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/Stubs/ChNarrowPhase.h
+++ b/Extras/RigidBodyGpuPipeline/dynamics/basic_demo/Stubs/ChNarrowPhase.h
@@ -0,0 +1,154 @@
+/*
+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
+
+
+#pragma once
+
+#include <Adl/Adl.h>
+//#include <Common/Base/SyncObjects.h>
+
+#include "AdlMath.h"
+#include "AdlContact4.h"
+#include "AdlRigidBody.h"
+
+#include "../ConvexHeightFieldShape.h"
+
+//#include "TypeDefinition.h"
+//#include "RigidBody.h"
+//#include "ConvexHeightFieldShape.h"
+
+namespace adl
+{
+class ShapeBase;
+
+class ChNarrowphaseBase
+{
+	public:
+		struct Config
+		{
+			float m_collisionMargin;
+		};
+/*
+		typedef struct
+		{
+			//	m_normal.w == height in u8
+			float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
+			u32 m_height4[HEIGHT_RES*HEIGHT_RES*6];
+
+			float m_scale;
+			float m_padding0;
+			float m_padding1;
+			float m_padding2;
+		} ShapeData;
+*/
+};
+
+template<DeviceType TYPE>
+class ChNarrowphase : public ChNarrowphaseBase
+{
+	public:
+		typedef Launcher::BufferInfo BufferInfo;
+
+		struct Data
+		{
+			const Device* m_device;
+			Kernel* m_supportCullingKernel;
+			Kernel* m_narrowphaseKernel;
+			Kernel* m_narrowphaseWithPlaneKernel;
+
+			Buffer<u32>* m_counterBuffer;
+		};
+
+		enum
+		{
+			N_TASKS = 4,
+			HEIGHT_RES = ConvexHeightField::HEIGHT_RES,
+		};
+
+		struct ShapeData
+		{
+			float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
+			u32 m_height4[HEIGHT_RES*HEIGHT_RES*6];
+			u32 m_supportHeight4[HEIGHT_RES*HEIGHT_RES*6];
+
+			float m_scale;
+			float m_padding0;
+			float m_padding1;
+			float m_padding2;
+		};
+
+		struct ConstData
+		{
+			int m_nPairs;
+			float m_collisionMargin;
+			int m_capacity;
+			int m_paddings[1];
+		};
+		
+		static
+		Data* allocate( const Device* device );
+
+		static
+		void deallocate( Data* data );
+/*
+		static
+		Buffer<ShapeData>* allocateShapeBuffer( const Device* device, int capacity );
+
+		static
+		void deallocateShapeBuffer( Buffer<ShapeData>* shapeBuf );
+
+		static
+		void setShape( Buffer<ShapeData>* shapeBuf, ShapeBase* shape, int idx, float collisionMargin );
+*/
+		static
+		ShapeDataType allocateShapeBuffer( const Device* device, int capacity );
+
+		static
+		void deallocateShapeBuffer( ShapeDataType shapeBuf );
+
+		static
+		void setShape( ShapeDataType shapeBuf, ShapeBase* shape, int idx, float collisionMargin = 0.f );
+		
+		static
+		void setShape( ShapeDataType shapeBuf, ConvexHeightField* cvxShape, int idx, float collisionMargin = 0.f );
+
+		// Run NarrowphaseKernel
+		//template<bool USE_OMP>
+		static
+		void execute( Data* data, const Buffer<int2>* pairs, int nPairs, 
+			const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
+			Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg );
+
+		// Run NarrowphaseWithPlaneKernel
+		//template<bool USE_OMP>
+		static
+		void execute( Data* data, const Buffer<int2>* pairs, int nPairs, 
+			const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
+			const Buffer<float4>* vtxBuf, const Buffer<int4>* idxBuf,
+			Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg );
+
+		// Run SupportCullingKernel
+		//template<bool USE_OMP>
+		static
+		int culling( Data* data, const Buffer<int2>* pairs, int nPairs, const Buffer<RigidBodyBase::Body>* bodyBuf,
+			const ShapeDataType shapeBuf, const Buffer<int2>* pairsOut, const Config& cfg );
+};
+
+//#include <AdlPhysics/Narrowphase/ChNarrowphase.inl>
+//#include <AdlPhysics/Narrowphase/ChNarrowphaseHost.inl>
+
+#include "ChNarrowphase.inl"
+
+};