Add the GPU rigid body pipeline from https://github.com/erwincoumans/experiments as a Bullet 3.x preview for Bullet 2.80

2012-03-05 00:54:32 +00:00
parent 73c4646b40
commit 571af41cf6
257 changed files with 55106 additions and 0 deletions
--- a/Extras/RigidBodyGpuPipeline/dynamics/basic_demo/ConvexHeightFieldShape.h
+++ b/Extras/RigidBodyGpuPipeline/dynamics/basic_demo/ConvexHeightFieldShape.h
@@ -0,0 +1,143 @@
+/*
+Copyright (c) 2012 Advanced Micro Devices, Inc.  
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+//Originally written by Takahiro Harada
+
+#ifndef CONVEX_HEIGHT_FIELD_SHAPE_H
+#define CONVEX_HEIGHT_FIELD_SHAPE_H
+
+#include "Stubs/AdlQuaternion.h"
+#include "Stubs/AdlCollisionShape.h"
+#include "Stubs/AdlAabb.h"
+
+class ShapeBase;
+
+class ConvexHeightField : public CollisionShape
+{
+	public:
+		enum
+		{
+			HEIGHT_RES = 4, //was 4 originally
+		};
+		enum Face
+		{
+			FACE_XM,
+			FACE_XP,
+			FACE_YM,
+			FACE_YP,
+			FACE_ZM,
+			FACE_ZP,
+			NUM_FACES,
+		};
+
+		ConvexHeightField(const float4* vtxBuffer, const int4* idxBuffer, int nTriangles);
+		ConvexHeightField(const ShapeBase* shape);
+		ConvexHeightField(const float4* eqn, int nEqn);
+
+		ConvexHeightField(): CollisionShape( SHAPE_CONVEX_HEIGHT_FIELD ){}
+
+		virtual ~ConvexHeightField();
+
+		//	CollisionShape interface
+		virtual float queryDistance(const float4& p ) const;
+		//	distance is not written to normalOut.w
+		virtual bool queryDistanceWithNormal( const float4& p, float4& normalOut ) const;
+
+		float querySupportHeight(const float4& p ) const;
+
+		//	what is it?
+		float queryW(const float4& p ) const;
+
+		//	others
+		u8& sample(Face face, int x, int y);
+		u8 sample(Face face, int x, int y) const;
+
+		u8& sampleSupport(Face face, int x, int y);
+		u8 sampleSupport(Face face, int x, int y) const;
+
+		float4& sampleNormal(Face face, int x, int y);
+		float4 sampleNormal(Face face, int x, int y) const;
+
+		void calcSamplePoints(float4* points) const;
+		float4 calcSamplePoint(int sIdx) const;
+		const float4* getSamplePoints() const;
+		
+		int getNumSamplePoints() const;
+
+		//void displaySamples(const float4& translation, const Quaternion& quaternion) const;
+
+	private:
+		void create( const float4* vtxBuffer, const int4* idxBuffer, int nTriangles );
+
+	public:
+		u8 m_data[HEIGHT_RES*HEIGHT_RES*6];
+		float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
+		float m_scale;
+
+		u8 m_supportHeight[HEIGHT_RES*HEIGHT_RES*6];
+
+		float4 m_samplePoints[HEIGHT_RES*HEIGHT_RES*6];
+		Aabb m_faceAabbs[6];
+};
+
+__inline
+u8& ConvexHeightField::sample(Face face, int x, int y)
+{
+	ADLASSERT( x < HEIGHT_RES );
+	ADLASSERT( y < HEIGHT_RES );
+	return m_data[ HEIGHT_RES*HEIGHT_RES*face + x + y*HEIGHT_RES ];
+}
+
+__inline
+u8 ConvexHeightField::sample(Face face, int x, int y) const
+{
+	ADLASSERT( x < HEIGHT_RES );
+	ADLASSERT( y < HEIGHT_RES );
+	return m_data[ HEIGHT_RES*HEIGHT_RES*face + x + y*HEIGHT_RES ];
+}
+
+__inline
+u8& ConvexHeightField::sampleSupport(Face face, int x, int y)
+{
+	ADLASSERT( x < HEIGHT_RES );
+	ADLASSERT( y < HEIGHT_RES );
+	return m_supportHeight[ HEIGHT_RES*HEIGHT_RES*face + x + y*HEIGHT_RES ];
+}
+
+__inline
+u8 ConvexHeightField::sampleSupport(Face face, int x, int y) const
+{
+	ADLASSERT( x < HEIGHT_RES );
+	ADLASSERT( y < HEIGHT_RES );
+	return m_supportHeight[ HEIGHT_RES*HEIGHT_RES*face + x + y*HEIGHT_RES ];
+}
+
+__inline
+float4& ConvexHeightField::sampleNormal(Face face, int x, int y)
+{
+	ADLASSERT( x < HEIGHT_RES );
+	ADLASSERT( y < HEIGHT_RES );
+	return m_normal[ HEIGHT_RES*HEIGHT_RES*face + x + y*HEIGHT_RES ];
+}
+
+__inline
+float4 ConvexHeightField::sampleNormal(Face face, int x, int y) const
+{
+	ADLASSERT( x < HEIGHT_RES );
+	ADLASSERT( y < HEIGHT_RES );
+	return m_normal[ HEIGHT_RES*HEIGHT_RES*face + x + y*HEIGHT_RES ];
+}
+
+
+#endif
+