implemented sphere-convex (supports edge and corner-vertex cases)
This commit is contained in:
erwincoumans
667
opencl/gpu_sat/kernels/primitiveContacts.cl
Normal file
667
opencl/gpu_sat/kernels/primitiveContacts.cl
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@@ -0,0 +1,667 @@
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#define TRIANGLE_NUM_CONVEX_FACES 5
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#define SHAPE_CONVEX_HULL 3
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#define SHAPE_PLANE 4
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#define SHAPE_CONCAVE_TRIMESH 5
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#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
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#define SHAPE_SPHERE 7
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#pragma OPENCL EXTENSION cl_amd_printf : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
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#ifdef cl_ext_atomic_counters_32
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#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
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#else
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#define counter32_t volatile __global int*
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#endif
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#define GET_GROUP_IDX get_group_id(0)
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#define GET_LOCAL_IDX get_local_id(0)
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#define GET_GLOBAL_IDX get_global_id(0)
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#define GET_GROUP_SIZE get_local_size(0)
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#define GET_NUM_GROUPS get_num_groups(0)
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#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
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#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
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#define AtomInc(x) atom_inc(&(x))
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#define AtomInc1(x, out) out = atom_inc(&(x))
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#define AppendInc(x, out) out = atomic_inc(x)
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#define AtomAdd(x, value) atom_add(&(x), value)
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#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
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#define AtomXhg(x, value) atom_xchg ( &(x), value )
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#define max2 max
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#define min2 min
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typedef unsigned int u32;
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typedef struct
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{
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float4 m_worldPos[4];
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float4 m_worldNormal; // w: m_nPoints
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u32 m_coeffs;
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u32 m_batchIdx;
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int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr
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int m_bodyBPtrAndSignBit;
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} Contact4;
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///keep this in sync with btCollidable.h
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typedef struct
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{
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int m_numChildShapes;
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float m_radius;
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int m_shapeType;
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int m_shapeIndex;
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} btCollidableGpu;
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typedef struct
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{
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float4 m_childPosition;
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float4 m_childOrientation;
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int m_shapeIndex;
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int m_unused0;
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int m_unused1;
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int m_unused2;
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} btGpuChildShape;
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#define GET_NPOINTS(x) (x).m_worldNormal.w
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typedef struct
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{
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float4 m_pos;
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float4 m_quat;
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float4 m_linVel;
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float4 m_angVel;
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u32 m_collidableIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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} BodyData;
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typedef struct
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{
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float4 m_localCenter;
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float4 m_extents;
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float4 mC;
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float4 mE;
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float m_radius;
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int m_faceOffset;
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int m_numFaces;
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int m_numVertices;
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int m_vertexOffset;
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int m_uniqueEdgesOffset;
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int m_numUniqueEdges;
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int m_unused;
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} ConvexPolyhedronCL;
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typedef struct
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{
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float4 m_plane;
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int m_indexOffset;
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int m_numIndices;
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} btGpuFace;
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#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
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#define make_float4 (float4)
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#define make_float2 (float2)
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#define make_uint4 (uint4)
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#define make_int4 (int4)
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#define make_uint2 (uint2)
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#define make_int2 (int2)
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__inline
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float fastDiv(float numerator, float denominator)
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{
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return native_divide(numerator, denominator);
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// return numerator/denominator;
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}
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__inline
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float4 fastDiv4(float4 numerator, float4 denominator)
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{
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return native_divide(numerator, denominator);
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}
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__inline
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float4 cross3(float4 a, float4 b)
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{
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return cross(a,b);
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}
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//#define dot3F4 dot
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__inline
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float dot3F4(float4 a, float4 b)
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{
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float4 a1 = make_float4(a.xyz,0.f);
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float4 b1 = make_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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__inline
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float4 fastNormalize4(float4 v)
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{
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return fast_normalize(v);
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}
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///////////////////////////////////////
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// Quaternion
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///////////////////////////////////////
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typedef float4 Quaternion;
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b);
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__inline
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Quaternion qtNormalize(Quaternion in);
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__inline
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float4 qtRotate(Quaternion q, float4 vec);
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__inline
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Quaternion qtInvert(Quaternion q);
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b)
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{
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Quaternion ans;
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ans = cross3( a, b );
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ans += a.w*b+b.w*a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w*b.w - dot3F4(a, b);
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return ans;
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}
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__inline
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Quaternion qtNormalize(Quaternion in)
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{
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return fastNormalize4(in);
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// in /= length( in );
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// return in;
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}
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__inline
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float4 qtRotate(Quaternion q, float4 vec)
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{
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Quaternion qInv = qtInvert( q );
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = qtMul(qtMul(q,vcpy),qInv);
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return out;
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}
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__inline
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Quaternion qtInvert(Quaternion q)
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{
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return (Quaternion)(-q.xyz, q.w);
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}
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__inline
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float4 qtInvRotate(const Quaternion q, float4 vec)
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{
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return qtRotate( qtInvert( q ), vec );
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}
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__inline
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float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
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{
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return qtRotate( *orientation, *p ) + (*translation);
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}
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void trInverse(float4 translationIn, Quaternion orientationIn,
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float4* translationOut, Quaternion* orientationOut)
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{
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*orientationOut = qtInvert(orientationIn);
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*translationOut = qtRotate(*orientationOut, -translationIn);
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}
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void trMul(float4 translationA, Quaternion orientationA,
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float4 translationB, Quaternion orientationB,
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float4* translationOut, Quaternion* orientationOut)
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{
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*orientationOut = qtMul(orientationA,orientationB);
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*translationOut = transform(&translationB,&translationA,&orientationA);
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}
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__inline
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float4 normalize3(const float4 a)
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{
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float4 n = make_float4(a.x, a.y, a.z, 0.f);
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return fastNormalize4( n );
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}
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__inline float4 lerp3(const float4 a,const float4 b, float t)
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{
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return make_float4( a.x + (b.x - a.x) * t,
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a.y + (b.y - a.y) * t,
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a.z + (b.z - a.z) * t,
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0.f);
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}
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float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)
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{
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float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);
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float dist = dot3F4(n, point) + planeEqn.w;
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*closestPointOnFace = point - dist * n;
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return dist;
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}
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inline bool IsPointInPolygon(float4 p,
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float4 posConvex,
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float4 ornConvex,
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const btGpuFace* face,
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__global const float4* baseVertex,
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__global const int* convexIndices,
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float4* out)
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{
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float4 a;
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float4 b;
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float4 ab;
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float4 ap;
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float4 v;
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float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
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if (face->m_numIndices<2)
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return false;
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float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
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float4 worldV0 = transform(&v0, &posConvex, &ornConvex);
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b = worldV0;
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for(unsigned i=0; i != face->m_numIndices; ++i)
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{
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a = b;
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float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
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float4 worldVi = transform(&vi, &posConvex, &ornConvex);
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b = worldVi;
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ab = b-a;
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ap = p-a;
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v = cross3(ab,plane);
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if (dot(ap, v) > 0.f)
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{
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float ab_m2 = dot(ab, ab);
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float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;
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if (rt <= 0.f)
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{
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*out = a;
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}
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else if (rt >= 1.f)
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{
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*out = b;
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}
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else
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{
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float s = 1.f - rt;
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out[0].x = s * a.x + rt * b.x;
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out[0].y = s * a.y + rt * b.y;
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out[0].z = s * a.z + rt * b.z;
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}
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return false;
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}
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}
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return true;
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}
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void computeContactSphereConvex(int pairIndex,
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int bodyIndexA, int bodyIndexB,
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int collidableIndexA, int collidableIndexB,
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__global const BodyData* rigidBodies,
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__global const btCollidableGpu* collidables,
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__global const ConvexPolyhedronCL* convexShapes,
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__global const float4* convexVertices,
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__global const int* convexIndices,
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__global const btGpuFace* faces,
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__global Contact4* restrict globalContactsOut,
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counter32_t nGlobalContactsOut,
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int numPairs)
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{
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float radius = collidables[collidableIndexA].m_radius;
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float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
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float4 sphereOrn = rigidBodies[bodyIndexA].m_quat;
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float4 pos = rigidBodies[bodyIndexB].m_pos;
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float4 quat = rigidBodies[bodyIndexB].m_quat;
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float4 spherePos = spherePos1 - pos;
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int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;
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int shapeIndex = collidables[collidableIndex].m_shapeIndex;
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int numFaces = convexShapes[shapeIndex].m_numFaces;
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float4 closestPnt = (float4)(0, 0, 0, 0);
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float4 hitNormalWorld = (float4)(0, 0, 0, 0);
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float minDist = -1000000.f;
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bool bCollide = true;
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for ( int f = 0; f < numFaces; f++ )
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{
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btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
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// set up a plane equation
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float4 planeEqn;
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float4 n1 = qtRotate(quat, (float4)(face.m_plane.xyz, 0));
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planeEqn = n1;
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planeEqn.w = face.m_plane.w;
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// compute a signed distance from the vertex in cloth to the face of rigidbody.
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float4 pntReturn;
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float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
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// If the distance is positive, the plane is a separating plane.
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if ( dist > radius )
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{
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bCollide = false;
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break;
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}
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if (dist>0)
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{
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//might hit an edge or vertex
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float4 out;
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bool isInPoly = IsPointInPolygon(spherePos,
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pos,
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quat,
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&face,
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&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
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convexIndices,
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&out);
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if (isInPoly)
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{
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if (dist>minDist)
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{
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minDist = dist;
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closestPnt = pntReturn;
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hitNormalWorld = planeEqn;
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}
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} else
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{
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float4 tmp = spherePos-out;
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float l2 = dot(tmp,tmp);
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if (l2<radius*radius)
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{
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dist = sqrt(l2);
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if (dist>minDist)
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{
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minDist = dist;
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closestPnt = out;
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hitNormalWorld = tmp/dist;
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}
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} else
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{
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bCollide = false;
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break;
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}
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}
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} else
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{
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if ( dist > minDist )
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{
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minDist = dist;
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closestPnt = pntReturn;
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hitNormalWorld.xyz = planeEqn.xyz;
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}
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}
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}
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if (bCollide)
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{
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float4 normalOnSurfaceB1 = -hitNormalWorld;
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float4 pOnB1 = closestPnt+pos;
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float actualDepth = minDist-radius;
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pOnB1.w = actualDepth;
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int dstIdx;
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AppendInc( nGlobalContactsOut, dstIdx );
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if (dstIdx < numPairs)
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{
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__global Contact4* c = &globalContactsOut[dstIdx];
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c->m_worldNormal = normalOnSurfaceB1;
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c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);
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c->m_batchIdx = pairIndex;
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c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
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c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
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c->m_worldPos[0] = pOnB1;
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GET_NPOINTS(*c) = 1;
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}//if (dstIdx < numPairs)
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}//if (hasCollision)
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}
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void computeContactPlaneConvex(int pairIndex,
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int bodyIndexA, int bodyIndexB,
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int collidableIndexA, int collidableIndexB,
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__global const BodyData* rigidBodies,
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__global const btCollidableGpu* collidables,
|
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__global const btGpuFace* faces,
|
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__global Contact4* restrict globalContactsOut,
|
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counter32_t nGlobalContactsOut,
|
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int numPairs)
|
||||
{
|
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float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
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float radius = collidables[collidableIndexB].m_radius;
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float4 posA1 = rigidBodies[bodyIndexA].m_pos;
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float4 ornA1 = rigidBodies[bodyIndexA].m_quat;
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float4 posB1 = rigidBodies[bodyIndexB].m_pos;
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float4 ornB1 = rigidBodies[bodyIndexB].m_quat;
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bool hasCollision = false;
|
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float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
|
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float planeConstant = planeEq.w;
|
||||
float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
|
||||
{
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||||
float4 invPosA;Quaternion invOrnA;
|
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trInverse(posA1,ornA1,&invPosA,&invOrnA);
|
||||
trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
||||
}
|
||||
float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
|
||||
{
|
||||
float4 invPosB;Quaternion invOrnB;
|
||||
trInverse(posB1,ornB1,&invPosB,&invOrnB);
|
||||
trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);
|
||||
}
|
||||
float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;
|
||||
float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
||||
float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;
|
||||
hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();
|
||||
if (hasCollision)
|
||||
{
|
||||
float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;
|
||||
float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);
|
||||
float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);
|
||||
float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;
|
||||
pOnB1.w = distance;
|
||||
|
||||
int dstIdx;
|
||||
AppendInc( nGlobalContactsOut, dstIdx );
|
||||
|
||||
if (dstIdx < numPairs)
|
||||
{
|
||||
__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)
|
||||
}//if (hasCollision)
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
__kernel void primitiveContactsKernel( __global const int2* pairs,
|
||||
__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 Contact4* restrict globalContactsOut,
|
||||
counter32_t nGlobalContactsOut,
|
||||
int numPairs)
|
||||
{
|
||||
|
||||
int i = get_global_id(0);
|
||||
int pairIndex = i;
|
||||
|
||||
float4 worldVertsB1[64];
|
||||
float4 worldVertsB2[64];
|
||||
int capacityWorldVerts = 64;
|
||||
|
||||
float4 localContactsOut[64];
|
||||
int localContactCapacity=64;
|
||||
|
||||
float minDist = -1e30f;
|
||||
float maxDist = 0.02f;
|
||||
|
||||
if (i<numPairs)
|
||||
{
|
||||
|
||||
int bodyIndexA = pairs[i].x;
|
||||
int bodyIndexB = pairs[i].y;
|
||||
|
||||
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
||||
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
||||
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);
|
||||
return;
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
||||
{
|
||||
|
||||
computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
||||
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,numPairs);
|
||||
return;
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
||||
{
|
||||
|
||||
computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
|
||||
rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,numPairs);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
||||
{
|
||||
//sphere-sphere
|
||||
float radiusA = collidables[collidableIndexA].m_radius;
|
||||
float radiusB = collidables[collidableIndexB].m_radius;
|
||||
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
||||
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
||||
|
||||
float4 diff = posA-posB;
|
||||
float len = length(diff);
|
||||
|
||||
///iff distance positive, don't generate a new contact
|
||||
if ( len <= (radiusA+radiusB))
|
||||
{
|
||||
///distance (negative means penetration)
|
||||
float dist = len - (radiusA+radiusB);
|
||||
float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
|
||||
if (len > 0.00001)
|
||||
{
|
||||
normalOnSurfaceB = diff / len;
|
||||
}
|
||||
float4 contactPosB = posB + normalOnSurfaceB*radiusB;
|
||||
contactPosB.w = dist;
|
||||
|
||||
int dstIdx;
|
||||
AppendInc( nGlobalContactsOut, dstIdx );
|
||||
|
||||
if (dstIdx < numPairs)
|
||||
{
|
||||
__global Contact4* c = &globalContactsOut[dstIdx];
|
||||
c->m_worldNormal = -normalOnSurfaceB;
|
||||
c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);
|
||||
c->m_batchIdx = pairIndex;
|
||||
int bodyA = pairs[pairIndex].x;
|
||||
int bodyB = pairs[pairIndex].y;
|
||||
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
||||
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
||||
c->m_worldPos[0] = contactPosB;
|
||||
GET_NPOINTS(*c) = 1;
|
||||
}//if (dstIdx < numPairs)
|
||||
}//if ( len <= (radiusA+radiusB))
|
||||
|
||||
return;
|
||||
}//SHAPE_SPHERE SHAPE_SPHERE
|
||||
|
||||
}// if (i<numPairs)
|
||||
|
||||
}
|
||||
671
opencl/gpu_sat/kernels/primitiveContacts.h
Normal file
671
opencl/gpu_sat/kernels/primitiveContacts.h
Normal file
@@ -0,0 +1,671 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* primitiveContactsKernelsCL= \
|
||||
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
|
||||
"\n"
|
||||
"#define SHAPE_CONVEX_HULL 3\n"
|
||||
"#define SHAPE_PLANE 4\n"
|
||||
"#define SHAPE_CONCAVE_TRIMESH 5\n"
|
||||
"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
|
||||
"#define SHAPE_SPHERE 7\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile __global int*\n"
|
||||
"#endif\n"
|
||||
"\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_worldPos[4];\n"
|
||||
" float4 m_worldNormal; // w: m_nPoints\n"
|
||||
" u32 m_coeffs;\n"
|
||||
" u32 m_batchIdx;\n"
|
||||
"\n"
|
||||
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
|
||||
" int m_bodyBPtrAndSignBit;\n"
|
||||
"} Contact4;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"///keep this in sync with btCollidable.h\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_numChildShapes;\n"
|
||||
" float m_radius;\n"
|
||||
" int m_shapeType;\n"
|
||||
" int m_shapeIndex;\n"
|
||||
" \n"
|
||||
"} btCollidableGpu;\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_childPosition;\n"
|
||||
" float4 m_childOrientation;\n"
|
||||
" int m_shapeIndex;\n"
|
||||
" int m_unused0;\n"
|
||||
" int m_unused1;\n"
|
||||
" int m_unused2;\n"
|
||||
"} btGpuChildShape;\n"
|
||||
"\n"
|
||||
"#define GET_NPOINTS(x) (x).m_worldNormal.w\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_pos;\n"
|
||||
" float4 m_quat;\n"
|
||||
" float4 m_linVel;\n"
|
||||
" float4 m_angVel;\n"
|
||||
"\n"
|
||||
" u32 m_collidableIdx; \n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"} BodyData;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" float4 m_localCenter;\n"
|
||||
" float4 m_extents;\n"
|
||||
" float4 mC;\n"
|
||||
" float4 mE;\n"
|
||||
" \n"
|
||||
" float m_radius;\n"
|
||||
" int m_faceOffset;\n"
|
||||
" int m_numFaces;\n"
|
||||
" int m_numVertices;\n"
|
||||
" \n"
|
||||
" int m_vertexOffset;\n"
|
||||
" int m_uniqueEdgesOffset;\n"
|
||||
" int m_numUniqueEdges;\n"
|
||||
" int m_unused;\n"
|
||||
"\n"
|
||||
"} ConvexPolyhedronCL;\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_plane;\n"
|
||||
" int m_indexOffset;\n"
|
||||
" int m_numIndices;\n"
|
||||
"} btGpuFace;\n"
|
||||
"\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"\n"
|
||||
"#define make_float4 (float4)\n"
|
||||
"#define make_float2 (float2)\n"
|
||||
"#define make_uint4 (uint4)\n"
|
||||
"#define make_int4 (int4)\n"
|
||||
"#define make_uint2 (uint2)\n"
|
||||
"#define make_int2 (int2)\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float fastDiv(float numerator, float denominator)\n"
|
||||
"{\n"
|
||||
" return native_divide(numerator, denominator); \n"
|
||||
"// return numerator/denominator; \n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 fastDiv4(float4 numerator, float4 denominator)\n"
|
||||
"{\n"
|
||||
" return native_divide(numerator, denominator); \n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 cross3(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" return cross(a,b);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"//#define dot3F4 dot\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float dot3F4(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 a1 = make_float4(a.xyz,0.f);\n"
|
||||
" float4 b1 = make_float4(b.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 fastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Quaternion\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"\n"
|
||||
"typedef float4 Quaternion;\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"Quaternion qtMul(Quaternion a, Quaternion b);\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"Quaternion qtNormalize(Quaternion in);\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 qtRotate(Quaternion q, float4 vec);\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"Quaternion qtInvert(Quaternion q);\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"Quaternion qtMul(Quaternion a, Quaternion b)\n"
|
||||
"{\n"
|
||||
" Quaternion ans;\n"
|
||||
" ans = cross3( a, b );\n"
|
||||
" ans += a.w*b+b.w*a;\n"
|
||||
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
||||
" ans.w = a.w*b.w - dot3F4(a, b);\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"Quaternion qtNormalize(Quaternion in)\n"
|
||||
"{\n"
|
||||
" return fastNormalize4(in);\n"
|
||||
"// in /= length( in );\n"
|
||||
"// return in;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 qtRotate(Quaternion q, float4 vec)\n"
|
||||
"{\n"
|
||||
" Quaternion qInv = qtInvert( q );\n"
|
||||
" float4 vcpy = vec;\n"
|
||||
" vcpy.w = 0.f;\n"
|
||||
" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"Quaternion qtInvert(Quaternion q)\n"
|
||||
"{\n"
|
||||
" return (Quaternion)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
|
||||
"{\n"
|
||||
" return qtRotate( qtInvert( q ), vec );\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
|
||||
"{\n"
|
||||
" return qtRotate( *orientation, *p ) + (*translation);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"void trInverse(float4 translationIn, Quaternion orientationIn,\n"
|
||||
" float4* translationOut, Quaternion* orientationOut)\n"
|
||||
"{\n"
|
||||
" *orientationOut = qtInvert(orientationIn);\n"
|
||||
" *translationOut = qtRotate(*orientationOut, -translationIn);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"void trMul(float4 translationA, Quaternion orientationA,\n"
|
||||
" float4 translationB, Quaternion orientationB,\n"
|
||||
" float4* translationOut, Quaternion* orientationOut)\n"
|
||||
"{\n"
|
||||
" *orientationOut = qtMul(orientationA,orientationB);\n"
|
||||
" *translationOut = transform(&translationB,&translationA,&orientationA);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 normalize3(const float4 a)\n"
|
||||
"{\n"
|
||||
" float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
|
||||
" return fastNormalize4( n );\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline float4 lerp3(const float4 a,const float4 b, float t)\n"
|
||||
"{\n"
|
||||
" return make_float4( a.x + (b.x - a.x) * t,\n"
|
||||
" a.y + (b.y - a.y) * t,\n"
|
||||
" a.z + (b.z - a.z) * t,\n"
|
||||
" 0.f);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)\n"
|
||||
"{\n"
|
||||
" float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);\n"
|
||||
" float dist = dot3F4(n, point) + planeEqn.w;\n"
|
||||
" *closestPointOnFace = point - dist * n;\n"
|
||||
" return dist;\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"inline bool IsPointInPolygon(float4 p, \n"
|
||||
" float4 posConvex,\n"
|
||||
" float4 ornConvex,\n"
|
||||
" const btGpuFace* face,\n"
|
||||
" __global const float4* baseVertex,\n"
|
||||
" __global const int* convexIndices,\n"
|
||||
" float4* out)\n"
|
||||
"{\n"
|
||||
" float4 a;\n"
|
||||
" float4 b;\n"
|
||||
" float4 ab;\n"
|
||||
" float4 ap;\n"
|
||||
" float4 v;\n"
|
||||
"\n"
|
||||
" float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);\n"
|
||||
" \n"
|
||||
" if (face->m_numIndices<2)\n"
|
||||
" return false;\n"
|
||||
"\n"
|
||||
" \n"
|
||||
" float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];\n"
|
||||
" float4 worldV0 = transform(&v0, &posConvex, &ornConvex);\n"
|
||||
" \n"
|
||||
" b = worldV0;\n"
|
||||
"\n"
|
||||
" for(unsigned i=0; i != face->m_numIndices; ++i)\n"
|
||||
" {\n"
|
||||
" a = b;\n"
|
||||
" float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];\n"
|
||||
" float4 worldVi = transform(&vi, &posConvex, &ornConvex);\n"
|
||||
" b = worldVi;\n"
|
||||
" ab = b-a;\n"
|
||||
" ap = p-a;\n"
|
||||
" v = cross3(ab,plane);\n"
|
||||
"\n"
|
||||
" if (dot(ap, v) > 0.f)\n"
|
||||
" {\n"
|
||||
" float ab_m2 = dot(ab, ab);\n"
|
||||
" float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;\n"
|
||||
" if (rt <= 0.f)\n"
|
||||
" {\n"
|
||||
" *out = a;\n"
|
||||
" }\n"
|
||||
" else if (rt >= 1.f) \n"
|
||||
" {\n"
|
||||
" *out = b;\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" float s = 1.f - rt;\n"
|
||||
" out[0].x = s * a.x + rt * b.x;\n"
|
||||
" out[0].y = s * a.y + rt * b.y;\n"
|
||||
" out[0].z = s * a.z + rt * b.z;\n"
|
||||
" }\n"
|
||||
" return false;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"void computeContactSphereConvex(int pairIndex,\n"
|
||||
" int bodyIndexA, int bodyIndexB, \n"
|
||||
" int collidableIndexA, int collidableIndexB, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const ConvexPolyhedronCL* convexShapes,\n"
|
||||
" __global const float4* convexVertices,\n"
|
||||
" __global const int* convexIndices,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global Contact4* restrict globalContactsOut,\n"
|
||||
" counter32_t nGlobalContactsOut,\n"
|
||||
" int numPairs)\n"
|
||||
"{\n"
|
||||
"\n"
|
||||
" float radius = collidables[collidableIndexA].m_radius;\n"
|
||||
" float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;\n"
|
||||
" float4 sphereOrn = rigidBodies[bodyIndexA].m_quat;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" float4 pos = rigidBodies[bodyIndexB].m_pos;\n"
|
||||
" float4 quat = rigidBodies[bodyIndexB].m_quat;\n"
|
||||
"\n"
|
||||
" float4 spherePos = spherePos1 - pos;\n"
|
||||
"\n"
|
||||
" int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;\n"
|
||||
" int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
|
||||
" int numFaces = convexShapes[shapeIndex].m_numFaces;\n"
|
||||
" float4 closestPnt = (float4)(0, 0, 0, 0);\n"
|
||||
" float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
|
||||
" float minDist = -1000000.f;\n"
|
||||
" bool bCollide = true;\n"
|
||||
"\n"
|
||||
" for ( int f = 0; f < numFaces; f++ )\n"
|
||||
" {\n"
|
||||
" btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];\n"
|
||||
"\n"
|
||||
" // set up a plane equation \n"
|
||||
" float4 planeEqn;\n"
|
||||
" float4 n1 = qtRotate(quat, (float4)(face.m_plane.xyz, 0));\n"
|
||||
" planeEqn = n1;\n"
|
||||
" planeEqn.w = face.m_plane.w;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" // compute a signed distance from the vertex in cloth to the face of rigidbody.\n"
|
||||
" float4 pntReturn;\n"
|
||||
" float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);\n"
|
||||
"\n"
|
||||
" // If the distance is positive, the plane is a separating plane. \n"
|
||||
" if ( dist > radius )\n"
|
||||
" {\n"
|
||||
" bCollide = false;\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" if (dist>0)\n"
|
||||
" {\n"
|
||||
" //might hit an edge or vertex\n"
|
||||
" float4 out;\n"
|
||||
" bool isInPoly = IsPointInPolygon(spherePos,\n"
|
||||
" pos,\n"
|
||||
" quat,\n"
|
||||
" &face,\n"
|
||||
" &convexVertices[convexShapes[shapeIndex].m_vertexOffset],\n"
|
||||
" convexIndices,\n"
|
||||
" &out);\n"
|
||||
" if (isInPoly)\n"
|
||||
" {\n"
|
||||
" if (dist>minDist)\n"
|
||||
" {\n"
|
||||
" minDist = dist;\n"
|
||||
" closestPnt = pntReturn;\n"
|
||||
" hitNormalWorld = planeEqn;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" float4 tmp = spherePos-out;\n"
|
||||
" float l2 = dot(tmp,tmp);\n"
|
||||
" if (l2<radius*radius)\n"
|
||||
" {\n"
|
||||
" dist = sqrt(l2);\n"
|
||||
" if (dist>minDist)\n"
|
||||
" {\n"
|
||||
" minDist = dist;\n"
|
||||
" closestPnt = out;\n"
|
||||
" hitNormalWorld = tmp/dist;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" bCollide = false;\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" if ( dist > minDist )\n"
|
||||
" {\n"
|
||||
" minDist = dist;\n"
|
||||
" closestPnt = pntReturn;\n"
|
||||
" hitNormalWorld.xyz = planeEqn.xyz;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" \n"
|
||||
"\n"
|
||||
" if (bCollide)\n"
|
||||
" {\n"
|
||||
" float4 normalOnSurfaceB1 = -hitNormalWorld;\n"
|
||||
" float4 pOnB1 = closestPnt+pos;\n"
|
||||
" float actualDepth = minDist-radius;\n"
|
||||
" pOnB1.w = actualDepth;\n"
|
||||
"\n"
|
||||
" int dstIdx;\n"
|
||||
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
||||
" \n"
|
||||
" if (dstIdx < numPairs)\n"
|
||||
" {\n"
|
||||
" __global Contact4* c = &globalContactsOut[dstIdx];\n"
|
||||
" c->m_worldNormal = normalOnSurfaceB1;\n"
|
||||
" c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);\n"
|
||||
" c->m_batchIdx = pairIndex;\n"
|
||||
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
|
||||
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
|
||||
" c->m_worldPos[0] = pOnB1;\n"
|
||||
" GET_NPOINTS(*c) = 1;\n"
|
||||
" }//if (dstIdx < numPairs)\n"
|
||||
" }//if (hasCollision)\n"
|
||||
"\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"\n"
|
||||
" \n"
|
||||
"void computeContactPlaneConvex(int pairIndex,\n"
|
||||
" int bodyIndexA, int bodyIndexB, \n"
|
||||
" int collidableIndexA, int collidableIndexB, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global Contact4* restrict globalContactsOut,\n"
|
||||
" counter32_t nGlobalContactsOut,\n"
|
||||
" int numPairs)\n"
|
||||
"{\n"
|
||||
" float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
|
||||
" float radius = collidables[collidableIndexB].m_radius;\n"
|
||||
" float4 posA1 = rigidBodies[bodyIndexA].m_pos;\n"
|
||||
" float4 ornA1 = rigidBodies[bodyIndexA].m_quat;\n"
|
||||
" float4 posB1 = rigidBodies[bodyIndexB].m_pos;\n"
|
||||
" float4 ornB1 = rigidBodies[bodyIndexB].m_quat;\n"
|
||||
" \n"
|
||||
" bool hasCollision = false;\n"
|
||||
" float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
|
||||
" float planeConstant = planeEq.w;\n"
|
||||
" float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
|
||||
" {\n"
|
||||
" float4 invPosA;Quaternion invOrnA;\n"
|
||||
" trInverse(posA1,ornA1,&invPosA,&invOrnA);\n"
|
||||
" trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
|
||||
" }\n"
|
||||
" float4 planeInConvexPos1; Quaternion planeInConvexOrn1;\n"
|
||||
" {\n"
|
||||
" float4 invPosB;Quaternion invOrnB;\n"
|
||||
" trInverse(posB1,ornB1,&invPosB,&invOrnB);\n"
|
||||
" trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1); \n"
|
||||
" }\n"
|
||||
" float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;\n"
|
||||
" float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
|
||||
" float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;\n"
|
||||
" hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();\n"
|
||||
" if (hasCollision)\n"
|
||||
" {\n"
|
||||
" float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;\n"
|
||||
" float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);\n"
|
||||
" float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);\n"
|
||||
" float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;\n"
|
||||
" pOnB1.w = distance;\n"
|
||||
"\n"
|
||||
" int dstIdx;\n"
|
||||
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
||||
" \n"
|
||||
" if (dstIdx < numPairs)\n"
|
||||
" {\n"
|
||||
" __global Contact4* c = &globalContactsOut[dstIdx];\n"
|
||||
" c->m_worldNormal = normalOnSurfaceB1;\n"
|
||||
" c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);\n"
|
||||
" c->m_batchIdx = pairIndex;\n"
|
||||
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
|
||||
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
|
||||
" c->m_worldPos[0] = pOnB1;\n"
|
||||
" GET_NPOINTS(*c) = 1;\n"
|
||||
" }//if (dstIdx < numPairs)\n"
|
||||
" }//if (hasCollision)\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__kernel void primitiveContactsKernel( __global const int2* pairs, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const ConvexPolyhedronCL* convexShapes, \n"
|
||||
" __global const float4* vertices,\n"
|
||||
" __global const float4* uniqueEdges,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" __global Contact4* restrict globalContactsOut,\n"
|
||||
" counter32_t nGlobalContactsOut,\n"
|
||||
" int numPairs)\n"
|
||||
"{\n"
|
||||
"\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" int pairIndex = i;\n"
|
||||
" \n"
|
||||
" float4 worldVertsB1[64];\n"
|
||||
" float4 worldVertsB2[64];\n"
|
||||
" int capacityWorldVerts = 64; \n"
|
||||
"\n"
|
||||
" float4 localContactsOut[64];\n"
|
||||
" int localContactCapacity=64;\n"
|
||||
" \n"
|
||||
" float minDist = -1e30f;\n"
|
||||
" float maxDist = 0.02f;\n"
|
||||
"\n"
|
||||
" if (i<numPairs)\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
" int bodyIndexA = pairs[i].x;\n"
|
||||
" int bodyIndexB = pairs[i].y;\n"
|
||||
" \n"
|
||||
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
||||
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
|
||||
" \n"
|
||||
"\n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n"
|
||||
" rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);\n"
|
||||
" return;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
|
||||
" rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
|
||||
" rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,numPairs);\n"
|
||||
" return;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
|
||||
" rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,numPairs);\n"
|
||||
" return;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
|
||||
" {\n"
|
||||
" //sphere-sphere\n"
|
||||
" float radiusA = collidables[collidableIndexA].m_radius;\n"
|
||||
" float radiusB = collidables[collidableIndexB].m_radius;\n"
|
||||
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
||||
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
||||
"\n"
|
||||
" float4 diff = posA-posB;\n"
|
||||
" float len = length(diff);\n"
|
||||
" \n"
|
||||
" ///iff distance positive, don't generate a new contact\n"
|
||||
" if ( len <= (radiusA+radiusB))\n"
|
||||
" {\n"
|
||||
" ///distance (negative means penetration)\n"
|
||||
" float dist = len - (radiusA+radiusB);\n"
|
||||
" float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
|
||||
" if (len > 0.00001)\n"
|
||||
" {\n"
|
||||
" normalOnSurfaceB = diff / len;\n"
|
||||
" }\n"
|
||||
" float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
|
||||
" contactPosB.w = dist;\n"
|
||||
" \n"
|
||||
" int dstIdx;\n"
|
||||
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
||||
" \n"
|
||||
" if (dstIdx < numPairs)\n"
|
||||
" {\n"
|
||||
" __global Contact4* c = &globalContactsOut[dstIdx];\n"
|
||||
" c->m_worldNormal = -normalOnSurfaceB;\n"
|
||||
" c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);\n"
|
||||
" c->m_batchIdx = pairIndex;\n"
|
||||
" int bodyA = pairs[pairIndex].x;\n"
|
||||
" int bodyB = pairs[pairIndex].y;\n"
|
||||
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
||||
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
||||
" c->m_worldPos[0] = contactPosB;\n"
|
||||
" GET_NPOINTS(*c) = 1;\n"
|
||||
" }//if (dstIdx < numPairs)\n"
|
||||
" }//if ( len <= (radiusA+radiusB))\n"
|
||||
"\n"
|
||||
" return;\n"
|
||||
" }//SHAPE_SPHERE SHAPE_SPHERE\n"
|
||||
"\n"
|
||||
" }// if (i<numPairs)\n"
|
||||
"\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
;
|
||||
@@ -1,9 +1,13 @@
|
||||
|
||||
#define TRIANGLE_NUM_CONVEX_FACES 5
|
||||
|
||||
#define SHAPE_CONVEX_HULL 3
|
||||
#define SHAPE_PLANE 4
|
||||
#define SHAPE_CONCAVE_TRIMESH 5
|
||||
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
|
||||
#define SHAPE_SPHERE 7
|
||||
|
||||
|
||||
#pragma OPENCL EXTENSION cl_amd_printf : enable
|
||||
#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
|
||||
#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
|
||||
@@ -41,12 +45,8 @@ typedef struct
|
||||
{
|
||||
float4 m_worldPos[4];
|
||||
float4 m_worldNormal; // w: m_nPoints
|
||||
// float m_restituitionCoeff;
|
||||
// float m_frictionCoeff;
|
||||
u32 m_coeffs;
|
||||
u32 m_batchIdx;
|
||||
// int m_nPoints;
|
||||
// int m_padding0;
|
||||
|
||||
int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr
|
||||
int m_bodyBPtrAndSignBit;
|
||||
@@ -872,11 +872,6 @@ int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, i
|
||||
contactIdx[2] = idx[2];
|
||||
contactIdx[3] = idx[3];
|
||||
|
||||
// if( max00.y < 0.0f )
|
||||
// contactIdx[0] = (int)max00.x;
|
||||
|
||||
//does this sort happen on GPU too?
|
||||
//std::sort( contactIdx, contactIdx+4 );
|
||||
|
||||
return 4;
|
||||
}
|
||||
@@ -908,7 +903,7 @@ __kernel void extractManifoldAndAddContactKernel(__global const int2* pairs,
|
||||
{
|
||||
localPoints[i] = pointsIn[i];
|
||||
}
|
||||
// int contactIdx[4] = {-1,-1,-1,-1};
|
||||
|
||||
int contactIdx[4];// = {-1,-1,-1,-1};
|
||||
contactIdx[0] = -1;
|
||||
contactIdx[1] = -1;
|
||||
@@ -954,66 +949,7 @@ void trMul(float4 translationA, Quaternion orientationA,
|
||||
*translationOut = transform(&translationB,&translationA,&orientationA);
|
||||
}
|
||||
|
||||
void computeContactPlaneConvex(int pairIndex,
|
||||
int bodyIndexA, int bodyIndexB,
|
||||
int collidableIndexA, int collidableIndexB,
|
||||
__global const BodyData* rigidBodies,
|
||||
__global const btCollidableGpu* collidables,
|
||||
__global const btGpuFace* faces,
|
||||
__global Contact4* restrict globalContactsOut,
|
||||
counter32_t nGlobalContactsOut,
|
||||
int numPairs)
|
||||
{
|
||||
float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
|
||||
float radius = collidables[collidableIndexB].m_radius;
|
||||
float4 posA1 = rigidBodies[bodyIndexA].m_pos;
|
||||
float4 ornA1 = rigidBodies[bodyIndexA].m_quat;
|
||||
float4 posB1 = rigidBodies[bodyIndexB].m_pos;
|
||||
float4 ornB1 = rigidBodies[bodyIndexB].m_quat;
|
||||
|
||||
bool hasCollision = false;
|
||||
float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
|
||||
float planeConstant = planeEq.w;
|
||||
float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
|
||||
{
|
||||
float4 invPosA;Quaternion invOrnA;
|
||||
trInverse(posA1,ornA1,&invPosA,&invOrnA);
|
||||
trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
||||
}
|
||||
float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
|
||||
{
|
||||
float4 invPosB;Quaternion invOrnB;
|
||||
trInverse(posB1,ornB1,&invPosB,&invOrnB);
|
||||
trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);
|
||||
}
|
||||
float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;
|
||||
float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
|
||||
float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;
|
||||
hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();
|
||||
if (hasCollision)
|
||||
{
|
||||
float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;
|
||||
float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);
|
||||
float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);
|
||||
float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;
|
||||
pOnB1.w = distance;
|
||||
|
||||
int dstIdx;
|
||||
AppendInc( nGlobalContactsOut, dstIdx );
|
||||
|
||||
if (dstIdx < numPairs)
|
||||
{
|
||||
__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)
|
||||
}//if (hasCollision)
|
||||
}
|
||||
|
||||
|
||||
__kernel void clipHullHullKernel( __global const int2* pairs,
|
||||
@@ -1052,74 +988,6 @@ __kernel void clipHullHullKernel( __global const int2* pairs,
|
||||
|
||||
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
||||
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
||||
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);
|
||||
return;
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
||||
{
|
||||
//sphere-sphere
|
||||
float radiusA = collidables[collidableIndexA].m_radius;
|
||||
float radiusB = collidables[collidableIndexB].m_radius;
|
||||
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
||||
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
||||
|
||||
float4 diff = posA-posB;
|
||||
float len = length(diff);
|
||||
|
||||
///iff distance positive, don't generate a new contact
|
||||
if ( len <= (radiusA+radiusB))
|
||||
{
|
||||
///distance (negative means penetration)
|
||||
float dist = len - (radiusA+radiusB);
|
||||
float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
|
||||
if (len > 0.00001)
|
||||
{
|
||||
normalOnSurfaceB = diff / len;
|
||||
}
|
||||
float4 contactPosB = posB + normalOnSurfaceB*radiusB;
|
||||
contactPosB.w = dist;
|
||||
|
||||
int dstIdx;
|
||||
AppendInc( nGlobalContactsOut, dstIdx );
|
||||
|
||||
if (dstIdx < numPairs)
|
||||
{
|
||||
__global Contact4* c = &globalContactsOut[dstIdx];
|
||||
c->m_worldNormal = -normalOnSurfaceB;
|
||||
c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);
|
||||
c->m_batchIdx = pairIndex;
|
||||
int bodyA = pairs[pairIndex].x;
|
||||
int bodyB = pairs[pairIndex].y;
|
||||
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
||||
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
||||
c->m_worldPos[0] = contactPosB;
|
||||
GET_NPOINTS(*c) = 1;
|
||||
}//if (dstIdx < numPairs)
|
||||
}//if ( len <= (radiusA+radiusB))
|
||||
|
||||
return;
|
||||
}//SHAPE_SPHERE SHAPE_SPHERE
|
||||
|
||||
if (hasSeparatingAxis[i])
|
||||
{
|
||||
@@ -1261,10 +1129,6 @@ __kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPai
|
||||
|
||||
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
||||
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],
|
||||
&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
|
||||
|
||||
@@ -3,9 +3,13 @@ static const char* satClipKernelsCL= \
|
||||
"\n"
|
||||
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
|
||||
"\n"
|
||||
"#define SHAPE_CONVEX_HULL 3\n"
|
||||
"#define SHAPE_PLANE 4\n"
|
||||
"#define SHAPE_CONCAVE_TRIMESH 5\n"
|
||||
"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
|
||||
"#define SHAPE_SPHERE 7\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
@@ -43,12 +47,8 @@ static const char* satClipKernelsCL= \
|
||||
"{\n"
|
||||
" float4 m_worldPos[4];\n"
|
||||
" float4 m_worldNormal; // w: m_nPoints\n"
|
||||
"// float m_restituitionCoeff;\n"
|
||||
"// float m_frictionCoeff;\n"
|
||||
" u32 m_coeffs;\n"
|
||||
" u32 m_batchIdx;\n"
|
||||
"// int m_nPoints;\n"
|
||||
"// int m_padding0;\n"
|
||||
"\n"
|
||||
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
|
||||
" int m_bodyBPtrAndSignBit;\n"
|
||||
@@ -874,11 +874,6 @@ static const char* satClipKernelsCL= \
|
||||
" contactIdx[2] = idx[2];\n"
|
||||
" contactIdx[3] = idx[3];\n"
|
||||
"\n"
|
||||
"// if( max00.y < 0.0f )\n"
|
||||
"// contactIdx[0] = (int)max00.x;\n"
|
||||
"\n"
|
||||
" //does this sort happen on GPU too?\n"
|
||||
" //std::sort( contactIdx, contactIdx+4 );\n"
|
||||
"\n"
|
||||
" return 4;\n"
|
||||
" }\n"
|
||||
@@ -910,7 +905,7 @@ static const char* satClipKernelsCL= \
|
||||
" {\n"
|
||||
" localPoints[i] = pointsIn[i];\n"
|
||||
" }\n"
|
||||
"// int contactIdx[4] = {-1,-1,-1,-1};\n"
|
||||
"\n"
|
||||
" int contactIdx[4];// = {-1,-1,-1,-1};\n"
|
||||
" contactIdx[0] = -1;\n"
|
||||
" contactIdx[1] = -1;\n"
|
||||
@@ -956,66 +951,7 @@ static const char* satClipKernelsCL= \
|
||||
" *translationOut = transform(&translationB,&translationA,&orientationA);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"void computeContactPlaneConvex(int pairIndex,\n"
|
||||
" int bodyIndexA, int bodyIndexB, \n"
|
||||
" int collidableIndexA, int collidableIndexB, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global Contact4* restrict globalContactsOut,\n"
|
||||
" counter32_t nGlobalContactsOut,\n"
|
||||
" int numPairs)\n"
|
||||
"{\n"
|
||||
" float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
|
||||
" float radius = collidables[collidableIndexB].m_radius;\n"
|
||||
" float4 posA1 = rigidBodies[bodyIndexA].m_pos;\n"
|
||||
" float4 ornA1 = rigidBodies[bodyIndexA].m_quat;\n"
|
||||
" float4 posB1 = rigidBodies[bodyIndexB].m_pos;\n"
|
||||
" float4 ornB1 = rigidBodies[bodyIndexB].m_quat;\n"
|
||||
" \n"
|
||||
" bool hasCollision = false;\n"
|
||||
" float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
|
||||
" float planeConstant = planeEq.w;\n"
|
||||
" float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
|
||||
" {\n"
|
||||
" float4 invPosA;Quaternion invOrnA;\n"
|
||||
" trInverse(posA1,ornA1,&invPosA,&invOrnA);\n"
|
||||
" trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
|
||||
" }\n"
|
||||
" float4 planeInConvexPos1; Quaternion planeInConvexOrn1;\n"
|
||||
" {\n"
|
||||
" float4 invPosB;Quaternion invOrnB;\n"
|
||||
" trInverse(posB1,ornB1,&invPosB,&invOrnB);\n"
|
||||
" trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1); \n"
|
||||
" }\n"
|
||||
" float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;\n"
|
||||
" float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
|
||||
" float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;\n"
|
||||
" hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();\n"
|
||||
" if (hasCollision)\n"
|
||||
" {\n"
|
||||
" float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;\n"
|
||||
" float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);\n"
|
||||
" float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);\n"
|
||||
" float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;\n"
|
||||
" pOnB1.w = distance;\n"
|
||||
"\n"
|
||||
" int dstIdx;\n"
|
||||
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
||||
" \n"
|
||||
" if (dstIdx < numPairs)\n"
|
||||
" {\n"
|
||||
" __global Contact4* c = &globalContactsOut[dstIdx];\n"
|
||||
" c->m_worldNormal = normalOnSurfaceB1;\n"
|
||||
" c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);\n"
|
||||
" c->m_batchIdx = pairIndex;\n"
|
||||
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
|
||||
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
|
||||
" c->m_worldPos[0] = pOnB1;\n"
|
||||
" GET_NPOINTS(*c) = 1;\n"
|
||||
" }//if (dstIdx < numPairs)\n"
|
||||
" }//if (hasCollision)\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__kernel void clipHullHullKernel( __global const int2* pairs, \n"
|
||||
@@ -1054,74 +990,6 @@ static const char* satClipKernelsCL= \
|
||||
" \n"
|
||||
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
||||
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
|
||||
" \n"
|
||||
"\n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n"
|
||||
" rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);\n"
|
||||
" return;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
|
||||
" rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,numPairs);\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
|
||||
" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
|
||||
" {\n"
|
||||
" //sphere-sphere\n"
|
||||
" float radiusA = collidables[collidableIndexA].m_radius;\n"
|
||||
" float radiusB = collidables[collidableIndexB].m_radius;\n"
|
||||
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
||||
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
||||
"\n"
|
||||
" float4 diff = posA-posB;\n"
|
||||
" float len = length(diff);\n"
|
||||
" \n"
|
||||
" ///iff distance positive, don't generate a new contact\n"
|
||||
" if ( len <= (radiusA+radiusB))\n"
|
||||
" {\n"
|
||||
" ///distance (negative means penetration)\n"
|
||||
" float dist = len - (radiusA+radiusB);\n"
|
||||
" float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
|
||||
" if (len > 0.00001)\n"
|
||||
" {\n"
|
||||
" normalOnSurfaceB = diff / len;\n"
|
||||
" }\n"
|
||||
" float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
|
||||
" contactPosB.w = dist;\n"
|
||||
" \n"
|
||||
" int dstIdx;\n"
|
||||
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
||||
" \n"
|
||||
" if (dstIdx < numPairs)\n"
|
||||
" {\n"
|
||||
" __global Contact4* c = &globalContactsOut[dstIdx];\n"
|
||||
" c->m_worldNormal = -normalOnSurfaceB;\n"
|
||||
" c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);\n"
|
||||
" c->m_batchIdx = pairIndex;\n"
|
||||
" int bodyA = pairs[pairIndex].x;\n"
|
||||
" int bodyB = pairs[pairIndex].y;\n"
|
||||
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
||||
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
||||
" c->m_worldPos[0] = contactPosB;\n"
|
||||
" GET_NPOINTS(*c) = 1;\n"
|
||||
" }//if (dstIdx < numPairs)\n"
|
||||
" }//if ( len <= (radiusA+radiusB))\n"
|
||||
"\n"
|
||||
" return;\n"
|
||||
" }//SHAPE_SPHERE SHAPE_SPHERE\n"
|
||||
"\n"
|
||||
" if (hasSeparatingAxis[i])\n"
|
||||
" {\n"
|
||||
@@ -1263,10 +1131,6 @@ static const char* satClipKernelsCL= \
|
||||
" \n"
|
||||
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
||||
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
||||
"\n"
|
||||
" \n"
|
||||
"\n"
|
||||
"\n"
|
||||
" \n"
|
||||
" int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n"
|
||||
" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
|
||||
|
||||
Reference in New Issue
Block a user