" float* dmin)\n"
"{\n"
" int i = get_global_id(0);\n"
" \n"
" float4 posA = posA1;\n"
" posA.w = 0.f;\n"
" float4 posB = posB1;\n"
@@ -866,7 +868,7 @@ static const char* satKernelsCL= \
" float4* sep,\n"
" float* dmin)\n"
"{\n"
" int i = get_global_id(0);\n"
" \n"
" float4 posA = posA1;\n"
" posA.w = 0.f;\n"
" float4 posB = posB1;\n"
@@ -1470,6 +1472,92 @@ static const char* satKernelsCL= \
" \n"
" }\n"
"}\n"
"int findClippingFaces(const float4 separatingNormal,\n"
" const ConvexPolyhedronCL* hullA, \n"
" __global const ConvexPolyhedronCL* hullB,\n"
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
" __global float4* worldVertsA1,\n"
" __global float4* worldNormalsA1,\n"
" __global float4* worldVertsB1,\n"
" int capacityWorldVerts,\n"
" const float minDist, float maxDist,\n"
" const float4* verticesA,\n"
" const btGpuFace* facesA,\n"
" const int* indicesA,\n"
" __global const float4* verticesB,\n"
" __global const btGpuFace* facesB,\n"
" __global const int* indicesB,\n"
" __global int4* clippingFaces, int pairIndex)\n"
"{\n"
" int numContactsOut = 0;\n"
" int numWorldVertsB1= 0;\n"
" \n"
" \n"
" int closestFaceB=-1;\n"
" float dmax = -FLT_MAX;\n"
" \n"
" {\n"
" for(int face=0;face<hullB->m_numFaces;face++)\n"
" {\n"
" const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
" facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
" const float4 WorldNormal = qtRotate(ornB, Normal);\n"
" float d = dot3F4(WorldNormal,separatingNormal);\n"
" if (d > dmax)\n"
" {\n"
" dmax = d;\n"
" closestFaceB = face;\n"
" }\n"
" }\n"
" }\n"
" \n"
" {\n"
" const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
" const int numVertices = polyB.m_numIndices;\n"
" for(int e0=0;e0<numVertices;e0++)\n"
" {\n"
" const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
" worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
" }\n"
" }\n"
" \n"
" int closestFaceA=-1;\n"
" {\n"
" float dmin = FLT_MAX;\n"
" for(int face=0;face<hullA->m_numFaces;face++)\n"
" {\n"
" const float4 Normal = make_float4(\n"
" facesA[hullA->m_faceOffset+face].m_plane.x,\n"
" facesA[hullA->m_faceOffset+face].m_plane.y,\n"
" facesA[hullA->m_faceOffset+face].m_plane.z,\n"
" 0.f);\n"
" const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
" \n"
" float d = dot3F4(faceANormalWS,separatingNormal);\n"
" if (d < dmin)\n"
" {\n"
" dmin = d;\n"
" closestFaceA = face;\n"
" worldNormalsA1[pairIndex] = faceANormalWS;\n"
" }\n"
" }\n"
" }\n"
" \n"
" int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
" for(int e0=0;e0<numVerticesA;e0++)\n"
" {\n"
" const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
" worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
" }\n"
" \n"
" clippingFaces[pairIndex].x = closestFaceA;\n"
" clippingFaces[pairIndex].y = closestFaceB;\n"
" clippingFaces[pairIndex].z = numVerticesA;\n"
" clippingFaces[pairIndex].w = numWorldVertsB1;\n"
" \n"
" \n"
" return numContactsOut;\n"
"}\n"
"// work-in-progress\n"
"__kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,\n"
" __global const BodyData* rigidBodies,\n"
@@ -1482,12 +1570,19 @@ static const char* satKernelsCL= \
" __global const btGpuChildShape* gpuChildShapes,\n"
" __global btAabbCL* aabbs,\n"
" __global float4* concaveSeparatingNormalsOut,\n"
" __global int* concaveHasSeparatingNormals,\n"
" __global int4* clippingFacesOut,\n"
" __global float4* worldVertsA1GPU,\n"
" __global float4* worldNormalsAGPU,\n"
" __global float4* worldVertsB1GPU,\n"
" int vertexFaceCapacity,\n"
" int numConcavePairs\n"
" )\n"
"{\n"
" int i = get_global_id(0);\n"
" if (i>=numConcavePairs)\n"
" return;\n"
" concaveHasSeparatingNormals[i] = 0;\n"
" int pairIdx = i;\n"
" int bodyIndexA = concavePairs[i].x;\n"
" int bodyIndexB = concavePairs[i].y;\n"
@@ -1691,6 +1786,27 @@ static const char* satKernelsCL= \
" {\n"
" sepAxis.w = dmin;\n"
" concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
" concaveHasSeparatingNormals[i]=1;\n"
" float minDist = -1e30f;\n"
" float maxDist = 0.02f;\n"
" \n"
" findClippingFaces(sepAxis,\n"
" &convexPolyhedronA,\n"
" &convexShapes[shapeIndexB],\n"
" posA,ornA,\n"
" posB,ornB,\n"
" worldVertsA1GPU,\n"
" worldNormalsAGPU,\n"
" worldVertsB1GPU,\n"
" vertexFaceCapacity,\n"
" minDist, maxDist,\n"
" verticesA,\n"
" facesA,\n"
" indicesA,\n"
" vertices,\n"
" faces,\n"
" indices,\n"
" clippingFacesOut, pairIdx);\n"
" } else\n"
" { \n"
" //mark this pair as in-active\n"