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add ray-convex CPU implementation, make CPU raytest default for now

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tweak/increase the b3Config values again, so it works better on the Macbook Retina GPU.
This commit is contained in:
erwin coumans
2013-06-20 00:29:09 -07:00
parent a69ba48de4
commit 531af1b394
10 changed files with 194 additions and 80 deletions
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83
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
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@@ -2,6 +2,8 @@
#include "b3GpuRaycast.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
@@ -73,9 +75,57 @@ bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vect
return false;
}
bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronCL& poly,
const struct b3GpuNarrowPhaseInternalData* narrowphaseData, float& hitFraction, b3Vector3& hitNormal)
{
float exitFraction = hitFraction;
float enterFraction = -0.1f;
b3Vector3 curHitNormal(0,0,0);
for (int i=0;i<poly.m_numFaces;i++)
{
const b3GpuFace& face = narrowphaseData->m_convexFaces[poly.m_faceOffset+i];
float fromPlaneDist = b3Dot(rayFromLocal,face.m_plane)+face.m_plane.w;
float toPlaneDist = b3Dot(rayToLocal,face.m_plane)+face.m_plane.w;
if (fromPlaneDist<0.f)
{
if (toPlaneDist >= 0.f)
{
float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
if (exitFraction>fraction)
{
exitFraction = fraction;
}
}
} else
{
if (toPlaneDist<0.f)
{
float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
if (enterFraction <= fraction)
{
enterFraction = fraction;
curHitNormal = face.m_plane;
curHitNormal.w = 0.f;
}
} else
{
return false;
}
}
if (exitFraction <= enterFraction)
return false;
}
if (enterFraction < 0.f)
return false;
hitFraction = enterFraction;
hitNormal = curHitNormal;
return true;
}
void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables,const struct b3Collidable* collidables)
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
// return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
@@ -88,6 +138,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
float hitFraction = hitResults[r].m_hitFraction;
int hitBodyIndex= -1;
b3Vector3 hitNormal;
for (int b=0;b<numBodies;b++)
{
@@ -103,9 +154,34 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
if (sphere_intersect(pos, radius, rayFrom, rayTo,hitFraction))
{
hitBodyIndex = b;
b3Vector3 hitPoint;
hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
hitNormal = (hitPoint-bodies[b].m_pos).normalize();
}
}
case SHAPE_CONVEX_HULL:
{
b3Transform convexWorldTransform;
convexWorldTransform.setIdentity();
convexWorldTransform.setOrigin(bodies[b].m_pos);
convexWorldTransform.setRotation(bodies[b].m_quat);
b3Transform convexWorld2Local = convexWorldTransform.inverse();
b3Vector3 rayFromLocal = convexWorld2Local(rayFrom);
b3Vector3 rayToLocal = convexWorld2Local(rayTo);
int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
const b3ConvexPolyhedronCL& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData, hitFraction, hitNormal))
{
hitBodyIndex = b;
}
break;
}
default:
{
static bool once=true;
@@ -122,7 +198,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
hitResults[r].m_hitFraction = hitFraction;
hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
hitResults[r].m_hitNormal = (hitResults[r].m_hitPoint-bodies[hitBodyIndex].m_pos).normalize();
hitResults[r].m_hitNormal = hitNormal;
hitResults[r].m_hitResult0 = hitBodyIndex;
}
@@ -130,8 +206,9 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
}
void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables)
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
B3_PROFILE("castRaysGPU");
b3OpenCLArray<b3RayInfo> gpuRays(m_data->m_context,m_data->m_q);