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w() -> w or getW() or [3]

make sphere-convex and sphere-compound collision work (still issues remaining)
This commit is contained in:
erwin coumans
2013-04-03 18:27:36 -07:00
parent 8cee2e9b23
commit 4a93c2e704
23 changed files with 692 additions and 315 deletions
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237
opencl/gpu_sat/kernels/primitiveContacts.cl
View File

@@ -51,6 +51,21 @@ typedef struct
int m_bodyBPtrAndSignBit;
} Contact4;
typedef struct
{
union
{
float4 m_min;
float m_minElems[4];
int m_minIndices[4];
};
union
{
float4 m_max;
float m_maxElems[4];
int m_maxIndices[4];
};
} btAabbCL;
///keep this in sync with btCollidable.h
typedef struct
@@ -273,8 +288,6 @@ float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* clos
inline bool IsPointInPolygon(float4 p,
float4 posConvex,
float4 ornConvex,
const btGpuFace* face,
__global const float4* baseVertex,
__global const int* convexIndices,
@@ -293,16 +306,14 @@ inline bool IsPointInPolygon(float4 p,
float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
float4 worldV0 = transform(&v0, &posConvex, &ornConvex);
b = worldV0;
b = v0;
for(unsigned i=0; i != face->m_numIndices; ++i)
{
a = b;
float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
float4 worldVi = transform(&vi, &posConvex, &ornConvex);
b = worldVi;
b = vi;
ab = b-a;
ap = p-a;
v = cross3(ab,plane);
@@ -322,9 +333,9 @@ inline bool IsPointInPolygon(float4 p,
else
{
float s = 1.f - rt;
out[0].x = s * a.x + rt * b.x;
out[0].y = s * a.y + rt * b.y;
out[0].z = s * a.z + rt * b.z;
out[0].x = s * a.x + rt * b.x;
out[0].y = s * a.y + rt * b.y;
out[0].z = s * a.z + rt * b.z;
}
return false;
}
@@ -346,22 +357,22 @@ void computeContactSphereConvex(int pairIndex,
__global const btGpuFace* faces,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
int numPairs)
int maxContactCapacity,
float4 spherePos2,
float radius,
float4 pos,
float4 quat
)
{
float radius = collidables[collidableIndexA].m_radius;
float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
float4 sphereOrn = rigidBodies[bodyIndexA].m_quat;
float4 invPos;
float4 invOrn;
trInverse(pos,quat, &invPos,&invOrn);
float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
float4 pos = rigidBodies[bodyIndexB].m_pos;
float4 quat = rigidBodies[bodyIndexB].m_quat;
float4 spherePos = spherePos1 - pos;
int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;
int shapeIndex = collidables[collidableIndex].m_shapeIndex;
int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
int numFaces = convexShapes[shapeIndex].m_numFaces;
float4 closestPnt = (float4)(0, 0, 0, 0);
float4 hitNormalWorld = (float4)(0, 0, 0, 0);
@@ -374,7 +385,8 @@ void computeContactSphereConvex(int pairIndex,
// set up a plane equation
float4 planeEqn;
float4 n1 = qtRotate(quat, (float4)(face.m_plane.xyz, 0));
float4 n1 = face.m_plane;
n1.w = 0.f;
planeEqn = n1;
planeEqn.w = face.m_plane.w;
@@ -395,9 +407,9 @@ void computeContactSphereConvex(int pairIndex,
{
//might hit an edge or vertex
float4 out;
float4 zeroPos = make_float4(0,0,0,0);
bool isInPoly = IsPointInPolygon(spherePos,
pos,
quat,
&face,
&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
convexIndices,
@@ -446,27 +458,36 @@ void computeContactSphereConvex(int pairIndex,
if (bCollide)
if (bCollide && minDist > -10000)
{
float4 normalOnSurfaceB1 = -hitNormalWorld;
float4 pOnB1 = closestPnt+pos;
float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
float4 pOnB1 = transform(&closestPnt,&pos,&quat);
//printf("pOnB1=%f,%f,%f\n", pOnB1.x,pOnB1.y,pOnB1.z);
float actualDepth = minDist-radius;
pOnB1.w = actualDepth;
int dstIdx;
AppendInc( nGlobalContactsOut, dstIdx );
if (dstIdx < numPairs)
if (actualDepth<=0.f)
{
__global Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = normalOnSurfaceB1;
c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);
c->m_batchIdx = pairIndex;
c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
c->m_worldPos[0] = pOnB1;
GET_NPOINTS(*c) = 1;
}//if (dstIdx < numPairs)
//printf("actualDepth = %f\n", actualDepth );
//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
pOnB1.w = actualDepth;
int dstIdx;
AppendInc( nGlobalContactsOut, dstIdx );
//printf("maxContactCapacity=%d\n", maxContactCapacity);
if (1)//dstIdx < maxContactCapacity)
{
__global Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = normalOnSurfaceB1;
c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);
c->m_batchIdx = pairIndex;
c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
c->m_worldPos[0] = pOnB1;
GET_NPOINTS(*c) = 1;
}
}
}//if (hasCollision)
}
@@ -481,7 +502,7 @@ void computeContactPlaneConvex(int pairIndex,
__global const btGpuFace* faces,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
int numPairs)
int maxContactCapacity)
{
float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
float radius = collidables[collidableIndexB].m_radius;
@@ -520,7 +541,7 @@ void computeContactPlaneConvex(int pairIndex,
int dstIdx;
AppendInc( nGlobalContactsOut, dstIdx );
if (dstIdx < numPairs)
if (dstIdx < maxContactCapacity)
{
__global Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = normalOnSurfaceB1;
@@ -547,7 +568,7 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
__global const int* indices,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
int numPairs)
int numPairs, int maxContactCapacity)
{
int i = get_global_id(0);
@@ -579,7 +600,7 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
return;
}
@@ -589,7 +610,7 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
return;
}
@@ -598,8 +619,15 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
float4 spherePos = rigidBodies[bodyIndexA].m_pos;
float sphereRadius = collidables[collidableIndexA].m_radius;
float4 convexPos = rigidBodies[bodyIndexB].m_pos;
float4 convexOrn = rigidBodies[bodyIndexB].m_quat;
computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,numPairs);
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
spherePos,sphereRadius,convexPos,convexOrn);
return;
}
@@ -607,8 +635,14 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
{
float4 spherePos = rigidBodies[bodyIndexB].m_pos;
float sphereRadius = collidables[collidableIndexB].m_radius;
float4 convexPos = rigidBodies[bodyIndexA].m_pos;
float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,numPairs);
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
spherePos,sphereRadius,convexPos,convexOrn);
return;
}
@@ -642,9 +676,9 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
contactPosB.w = dist;
int dstIdx;
AppendInc( nGlobalContactsOut, dstIdx );
AppendInc( nGlobalContactsOut, dstIdx );
if (dstIdx < numPairs)
if (dstIdx < maxContactCapacity)
{
__global Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = -normalOnSurfaceB;
@@ -665,3 +699,106 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
}// if (i<numPairs)
}
// work-in-progress
__kernel void processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,
__global const float4* vertices,
__global const float4* uniqueEdges,
__global const btGpuFace* faces,
__global const int* indices,
__global btAabbCL* aabbs,
__global const btGpuChildShape* gpuChildShapes,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
int numCompoundPairs, int maxContactCapacity
)
{
int i = get_global_id(0);
if (i<numCompoundPairs)
{
int bodyIndexA = gpuCompoundPairs[i].x;
int bodyIndexB = gpuCompoundPairs[i].y;
int childShapeIndexA = gpuCompoundPairs[i].z;
int childShapeIndexB = gpuCompoundPairs[i].w;
int collidableIndexA = -1;
int collidableIndexB = -1;
float4 ornA = rigidBodies[bodyIndexA].m_quat;
float4 posA = rigidBodies[bodyIndexA].m_pos;
float4 ornB = rigidBodies[bodyIndexB].m_quat;
float4 posB = rigidBodies[bodyIndexB].m_pos;
if (childShapeIndexA >= 0)
{
collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
float4 newPosA = qtRotate(ornA,childPosA)+posA;
float4 newOrnA = qtMul(ornA,childOrnA);
posA = newPosA;
ornA = newOrnA;
} else
{
collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
}
if (childShapeIndexB>=0)
{
collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
float4 newPosB = transform(&childPosB,&posB,&ornB);
float4 newOrnB = qtMul(ornB,childOrnB);
posB = newPosB;
ornB = newOrnB;
} else
{
collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
}
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
int shapeTypeA = collidables[collidableIndexA].m_shapeType;
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
int pairIndex = i;
if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))
{
float4 spherePos = rigidBodies[bodyIndexB].m_pos;
float sphereRadius = collidables[collidableIndexB].m_radius;
float4 convexPos = posA;
float4 convexOrn = ornA;
//printf("convex-sphere with radius %f\n",sphereRadius);
computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA,
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
spherePos,sphereRadius,convexPos,convexOrn);
return;
}
if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))
{
float4 spherePos = rigidBodies[bodyIndexA].m_pos;
float sphereRadius = collidables[collidableIndexA].m_radius;
float4 convexPos = posB;
float4 convexOrn = ornB;
//printf("sphere-convex with radius %f\n", sphereRadius);
computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
spherePos,sphereRadius,convexPos,convexOrn);
return;
}
}// if (i<numCompoundPairs)
}

9
opencl/gpu_sat/kernels/sat.cl
View File

@@ -706,6 +706,15 @@ __kernel void processCompoundPairsKernel( __global const int4* gpuCompoundPair
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
int shapeTypeA = collidables[collidableIndexA].m_shapeType;
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))
{
return;
}
int hasSeparatingAxis = 5;
int numFacesA = convexShapes[shapeIndexA].m_numFaces;