Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree.

Browse Source 
Remove constructor from b3Vector3,  to make it a POD type, so it can go into a union (and more compatible with OpenCL float4)
Use b3MakeVector3 instead of constructor
Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
Improve PairBench a bit, show timings and #overlapping pairs.
Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
This commit is contained in:
erwincoumans
2013-08-20 03:19:59 -07:00
parent 41ba48b10d
commit 677722bba3
62 changed files with 1827 additions and 564 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
Demos3/GpuDemos/GpuDemo.h
View File

@@ -48,14 +48,14 @@ public:
arraySizeZ(10),
#else
arraySizeX(30),
arraySizeX(30),
arraySizeY(30),
arraySizeZ(30),
#endif
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),
gapZ(14.3),
gapX(16.3),
gapY(6.3),
gapZ(16.3),
m_useInstancedCollisionShapes(true),
m_instancingRenderer(0),
m_window(0),

6
Demos3/GpuDemos/ParticleDemo.cpp
View File

@@ -243,10 +243,10 @@ void ParticleDemo::setupScene(const ConstructionInfo& ci)
void* userPtr = (void*)userIndex;
int collidableIndex = userIndex;
b3Vector3 aabbMin,aabbMax;
b3Vector3 particleRadius(rad,rad,rad);
b3Vector3 particleRadius=b3MakeVector3(rad,rad,rad);
aabbMin = b3Vector3(position[0],position[1],position[2])-particleRadius;
aabbMax = b3Vector3(position[0],position[1],position[2])+particleRadius;
aabbMin = b3MakeVector3(position[0],position[1],position[2])-particleRadius;
aabbMax = b3MakeVector3(position[0],position[1],position[2])+particleRadius;
m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,collidableIndex,1,1);
userIndex++;

76
Demos3/GpuDemos/broadphase/PairBench.cpp
View File

@@ -10,6 +10,7 @@
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "../../../btgui/Timing/b3Quickprof.h"
#include "../gwenUserInterface.h"
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
@@ -49,7 +50,7 @@ __kernel void
{
int nodeID = get_global_id(0);
float timeStepPos = 0.000166666;
float mAmplitude = 86.f;
float mAmplitude = 51.f;
if( nodeID < numNodes )
{
pBodyTimes[nodeID] += timeStepPos;
@@ -102,6 +103,8 @@ struct PairBenchInternalData
cl_kernel m_colorPairsKernel;
cl_kernel m_updateAabbSimple;
GwenUserInterface* m_gui;
b3OpenCLArray<b3Vector4>* m_instancePosOrnColor;
b3OpenCLArray<float>* m_bodyTimes;
PairBenchInternalData()
@@ -149,6 +152,9 @@ static void PairKeyboardCallback(int key, int state)
void PairBench::initPhysics(const ConstructionInfo& ci)
{
m_data->m_gui = ci.m_gui;
initCL(ci.preferredOpenCLDeviceIndex,ci.preferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
{
@@ -190,13 +196,13 @@ void PairBench::initPhysics(const ConstructionInfo& ci)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
b3Vector3 position(k*3,i*3,j*3);
b3Vector3 position=b3MakeVector3(k*3,i*3,j*3);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,1,0,1);
b3Vector4 scaling(1,1,1,1);
b3Vector4 color=b3MakeVector4(0,1,0,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
b3Vector3 aabbHalfExtents(1,1,1);
b3Vector3 aabbHalfExtents=b3MakeVector3(1,1,1);
b3Vector3 aabbMin = position-aabbHalfExtents;
b3Vector3 aabbMax = position+aabbHalfExtents;
@@ -210,7 +216,7 @@ void PairBench::initPhysics(const ConstructionInfo& ci)
float camPos[4]={15.5,12.5,15.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(60);
m_instancingRenderer->setCameraDistance(130);
m_instancingRenderer->writeTransforms();
m_data->m_broadphaseGPU->writeAabbsToGpu();
@@ -300,7 +306,11 @@ void PairBench::clientMoveAndDisplay()
}
}
bool updateOnGpu=true;
if (updateOnGpu)
{
B3_PROFILE("updateOnGpu");
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setConst( numObjects);
@@ -308,16 +318,66 @@ void PairBench::clientMoveAndDisplay()
launcher.launch1D( numObjects);
clFinish(m_clData->m_clQueue);
}
} else
{
B3_PROFILE("updateOnCpu");
int allAabbs = m_data->m_broadphaseGPU->m_allAabbsCPU.size();
b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
m_data->m_instancePosOrnColor->copyToHost(posOrnColorsCpu);
for (int nodeId=0;nodeId<numObjects;nodeId++)
{
{
b3Vector3 position = posOrnColorsCpu[nodeId];
b3Vector3 halfExtents = b3MakeFloat4(1.01f,1.01f,1.01f,0.f);
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_minVec = position-halfExtents;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_minIndices[3] = nodeId;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_maxVec = position+halfExtents;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_signedMaxIndices[3]= nodeId;
}
}
m_data->m_broadphaseGPU->writeAabbsToGpu();
}
unsigned long dt = 0;
{
b3Clock cl;
dt = cl.getTimeMicroseconds();
B3_PROFILE("calculateOverlappingPairs");
m_data->m_broadphaseGPU->calculateOverlappingPairs(64*numObjects);
int sz = sizeof(b3Int4)*64*numObjects;
m_data->m_broadphaseGPU->calculateOverlappingPairs(16*numObjects);
//int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
//printf("numPairs = %d\n", numPairs);
dt = cl.getTimeMicroseconds()-dt;
}
if (m_data->m_gui)
{
int allAabbs = m_data->m_broadphaseGPU->m_allAabbsCPU.size();
int numOverlap = m_data->m_broadphaseGPU->getNumOverlap();
float time = dt/1000.f;
//printf("time = %f\n", time);
char msg[1024];
sprintf(msg,"#objects = %d, #overlapping pairs = %d, time = %f ms", allAabbs,numOverlap,time );
//printf("msg=%s\n",msg);
m_data->m_gui->setStatusBarMessage(msg,true);
}
if (animate)
{
B3_PROFILE("animate");
GLint err = glGetError();
assert(err==GL_NO_ERROR);
//color overlapping objects in red

28
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
View File

@@ -108,10 +108,10 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
{
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int curColor = 0;
@@ -127,7 +127,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
bool merge = true;
@@ -167,7 +167,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
}
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
//b3Vector3 position((-ci.arraySizeX/2*ci.gapX)+i*ci.gapX,1+j*2.,(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
b3Vector3 position(-ci.arraySizeX/2*2+1+j*2.,
b3Vector3 position=b3MakeVector3(-ci.arraySizeX/2*2+1+j*2.,
10+i*ci.gapY,
(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
@@ -176,7 +176,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -193,16 +193,16 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
float breakingThreshold=44;
// c->setBreakingImpulseThreshold(breakingThreshold);
b3Vector3 pivotInA(-1.1,0,0);
b3Vector3 pivotInB (1.1,0,0);
b3Vector3 pivotInA=b3MakeVector3(-1.1,0,0);
b3Vector3 pivotInB=b3MakeVector3(1.1,0,0);
int cid = m_data->m_rigidBodyPipeline->createPoint2PointConstraint(pid,prevBody,pivotInA,pivotInB,breakingThreshold);
break;
}
case 1:
{
b3Vector3 pivotInA(-1.05,0,0);
b3Vector3 pivotInB (1.05,0,0);
b3Vector3 pivotInA=b3MakeVector3(-1.05,0,0);
b3Vector3 pivotInB=b3MakeVector3(1.05,0,0);
b3Transform frameInA,frameInB;
frameInA.setIdentity();
@@ -276,12 +276,12 @@ void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci)
{
b3Vector4 scaling(400,400,400,1);
b3Vector4 scaling=b3MakeVector4(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-405,0);
b3Vector3 position=b3MakeVector3(0,-405,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);

13
Demos3/GpuDemos/main_opengl3core.cpp
View File

@@ -85,11 +85,11 @@ GpuDemo::CreateFunc* allDemos[]=
{
//ConcaveCompound2Scene::MyCreateFunc,
//ConcaveSphereScene::MyCreateFunc,
// ConcaveSphereScene::MyCreateFunc,
@@ -102,6 +102,7 @@ GpuDemo::CreateFunc* allDemos[]=
GpuConvexScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
GpuCompoundPlaneScene::MyCreateFunc,
GpuSphereScene::MyCreateFunc,
@@ -112,11 +113,11 @@ GpuDemo::CreateFunc* allDemos[]=
ConcaveCompoundScene::MyCreateFunc,
GpuCompoundPlaneScene::MyCreateFunc,
GpuTetraScene::MyCreateFunc,
//GpuTetraScene::MyCreateFunc,
GpuSoftClothDemo::MyCreateFunc,
//GpuSoftClothDemo::MyCreateFunc,
Bullet2FileDemo::MyCreateFunc,
@@ -546,7 +547,7 @@ int main(int argc, char* argv[])
b3SetCustomPrintfFunc(myprintf);
b3Vector3 test(1,2,3);
b3Vector3 test=b3MakeVector3(1,2,3);
test.x = 1;
test.y = 4;

16
Demos3/GpuDemos/raytrace/RaytracedShadowDemo.cpp
View File

@@ -116,10 +116,10 @@ int GpuRaytraceScene::createDynamicsObjects(const ConstructionInfo& ci2)
{
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int curColor = 0;
@@ -143,7 +143,7 @@ int GpuRaytraceScene::createDynamicsObjects(const ConstructionInfo& ci2)
{
//mass=0.f;
}
b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position=b3MakeVector3((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
//b3Vector3 position(i*2.2,10+j*1.9,k*2.2);
b3Quaternion orn(0,0,0,1);
@@ -151,7 +151,7 @@ int GpuRaytraceScene::createDynamicsObjects(const ConstructionInfo& ci2)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -228,7 +228,7 @@ void GpuRaytraceScene::renderScene2()
rayForward*= farPlane;
b3Vector3 rightOffset;
b3Vector3 vertical(0.f,1.f,0.f);
b3Vector3 vertical=b3MakeVector3(0.f,1.f,0.f);
b3Vector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
@@ -303,7 +303,7 @@ void GpuRaytraceScene::renderScene2()
}
}
b3Vector3 lightPos(1000,1000,100);
b3Vector3 lightPos=b3MakeVector3(1000,1000,100);
{
B3_PROFILE("cast primary rays");

2
Demos3/GpuDemos/rigidbody/Bullet2FileDemo.cpp
View File

@@ -38,7 +38,7 @@ void Bullet2FileDemo::setupScene(const ConstructionInfo& ci)
// m_loader = new b3BulletDataExtractor(*ci.m_instancingRenderer,*m_data->m_np,*m_data->m_rigidBodyPipeline);
// m_loader->convertAllObjects(bulletFile);
b3Vector3 pos(-20,10,0);
b3Vector3 pos=b3MakeVector3(-20,10,0);
ci.m_instancingRenderer->setCameraTargetPosition(pos);
ci.m_instancingRenderer->setCameraDistance(10);
}

4
Demos3/GpuDemos/rigidbody/BulletDataExtractor.cpp
View File

@@ -328,7 +328,7 @@ int b3BulletDataExtractor::convertCollisionShape( Bullet3SerializeBullet2::b3Co
{
for ( i=0;i<numPoints;i++)
{
b3Vector3 pt = b3Vector3(convexData->m_unscaledPointsFloatPtr[i].m_floats[0],
b3Vector3 pt = b3MakeVector3(convexData->m_unscaledPointsFloatPtr[i].m_floats[0],
convexData->m_unscaledPointsFloatPtr[i].m_floats[1],
convexData->m_unscaledPointsFloatPtr[i].m_floats[2]);//convexData->m_unscaledPointsFloatPtr[i].m_floats[3]);
@@ -591,7 +591,7 @@ GraphicsShape* b3BulletDataExtractor::createGraphicsShapeFromConvexHull(const b3
for (int f=0;f<utilPtr->m_faces.size();f++)
{
const b3MyFace& face = utilPtr->m_faces[f];
b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
b3Vector3 normal=b3MakeVector3(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face.m_indices.size()>2)
{

100
Demos3/GpuDemos/rigidbody/ConcaveScene.cpp
View File

@@ -47,7 +47,7 @@ GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj
//b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (1)
{
b3Vector3 normal(0,1,0);
b3Vector3 normal=b3MakeVector3(0,1,0);
int vtxBaseIndex = vertices->size();
@@ -81,9 +81,9 @@ GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj
vtx2.uv[1] = 0.5f;
b3Vector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
b3Vector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
b3Vector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
b3Vector3 v0=b3MakeVector3(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
b3Vector3 v1=b3MakeVector3(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
b3Vector3 v2=b3MakeVector3(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
normal = (v1-v0).cross(v2-v0);
normal.normalize();
@@ -163,13 +163,13 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
for (int j=0;j<3;j++)
shape->m_vertices->at(i).xyzw[j] += shift[j];
b3Vector3 vtx(shape->m_vertices->at(i).xyzw[0],
b3Vector3 vtx=b3MakeVector3(shape->m_vertices->at(i).xyzw[0],
shape->m_vertices->at(i).xyzw[1],
shape->m_vertices->at(i).xyzw[2]);
verts.push_back(vtx*scaling);
}
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,b3Vector3(1,1,1));
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,b3MakeVector3(1,1,1));
{
int strideInBytes = 9*sizeof(float);
@@ -182,12 +182,12 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
int shapeId = ci.m_instancingRenderer->registerShape(&shape->m_vertices->at(0).xyzw[0], shape->m_numvertices, &shape->m_indices->at(0), shape->m_numIndices);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0.3,0.3,1,1.f);//0.5);//1.f
b3Vector4 color=b3MakeVector4(0.3,0.3,1,1.f);//0.5);//1.f
{
float mass = 0.f;
b3Vector3 position(0,0,0);
b3Vector3 position=b3MakeVector3(0,0,0);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
@@ -222,9 +222,9 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
char* fileName = "samurai_monastry.obj";
// char* fileName = "teddy2_VHACD_CHs.obj";
b3Vector3 shift1(0,0,0);//0,230,80);//150,-100,-120);
b3Vector3 shift1=b3MakeVector3(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling(10,10,10,1);
b3Vector4 scaling=b3MakeVector4(10,10,10,1);
// createConcaveMesh(ci,"plane100.obj",shift1,scaling);
//createConcaveMesh(ci,"plane100.obj",shift,scaling);
@@ -247,12 +247,12 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
int mask=1;
int index=0;
{
b3Vector4 scaling(400,1.,400,1);
b3Vector4 scaling=b3MakeVector4(400,1.,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-2,0);
b3Vector3 position=b3MakeVector3(0,-2,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
@@ -268,7 +268,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraPitch(45);
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(155);
m_instancingRenderer->setCameraDistance(355);
char msg[1024];
int numInstances = m_data->m_rigidBodyPipeline->getNumBodies();
sprintf(msg,"Num objects = %d",numInstances);
@@ -296,15 +296,15 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
int curColor = 0;
b3Vector4 colors[4] =
{
b3Vector4(1,1,1,1),
b3Vector4(1,1,0.3,1),
b3Vector4(0.3,1,1,1),
b3Vector4(0.3,0.3,1,1),
b3MakeVector4(1,1,1,1),
b3MakeVector4(1,1,0.3,1),
b3MakeVector4(0.3,1,1,1),
b3MakeVector4(0.3,0.3,1,1),
};
b3ConvexUtility* utilPtr = new b3ConvexUtility();
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
{
b3AlignedObjectArray<b3Vector3> verts;
@@ -313,7 +313,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
bool merge = true;
@@ -342,7 +342,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;
//b3Vector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
b3Vector3 position(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,3+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,3+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
@@ -380,8 +380,8 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
//char* fileName = "cube_offset.obj";
b3Vector3 shift(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling(1,1,1,1);
b3Vector3 shift=b3MakeVector3(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
int prefixIndex=-1;
@@ -455,7 +455,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
//for now, only support polyhedral child shapes
b3GpuChildShape child;
b3Vector3 pos(0,0,0);
b3Vector3 pos=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
for (int v=0;v<4;v++)
{
@@ -479,11 +479,11 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
}
b3Vector3 center(0,0,0);
b3Vector3 center=b3MakeVector3(0,0,0);
b3AlignedObjectArray<GLInstanceVertex> tmpVertices;
//add transformed graphics vertices and indices
b3Vector3 myScaling(50,50,50);//300,300,300);
b3Vector3 myScaling=b3MakeVector3(50,50,50);//300,300,300);
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert;
@@ -547,10 +547,10 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,0,1,1),
b3MakeVector4(0,1,1,1),
};
int curColor = 0;
@@ -564,15 +564,15 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;//j==0? 0.f : 1.f;
//b3Vector3 position(i*10*ci.gapX,j*ci.gapY,k*10*ci.gapZ);
b3Vector3 position(i*10*ci.gapX,10+j*10*ci.gapY,k*10*ci.gapZ);
b3Vector3 position=b3MakeVector3(i*10*ci.gapX,10+j*10*ci.gapY,k*10*ci.gapZ);
// b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(0,0,1),1.8);
b3Quaternion orn(b3MakeVector3(0,0,1),1.8);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -612,9 +612,9 @@ void ConcaveCompoundScene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector3 childPositions[3] = {
b3Vector3(0,-2,0),
b3Vector3(0,0,0),
b3Vector3(0,0,2)
b3MakeVector3(0,-2,0),
b3MakeVector3(0,0,0),
b3MakeVector3(0,0,2)
};
b3AlignedObjectArray<b3GpuChildShape> childShapes;
@@ -645,7 +645,7 @@ b3Vector3 childPositions[3] = {
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert = cubeVerts[v];
b3Vector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 vertPos=b3MakeVector3(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 newPos = tr*vertPos;
vert.xyzw[0] = newPos[0];
vert.xyzw[1] = newPos[1];
@@ -664,10 +664,10 @@ b3Vector3 childPositions[3] = {
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,0,1,1),
b3MakeVector4(0,1,1,1),
};
int curColor = 0;
@@ -680,14 +680,14 @@ b3Vector3 childPositions[3] = {
{
float mass = 1;//j==0? 0.f : 1.f;
b3Vector3 position((-ci.arraySizeX/2+i)*ci.gapX,50+j*ci.gapY,(-ci.arraySizeZ/2+k)*ci.gapZ);
b3Vector3 position=b3MakeVector3((-ci.arraySizeX/2+i)*ci.gapX,50+j*ci.gapY,(-ci.arraySizeZ/2+k)*ci.gapZ);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
b3Quaternion orn(b3MakeVector3(1,0,0),0.7);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -715,10 +715,10 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
{
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int index=0;
@@ -737,7 +737,7 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1.f;
b3Vector3 position(-(ci.arraySizeX/2)*8+i*8,50+j*8,-(ci.arraySizeZ/2)*8+k*8);
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*8+i*8,50+j*8,-(ci.arraySizeZ/2)*8+k*8);
//b3Vector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);
@@ -746,7 +746,7 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);

72
Demos3/GpuDemos/rigidbody/GpuCompoundScene.cpp
View File

@@ -19,6 +19,10 @@
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define NUM_COMPOUND_CHILDREN_X 4
#define NUM_COMPOUND_CHILDREN_Y 4
#define NUM_COMPOUND_CHILDREN_Z 4
void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
@@ -42,21 +46,33 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 childPositions[3] = {
/* b3Vector3 childPositions[3] = {
b3Vector3(0,-2,0),
b3Vector3(0,0,0),
b3Vector3(0,0,2)
};
*/
b3AlignedObjectArray<b3GpuChildShape> childShapes;
int numChildShapes = 3;
for (int i=0;i<numChildShapes;i++)
for (int x=0;x<NUM_COMPOUND_CHILDREN_X;x++)
for (int y=0;y<NUM_COMPOUND_CHILDREN_Y;y++)
for (int z=0;z<NUM_COMPOUND_CHILDREN_Z;z++)
{
int blax = x!=0 ?1 : 0;
int blay = y!=0 ?1 : 0;
int blaz = z!=0 ?1 : 0;
int bla=blax+blay+blaz;
if (bla!=1)
continue;
//for now, only support polyhedral child shapes
b3GpuChildShape child;
child.m_shapeIndex = childColIndex;
b3Vector3 pos = childPositions[i];
b3Vector3 pos=b3MakeVector3((x-NUM_COMPOUND_CHILDREN_X/2.f)*2,(y-NUM_COMPOUND_CHILDREN_X/2.f)*2,(z-NUM_COMPOUND_CHILDREN_X/2.f)*2);//childPositions[i];
b3Quaternion orn(0,0,0,1);
for (int v=0;v<4;v++)
{
@@ -77,7 +93,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert = cubeVerts[v];
b3Vector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 vertPos=b3MakeVector3(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 newPos = tr*vertPos;
vert.xyzw[0] = newPos[0];
vert.xyzw[1] = newPos[1];
@@ -97,10 +113,10 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,0,1,1),
b3MakeVector4(0,1,1,1),
};
int curColor = 0;
@@ -112,14 +128,14 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
{
float mass = 1;//j==0? 0.f : 1.f;
b3Vector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
b3Vector3 position=b3MakeVector3((i-ci.arraySizeX/2.)*ci.gapX,35+j*3*ci.gapY,(k-ci.arraySizeZ/2.f)*ci.gapZ);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
b3Quaternion orn(b3MakeVector3(1,0,0),0.7);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -134,7 +150,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(20);
m_instancingRenderer->setCameraDistance(320);
}
@@ -198,10 +214,10 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
}
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int curColor = 1;
@@ -211,7 +227,7 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
float mass = 0.f;
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(0,-41,0);
b3Vector3 position=b3MakeVector3(0,-41,0);
b3Quaternion orn(0,0,0,1);
@@ -219,7 +235,7 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -234,17 +250,21 @@ void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int index=0;
b3Vector3 normal(0,1,0);
b3Vector3 normal=b3MakeVector3(0,1,0);
float constant=0.f;
int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Vector4 color(0,0,1,1);
b3Vector4 scaling(100,0.01,100,1);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
b3Vector4 scaling=b3MakeVector4(400,1.,400,1);
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);

39
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
View File

@@ -26,10 +26,10 @@
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
void GpuConvexScene::setupScene(const ConstructionInfo& ci)
@@ -49,7 +49,7 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(120);
m_instancingRenderer->setCameraDistance(114);
//m_instancingRenderer->setCameraYaw(85);
m_instancingRenderer->setCameraYaw(30);
m_instancingRenderer->setCameraPitch(225);
@@ -123,7 +123,7 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
bool merge = true;
@@ -157,15 +157,15 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
{
//mass=0.f;
}
b3Vector3 position(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
b3Vector3 position = b3MakeVector3(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
//b3Vector3 position(i*2.2,10+j*1.9,k*2.2);
//b3Vector3 position=b3MakeVector3(1,0.9,1);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scalin=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -200,12 +200,12 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
{
b3Vector4 scaling(400,400,400,1);
b3Vector4 scaling=b3MakeVector4(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-400,0);
b3Vector3 position=b3MakeVector3(0,-400,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
@@ -226,12 +226,12 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
b3Vector4 scaling(400,400,400,1);
b3Vector4 scaling=b3MakeVector4(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-400,0);
b3Vector3 position=b3MakeVector3(0,-400,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
@@ -281,8 +281,7 @@ static float mytetra_vertices[] =
-1.f, 0, -1.f, 0.5f, 0, 1,0, 0,0,
-1.f, 0, 1.f, 0.5f, 0, 1,0, 1,0,
1.f, 0, 1.f, 0.5f, 0, 1,0, 1,1,
1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1,
0, -1, 0 , 0.5f, 0, 1,0, 0,1
1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1
};
static int mytetra_indices[]=
@@ -355,7 +354,7 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
ele+=nextLine(ele);
b3Vector3 average(0,0,0);
b3Vector3 average=b3MakeVector3(0,0,0);
for (int v=0;v<4;v++)
{
@@ -382,9 +381,9 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
{
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&mytetra_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,150,0);
b3Vector3 position=b3MakeVector3(0,150,0);
// position+=average;//*1.2;//*2;
position+=average*1.2;//*2;
//rigidBodyPositions.push_back(position);

8
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -109,7 +109,7 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
m_data->m_config.m_maxConvexBodies = b3Max(m_data->m_config.m_maxConvexBodies,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ+10);
m_data->m_config.m_maxConvexShapes = m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxBroadphasePairs = 16*m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxBroadphasePairs = 32*m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxContactCapacity = m_data->m_config.m_maxBroadphasePairs;
@@ -249,7 +249,7 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
{
if (!m_instancingRenderer)
return b3Vector3(0,0,0);
return b3MakeVector3(0,0,0);
float top = 1.f;
float bottom = -1.f;
@@ -268,7 +268,7 @@ b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
rayForward*= farPlane;
b3Vector3 rightOffset;
b3Vector3 m_cameraUp(0,1,0);
b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
b3Vector3 vertical = m_cameraUp;
b3Vector3 hor;
@@ -390,7 +390,7 @@ bool GpuRigidBodyDemo::mouseButtonCallback(int button, int state, float x, float
b3Vector3 pivotInA = tr.inverse()*pivotInB;
if (m_data->m_pickFixedBody<0)
{
b3Vector3 pos(0,0,0);
b3Vector3 pos=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
int fixedSphere = m_data->m_np->registerConvexHullShape(0,0,0,0);//>registerSphereShape(0.1);
m_data->m_pickFixedBody = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0,pos,orn,fixedSphere,0,false);

34
Demos3/GpuDemos/rigidbody/GpuSphereScene.cpp
View File

@@ -71,10 +71,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
}
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int curColor = 0;
@@ -84,14 +84,14 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
float mass = 0.f;
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(0,0,0);
b3Vector3 position=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
@@ -110,10 +110,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
@@ -139,7 +139,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
int i=0,j=0,k=0;
float mass = 0.f;
b3Vector3 position(0,0,0);
b3Vector3 position=b3MakeVector3(0,0,0);
//b3Vector3 position((j&1)+i*142.2,-51+j*142.,(j&1)+k*142.2);
//b3Vector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);
@@ -148,7 +148,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
@@ -161,9 +161,9 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
if (1)
{
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
b3Vector4 scaling(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
b3Vector4 scaling=b3MakeVector4(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 normal(0,-1,0);
b3Vector3 normal=b3MakeVector3(0,-1,0);
float constant=2;
@@ -173,11 +173,11 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
//int i=0;int j=0;
{
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector4 position(2*i,70+k*2,2*j+8,0);
b3Vector4 position=b3MakeVector4(2*i,70+k*2,2*j+8,0);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Quaternion orn(b3MakeVector3(1,0,0),0.3);
b3Vector4 color(0,0,1,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,index,false);

54
btgui/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -16,9 +16,9 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap=true;
float shadowMapWidth=4096;//8192, 2048
float shadowMapHeight=4096;
float shadowMapWorldSize=200;
float shadowMapWidth=8192;
float shadowMapHeight=8192;
float shadowMapWorldSize=300;
float WHEEL_MULTIPLIER=3.f;
float MOUSE_MOVE_MULTIPLIER = 0.4f;
@@ -143,10 +143,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
GLuint m_shadowTexture;
InternalDataRenderer() :
m_cameraPosition(b3Vector3(0,0,0)),
m_cameraTargetPosition(b3Vector3(15,2,-24)),
m_cameraPosition(b3MakeVector3(0,0,0)),
m_cameraTargetPosition(b3MakeVector3(15,2,-24)),
m_cameraDistance(150),
m_cameraUp(0,1,0),
m_cameraUp(b3MakeVector3(0,1,0)),
m_azi(100.f),//135.f),
//m_ele(25.f),
m_ele(25.f),
@@ -971,17 +971,17 @@ void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vec
b3Vector3 s = (f.cross(u)).normalized();
u = s.cross(f);
result[0*4+0] = s.getX();
result[1*4+0] = s.getY();
result[2*4+0] = s.getZ();
result[0*4+0] = s.x;
result[1*4+0] = s.y;
result[2*4+0] = s.z;
result[0*4+1] = u.getX();
result[1*4+1] = u.getY();
result[2*4+1] = u.getZ();
result[0*4+1] = u.x;
result[1*4+1] = u.y;
result[2*4+1] = u.z;
result[0*4+2] =-f.getX();
result[1*4+2] =-f.getY();
result[2*4+2] =-f.getZ();
result[0*4+2] =-f.x;
result[1*4+2] =-f.y;
result[2*4+2] =-f.z;
result[0*4+3] = 0.f;
result[1*4+3] = 0.f;
@@ -1021,10 +1021,10 @@ void GLInstancingRenderer::updateCamera()
b3Quaternion rot(m_data->m_cameraUp,razi);
b3Vector3 eyePos(0,0,0);
b3Vector3 eyePos = b3MakeVector3(0,0,0);
eyePos[m_forwardAxis] = -m_data->m_cameraDistance;
b3Vector3 forward(eyePos[0],eyePos[1],eyePos[2]);
b3Vector3 forward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < B3_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
@@ -1034,9 +1034,9 @@ void GLInstancingRenderer::updateCamera()
eyePos = b3Matrix3x3(rot) * b3Matrix3x3(roll) * eyePos;
m_data->m_cameraPosition[0] = eyePos.getX();
m_data->m_cameraPosition[1] = eyePos.getY();
m_data->m_cameraPosition[2] = eyePos.getZ();
m_data->m_cameraPosition[0] = eyePos.x;
m_data->m_cameraPosition[1] = eyePos.y;
m_data->m_cameraPosition[2] = eyePos.z;
m_data->m_cameraPosition += m_data->m_cameraTargetPosition;
if (m_screenWidth == 0 && m_screenHeight == 0)
@@ -1096,14 +1096,14 @@ float GLInstancingRenderer::getCameraPitch() const
void GLInstancingRenderer::setCameraTargetPosition(float cameraPos[4])
{
m_data->m_cameraTargetPosition = b3Vector3(cameraPos[0],cameraPos[1],cameraPos[2]);
m_data->m_cameraTargetPosition = b3MakeVector3(cameraPos[0],cameraPos[1],cameraPos[2]);
}
void GLInstancingRenderer::getCameraTargetPosition(float cameraPos[4]) const
{
cameraPos[0] = m_data->m_cameraTargetPosition.getX();
cameraPos[1] = m_data->m_cameraTargetPosition.getY();
cameraPos[2] = m_data->m_cameraTargetPosition.getZ();
cameraPos[0] = m_data->m_cameraTargetPosition.x;
cameraPos[1] = m_data->m_cameraTargetPosition.y;
cameraPos[2] = m_data->m_cameraTargetPosition.z;
}
@@ -1328,12 +1328,12 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
GLint err = glGetError();
b3Assert(err==GL_NO_ERROR);
}
static b3Vector3 lightPos(-5.f,200,-40);//20,15,10);//-13,6,2);// = b3Vector3(0.5f,2,2);
static b3Vector3 lightPos = b3MakeVector3(-5.f,200,-40);//20,15,10);//-13,6,2);// = b3Vector3(0.5f,2,2);
// lightPos.y+=0.1f;
b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center(0,0,0);
b3Vector3 up(0,1,0);
b3Vector3 center = b3MakeVector3(0,0,0);
b3Vector3 up =b3MakeVector3(0,1,0);
b3CreateLookAt(lightPos,center,up,&depthViewMatrix[0][0]);
//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);

10
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp
View File

@@ -300,9 +300,9 @@ static b3DbvtNode* b3TopDown(b3DynamicBvh* pdbvt,
b3NodeArray& leaves,
int bu_treshold)
{
static const b3Vector3 axis[]={b3Vector3(1,0,0),
b3Vector3(0,1,0),
b3Vector3(0,0,1)};
static const b3Vector3 axis[]={b3MakeVector3(1,0,0),
b3MakeVector3(0,1,0),
b3MakeVector3(0,0,1)};
if(leaves.size()>1)
{
if(leaves.size()>bu_treshold)
@@ -527,7 +527,7 @@ void b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume)
bool b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume,const b3Vector3& velocity,b3Scalar margin)
{
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(b3Vector3(margin,margin,margin));
volume.Expand(b3MakeVector3(margin,margin,margin));
volume.SignedExpand(velocity);
update(leaf,volume);
return(true);
@@ -546,7 +546,7 @@ bool b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume,const b3Vector
bool b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume,b3Scalar margin)
{
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(b3Vector3(margin,margin,margin));
volume.Expand(b3MakeVector3(margin,margin,margin));
update(leaf,volume);
return(true);
}

36
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
View File

@@ -404,7 +404,7 @@ inline b3DbvtAabbMm b3DbvtAabbMm::FromCE(const b3Vector3& c,const b3Vector3& e
//
inline b3DbvtAabbMm b3DbvtAabbMm::FromCR(const b3Vector3& c,b3Scalar r)
{
return(FromCE(c,b3Vector3(r,r,r)));
return(FromCE(c,b3MakeVector3(r,r,r)));
}
//
@@ -472,22 +472,22 @@ B3_DBVT_INLINE int b3DbvtAabbMm::Classify(const b3Vector3& n,b3Scalar o,int s)
b3Vector3 pi,px;
switch(s)
{
case (0+0+0): px=b3Vector3(mi.x,mi.y,mi.z);
pi=b3Vector3(mx.x,mx.y,mx.z);break;
case (1+0+0): px=b3Vector3(mx.x,mi.y,mi.z);
pi=b3Vector3(mi.x,mx.y,mx.z);break;
case (0+2+0): px=b3Vector3(mi.x,mx.y,mi.z);
pi=b3Vector3(mx.x,mi.y,mx.z);break;
case (1+2+0): px=b3Vector3(mx.x,mx.y,mi.z);
pi=b3Vector3(mi.x,mi.y,mx.z);break;
case (0+0+4): px=b3Vector3(mi.x,mi.y,mx.z);
pi=b3Vector3(mx.x,mx.y,mi.z);break;
case (1+0+4): px=b3Vector3(mx.x,mi.y,mx.z);
pi=b3Vector3(mi.x,mx.y,mi.z);break;
case (0+2+4): px=b3Vector3(mi.x,mx.y,mx.z);
pi=b3Vector3(mx.x,mi.y,mi.z);break;
case (1+2+4): px=b3Vector3(mx.x,mx.y,mx.z);
pi=b3Vector3(mi.x,mi.y,mi.z);break;
case (0+0+0): px=b3MakeVector3(mi.x,mi.y,mi.z);
pi=b3MakeVector3(mx.x,mx.y,mx.z);break;
case (1+0+0): px=b3MakeVector3(mx.x,mi.y,mi.z);
pi=b3MakeVector3(mi.x,mx.y,mx.z);break;
case (0+2+0): px=b3MakeVector3(mi.x,mx.y,mi.z);
pi=b3MakeVector3(mx.x,mi.y,mx.z);break;
case (1+2+0): px=b3MakeVector3(mx.x,mx.y,mi.z);
pi=b3MakeVector3(mi.x,mi.y,mx.z);break;
case (0+0+4): px=b3MakeVector3(mi.x,mi.y,mx.z);
pi=b3MakeVector3(mx.x,mx.y,mi.z);break;
case (1+0+4): px=b3MakeVector3(mx.x,mi.y,mx.z);
pi=b3MakeVector3(mi.x,mx.y,mi.z);break;
case (0+2+4): px=b3MakeVector3(mi.x,mx.y,mx.z);
pi=b3MakeVector3(mx.x,mi.y,mi.z);break;
case (1+2+4): px=b3MakeVector3(mx.x,mx.y,mx.z);
pi=b3MakeVector3(mi.x,mi.y,mi.z);break;
}
if((b3Dot(n,px)+o)<0) return(-1);
if((b3Dot(n,pi)+o)>=0) return(+1);
@@ -498,7 +498,7 @@ B3_DBVT_INLINE int b3DbvtAabbMm::Classify(const b3Vector3& n,b3Scalar o,int s)
B3_DBVT_INLINE b3Scalar b3DbvtAabbMm::ProjectMinimum(const b3Vector3& v,unsigned signs) const
{
const b3Vector3* b[]={&mx,&mi};
const b3Vector3 p( b[(signs>>0)&1]->x,
const b3Vector3 p = b3MakeVector3( b[(signs>>0)&1]->x,
b[(signs>>1)&1]->y,
b[(signs>>2)&1]->z);
return(b3Dot(p,v));

2
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
View File

@@ -622,7 +622,7 @@ void b3DynamicBvhBroadphase::getBroadphaseAabb(b3Vector3& aabbMin,b3Vector
bounds=m_sets[0].m_root->volume;
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
else
bounds=b3DbvtVolume::FromCR(b3Vector3(0,0,0),0);
bounds=b3DbvtVolume::FromCR(b3MakeVector3(0,0,0),0);
aabbMin=bounds.Mins();
aabbMax=bounds.Maxs();
}

2
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
View File

@@ -168,7 +168,7 @@ struct b3DynamicBvhBroadphase
b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask);
virtual void destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
virtual void setAabb(b3BroadphaseProxy* proxy,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
virtual void rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3Vector3(0,0,0), const b3Vector3& aabbMax = b3Vector3(0,0,0));
virtual void rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));
virtual void aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);
virtual void getAabb(b3BroadphaseProxy* proxy,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;

42
src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
View File

@@ -2,18 +2,58 @@
#ifndef B3_AABB_H
#define B3_AABB_H
#include "Bullet3Common/shared/b3Float4.h"
#include "Bullet3Common/shared/b3Mat3x3.h"
typedef struct b3Aabb b3Aabb_t;
struct b3Aabb
{
union
{
float m_min[4];
b3Float4 m_minVec;
int m_minIndices[4];
};
union
{
float m_max[4];
float m_max[4];
b3Float4 m_maxVec;
int m_signedMaxIndices[4];
};
};
inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,
b3Float4ConstArg pos,
b3QuatConstArg orn,
b3Float4* aabbMinOut,b3Float4* aabbMaxOut)
{
b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);
localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);
b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);
b3Mat3x3 m;
m = b3QuatGetRotationMatrix(orn);
b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
b3Float4 center = b3TransformPoint(localCenter,pos,orn);
b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),
b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),
b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),
0.f);
*aabbMinOut = center-extent;
*aabbMaxOut = center+extent;
}
/// conservative test for overlap between two aabbs
inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,
b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
{
bool overlap = true;
overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;
overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;
overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;
return overlap;
}
#endif //B3_AABB_H

4
src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
View File

@@ -36,9 +36,9 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
//float& getNPoints() { return m_worldNormal[3]; }
int getNPoints() const { return (int) m_worldNormalOnB[3]; }
int getNPoints() const { return (int) m_worldNormalOnB.w; }
float getPenetration(int idx) const { return m_worldPosB[idx][3]; }
float getPenetration(int idx) const { return m_worldPosB[idx].w; }
bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
};

22
src/Bullet3Common/b3Logging.cpp
View File

@@ -18,22 +18,44 @@ subject to the following restrictions:
#include <stdio.h>
#include <stdarg.h>
#ifdef _WIN32
#include <Windows.h>
#endif //_WIN32
void b3PrintfFuncDefault(const char* msg)
{
#ifdef _WIN32
OutputDebugStringA(msg);
#else
printf("%s",msg);
#endif
}
void b3WarningMessageFuncDefault(const char* msg)
{
#ifdef _WIN32
OutputDebugStringA(msg);
#else
printf("%s",msg);
#endif
}
void b3ErrorMessageFuncDefault(const char* msg)
{
#ifdef _WIN32
OutputDebugStringA(msg);
#else
printf("%s",msg);
#endif
}
static b3PrintfFunc* b3s_printfFunc = b3PrintfFuncDefault;
static b3WarningMessageFunc* b3s_warningMessageFunc = b3WarningMessageFuncDefault;
static b3ErrorMessageFunc* b3s_errorMessageFunc = b3ErrorMessageFuncDefault;

8
src/Bullet3Common/b3Matrix3x3.h
View File

@@ -128,7 +128,7 @@ public:
* @param i Column number 0 indexed */
B3_FORCE_INLINE b3Vector3 getColumn(int i) const
{
return b3Vector3(m_el[0][i],m_el[1][i],m_el[2][i]);
return b3MakeVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
}
@@ -1019,7 +1019,7 @@ b3Matrix3x3::adjoint() const
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::inverse() const
{
b3Vector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
b3Scalar det = (*this)[0].dot(co);
b3FullAssert(det != b3Scalar(0.0));
b3Scalar s = b3Scalar(1.0) / det;
@@ -1143,7 +1143,7 @@ operator*(const b3Matrix3x3& m, const b3Vector3& v)
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
return v.dot3(m[0], m[1], m[2]);
#else
return b3Vector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
#endif
}
@@ -1184,7 +1184,7 @@ operator*(const b3Vector3& v, const b3Matrix3x3& m)
return b3Vector3(c0);
#else
return b3Vector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
#endif
}

6
src/Bullet3Common/b3Quaternion.h
View File

@@ -407,9 +407,9 @@ public:
b3Scalar s_squared = 1.f-m_floats[3]*m_floats[3];
if (s_squared < b3Scalar(10.) * B3_EPSILON) //Check for divide by zero
return b3Vector3(1.0, 0.0, 0.0); // Arbitrary
return b3MakeVector3(1.0, 0.0, 0.0); // Arbitrary
b3Scalar s = 1.f/b3Sqrt(s_squared);
return b3Vector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
return b3MakeVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
}
/**@brief Return the inverse of this quaternion */
@@ -848,7 +848,7 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
#elif defined(B3_USE_NEON)
return b3Vector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask));
#else
return b3Vector3(q.getX(),q.getY(),q.getZ());
return b3MakeVector3(q.getX(),q.getY(),q.getZ());
#endif
}

4
src/Bullet3Common/b3Transform.h
View File

@@ -45,7 +45,7 @@ public:
* @param q Rotation from quaternion
* @param c Translation from Vector (default 0,0,0) */
explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q,
const b3Vector3& c = b3Vector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
: m_basis(q),
m_origin(c)
{}
@@ -54,7 +54,7 @@ public:
* @param b Rotation from Matrix
* @param c Translation from Vector default (0,0,0)*/
explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b,
const b3Vector3& c = b3Vector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
: m_basis(b),
m_origin(c)
{}

10
src/Bullet3Common/b3TransformUtil.h
View File

@@ -24,7 +24,7 @@ subject to the following restrictions:
B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents,const b3Vector3& supportDir)
{
return b3Vector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ());
}
@@ -99,12 +99,12 @@ public:
b3Quaternion orn1 = orn0.nearest(orn1a);
b3Quaternion dorn = orn1 * orn0.inverse();
angle = dorn.getAngle();
axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = b3Scalar(0.);
//check for axis length
b3Scalar len = axis.length2();
if (len < B3_EPSILON*B3_EPSILON)
axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
else
axis /= b3Sqrt(len);
}
@@ -128,12 +128,12 @@ public:
dorn.normalize();
angle = dorn.getAngle();
axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = b3Scalar(0.);
//check for axis length
b3Scalar len = axis.length2();
if (len < B3_EPSILON*B3_EPSILON)
axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
else
axis /= b3Sqrt(len);
}

227
src/Bullet3Common/b3Vector3.h
View File

@@ -22,6 +22,8 @@ subject to the following restrictions:
#include "b3MinMax.h"
#include "b3AlignedAllocator.h"
#ifdef B3_USE_DOUBLE_PRECISION
#define b3Vector3Data b3Vector3DoubleData
#define b3Vector3DataName "b3Vector3DoubleData"
@@ -71,84 +73,78 @@ const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3v3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x
#endif
class b3Vector3;
class b3Vector4;
inline b3Vector3 b3MakeVector3( b3SimdFloat4 v);
inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z);
inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z, b3Scalar w);
inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec);
inline b3Vector4 b3MakeVector4(b3Scalar x,b3Scalar y,b3Scalar z,b3Scalar w);
/**@brief b3Vector3 can be used to represent 3D points and vectors.
* It has an un-used w component to suit 16-byte alignment when b3Vector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
* Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
*/
B3_ATTRIBUTE_ALIGNED16(class) b3Vector3
{
public:
#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
union {
b3SimdFloat4 mVec128;
float m_floats[4];
struct {float x,y,z,w;};
};
#else
union
{
float m_floats[4];
struct {float x,y,z,w;};
};
#endif
public:
B3_DECLARE_ALIGNED_ALLOCATOR();
#if defined (__SPU__) && defined (__CELLOS_LV2__)
b3Scalar m_floats[4];
public:
B3_FORCE_INLINE const vec_float4& get128() const
#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
/*B3_FORCE_INLINE b3Vector3()
{
return *((const vec_float4*)&m_floats[0]);
}
public:
#else //__CELLOS_LV2__ __SPU__
#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
union {
b3SimdFloat4 mVec128;
b3Scalar m_floats[4];
struct {b3Scalar x,y,z,w;};
};
B3_FORCE_INLINE b3SimdFloat4 get128() const
{
return mVec128;
}
B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
{
mVec128 = v128;
}
#else
union
{
b3Scalar m_floats[4];
struct {b3Scalar x,y,z,w;};
};
#endif
#endif //__CELLOS_LV2__ __SPU__
*/
B3_FORCE_INLINE b3SimdFloat4 get128() const
{
return mVec128;
}
B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
{
mVec128 = v128;
}
#endif
public:
/**@brief No initialization constructor */
B3_FORCE_INLINE b3Vector3()
{
}
/**@brief Constructor from scalars
* @param x X value
* @param y Y value
* @param z Z value
*/
B3_FORCE_INLINE b3Vector3(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
{
m_floats[0] = _x;
m_floats[1] = _y;
m_floats[2] = _z;
m_floats[3] = b3Scalar(0.f);
}
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE) )|| defined (B3_USE_NEON)
// Set Vector
/*
B3_FORCE_INLINE b3Vector3( b3SimdFloat4 v)
{
mVec128 = v;
}
// Copy constructor
B3_FORCE_INLINE b3Vector3(const b3Vector3& rhs)
{
mVec128 = rhs.mVec128;
}
*/
// Assignment Operator
B3_FORCE_INLINE b3Vector3&
@@ -158,6 +154,12 @@ public:
return *this;
}
#else
#endif // #if defined (B3_USE_SSE_IN_API) || defined (B3_USE_NEON)
/**@brief Add a vector to this one
@@ -352,11 +354,11 @@ public:
B3_FORCE_INLINE b3Vector3 absolute() const
{
#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
return b3Vector3(_mm_and_ps(mVec128, b3v3AbsfMask));
return b3MakeVector3(_mm_and_ps(mVec128, b3v3AbsfMask));
#elif defined(B3_USE_NEON)
return b3Vector3(vabsq_f32(mVec128));
#else
return b3Vector3(
return b3MakeVector3(
b3Fabs(m_floats[0]),
b3Fabs(m_floats[1]),
b3Fabs(m_floats[2]));
@@ -378,7 +380,7 @@ public:
V = _mm_sub_ps(V, T);
V = b3_pshufd_ps(V, B3_SHUFFLE(1, 2, 0, 3));
return b3Vector3(V);
return b3MakeVector3(V);
#elif defined(B3_USE_NEON)
float32x4_t T, V;
// form (Y, Z, X, _) of mVec128 and v.mVec128
@@ -397,7 +399,7 @@ public:
return b3Vector3(V);
#else
return b3Vector3(
return b3MakeVector3(
m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
@@ -517,7 +519,7 @@ public:
vl = _mm_mul_ps(vl, vt);
vl = _mm_add_ps(vl, mVec128);
return b3Vector3(vl);
return b3MakeVector3(vl);
#elif defined(B3_USE_NEON)
float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
vl = vmulq_n_f32(vl, t);
@@ -526,7 +528,7 @@ public:
return b3Vector3(vl);
#else
return
b3Vector3( m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
b3MakeVector3( m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
#endif
@@ -715,7 +717,7 @@ public:
r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 ));
a2 = _mm_and_ps( a2, b3vxyzMaskf);
r = _mm_add_ps( r, b3CastdTo128f (_mm_move_sd( b3CastfTo128d(a2), b3CastfTo128d(b1) )));
return b3Vector3(r);
return b3MakeVector3(r);
#elif defined(B3_USE_NEON)
static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 };
@@ -728,7 +730,7 @@ public:
float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
return b3Vector3( vcombine_f32(b0, b1) );
#else
return b3Vector3( dot(v0), dot(v1), dot(v2));
return b3MakeVector3( dot(v0), dot(v1), dot(v2));
#endif
}
};
@@ -738,11 +740,11 @@ B3_FORCE_INLINE b3Vector3
operator+(const b3Vector3& v1, const b3Vector3& v2)
{
#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
return b3Vector3(_mm_add_ps(v1.mVec128, v2.mVec128));
return b3MakeVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
#elif defined(B3_USE_NEON)
return b3Vector3(vaddq_f32(v1.mVec128, v2.mVec128));
return b3MakeVector3(vaddq_f32(v1.mVec128, v2.mVec128));
#else
return b3Vector3(
return b3MakeVector3(
v1.m_floats[0] + v2.m_floats[0],
v1.m_floats[1] + v2.m_floats[1],
v1.m_floats[2] + v2.m_floats[2]);
@@ -754,11 +756,11 @@ B3_FORCE_INLINE b3Vector3
operator*(const b3Vector3& v1, const b3Vector3& v2)
{
#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
return b3Vector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
return b3MakeVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
#elif defined(B3_USE_NEON)
return b3Vector3(vmulq_f32(v1.mVec128, v2.mVec128));
return b3MakeVector3(vmulq_f32(v1.mVec128, v2.mVec128));
#else
return b3Vector3(
return b3MakeVector3(
v1.m_floats[0] * v2.m_floats[0],
v1.m_floats[1] * v2.m_floats[1],
v1.m_floats[2] * v2.m_floats[2]);
@@ -773,12 +775,12 @@ operator-(const b3Vector3& v1, const b3Vector3& v2)
// without _mm_and_ps this code causes slowdown in Concave moving
__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
return b3Vector3(_mm_and_ps(r, b3vFFF0fMask));
return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
#elif defined(B3_USE_NEON)
float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
return b3Vector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
#else
return b3Vector3(
return b3MakeVector3(
v1.m_floats[0] - v2.m_floats[0],
v1.m_floats[1] - v2.m_floats[1],
v1.m_floats[2] - v2.m_floats[2]);
@@ -791,11 +793,11 @@ operator-(const b3Vector3& v)
{
#if (defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
__m128 r = _mm_xor_ps(v.mVec128, b3vMzeroMask);
return b3Vector3(_mm_and_ps(r, b3vFFF0fMask));
return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
#elif defined(B3_USE_NEON)
return b3Vector3((b3SimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)b3vMzeroMask));
return b3MakeVector3((b3SimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)b3vMzeroMask));
#else
return b3Vector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
return b3MakeVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
#endif
}
@@ -806,12 +808,12 @@ operator*(const b3Vector3& v, const b3Scalar& s)
#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
__m128 vs = _mm_load_ss(&s); // (S 0 0 0)
vs = b3_pshufd_ps(vs, 0x80); // (S S S 0.0)
return b3Vector3(_mm_mul_ps(v.mVec128, vs));
return b3MakeVector3(_mm_mul_ps(v.mVec128, vs));
#elif defined(B3_USE_NEON)
float32x4_t r = vmulq_n_f32(v.mVec128, s);
return b3Vector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
#else
return b3Vector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
return b3MakeVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
#endif
}
@@ -846,7 +848,7 @@ operator/(const b3Vector3& v1, const b3Vector3& v2)
#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE))
__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
vec = _mm_and_ps(vec, b3vFFF0fMask);
return b3Vector3(vec);
return b3MakeVector3(vec);
#elif defined(B3_USE_NEON)
float32x4_t x, y, v, m;
@@ -862,7 +864,7 @@ operator/(const b3Vector3& v1, const b3Vector3& v2)
return b3Vector3(v);
#else
return b3Vector3(
return b3MakeVector3(
v1.m_floats[0] / v2.m_floats[0],
v1.m_floats[1] / v2.m_floats[1],
v1.m_floats[2] / v2.m_floats[2]);
@@ -953,7 +955,7 @@ B3_FORCE_INLINE b3Vector3 b3Vector3::rotate( const b3Vector3& wAxis, const b3Sca
__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
b3Scalar ssin = b3Sin( _angle );
__m128 C = wAxis.cross( mVec128 ).mVec128;
__m128 C = wAxis.cross( b3MakeVector3(mVec128) ).mVec128;
O = _mm_and_ps(O, b3vFFF0fMask);
b3Scalar scos = b3Cos( _angle );
@@ -975,7 +977,7 @@ B3_FORCE_INLINE b3Vector3 b3Vector3::rotate( const b3Vector3& wAxis, const b3Sca
vcos = vcos * X;
O = O + vcos;
return b3Vector3(O);
return b3MakeVector3(O);
#else
b3Vector3 o = wAxis * wAxis.dot( *this );
b3Vector3 _x = *this - o;
@@ -1069,25 +1071,12 @@ class b3Vector4 : public b3Vector3
{
public:
B3_FORCE_INLINE b3Vector4() {}
B3_FORCE_INLINE b3Vector4(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w)
: b3Vector3(_x,_y,_z)
{
m_floats[3] = _w;
}
#if (defined (B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined (B3_USE_NEON)
B3_FORCE_INLINE b3Vector4(const b3SimdFloat4 vec)
{
mVec128 = vec;
}
B3_FORCE_INLINE b3Vector4(const b3Vector3& rhs)
{
mVec128 = rhs.mVec128;
}
B3_FORCE_INLINE b3Vector4&
operator=(const b3Vector4& v)
@@ -1100,11 +1089,11 @@ public:
B3_FORCE_INLINE b3Vector4 absolute4() const
{
#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
return b3Vector4(_mm_and_ps(mVec128, b3vAbsfMask));
return b3MakeVector4(_mm_and_ps(mVec128, b3vAbsfMask));
#elif defined(B3_USE_NEON)
return b3Vector4(vabsq_f32(mVec128));
#else
return b3Vector4(
return b3MakeVector4(
b3Fabs(m_floats[0]),
b3Fabs(m_floats[1]),
b3Fabs(m_floats[2]),
@@ -1341,4 +1330,46 @@ B3_FORCE_INLINE void b3Vector3::deSerialize(const struct b3Vector3Data& dataIn)
m_floats[i] = dataIn.m_floats[i];
}
inline b3Vector3 b3MakeVector3( b3SimdFloat4 v)
{
b3Vector3 tmp;
tmp.set128(v);
return tmp;
}
inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z)
{
b3Vector3 tmp;
tmp.setValue(x,y,z);
return tmp;
}
inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z, b3Scalar w)
{
b3Vector3 tmp;
tmp.setValue(x,y,z);
tmp.w = w;
return tmp;
}
inline b3Vector4 b3MakeVector4(b3Scalar x,b3Scalar y,b3Scalar z,b3Scalar w)
{
b3Vector4 tmp;
tmp.setValue(x,y,z,w);
return tmp;
}
#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec)
{
b3Vector4 tmp;
tmp.set128(vec);
return tmp;
}
#endif
#endif //B3_VECTOR3_H

2
src/Bullet3Common/premake4.lua
View File

@@ -5,6 +5,8 @@
kind "StaticLib"
targetdir "../../bin"
includedirs {".."}
files {
"**.cpp",

18
src/Bullet3Common/shared/b3Float4.h
View File

@@ -6,8 +6,26 @@
#ifdef __cplusplus
#include "Bullet3Common/b3Vector3.h"
#define b3Float4 b3Vector3
#define b3Float4ConstArg const b3Vector3&
#define b3Dot3F4 b3Dot
#define b3Cross3 b3Cross
#define b3MakeFloat4 b3MakeVector3
#else
typedef float4 b3Float4;
#define b3Float4ConstArg const b3Float4
#define b3MakeFloat4 (float4)
float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)
{
float4 a1 = b3MakeFloat4(v0.xyz,0.f);
float4 b1 = b3MakeFloat4(v1.xyz,0.f);
return dot(a1, b1);
}
b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)
{
float4 a1 = b3MakeFloat4(v0.xyz,0.f);
float4 b1 = b3MakeFloat4(v1.xyz,0.f);
return cross(a1, b1);
}
#endif
#endif //B3_FLOAT4_H

8
src/Bullet3Common/shared/b3Int2.h
View File

@@ -16,6 +16,8 @@ subject to the following restrictions:
#ifndef B3_INT2_H
#define B3_INT2_H
#ifdef __cplusplus
struct b3UnsignedInt2
{
union
@@ -52,5 +54,11 @@ inline b3Int2 b3MakeInt2(int x, int y)
v.s[0] = x; v.s[1] = y;
return v;
}
#else
#define b3UnsignedInt2 uint2
#define b3Int2 int2
#define b3MakeInt2 (int2)
#endif //__cplusplus
#endif

75
src/Bullet3Common/shared/b3Mat3x3.h Normal file
View File

@@ -0,0 +1,75 @@
#ifndef B3_MAT3x3_H
#define B3_MAT3x3_H
#include "Bullet3Common/shared/b3Quat.h"
#ifdef __cplusplus
#include "Bullet3Common/b3Matrix3x3.h"
#define b3Mat3x3 b3Matrix3x3
#define b3Mat3x3ConstArg const b3Matrix3x3&
inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat)
{
return b3Mat3x3(quat);
}
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
{
return mat.absolute();
}
#define b3GetRow(m,row) m.getRow(row)
#else
typedef struct
{
float4 m_row[3];
}b3Mat3x3;
#define b3Mat3x3ConstArg const b3Mat3x3
#define b3GetRow(m,row) (m.m_row[row])
inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
{
float4 quat2 = (float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
b3Mat3x3 out;
out.m_row[0].x=1-2*quat2.y-2*quat2.z;
out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
out.m_row[0].w = 0.f;
out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
out.m_row[1].y=1-2*quat2.x-2*quat2.z;
out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
out.m_row[1].w = 0.f;
out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
out.m_row[2].z=1-2*quat2.x-2*quat2.y;
out.m_row[2].w = 0.f;
return out;
}
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
{
b3Mat3x3 out;
out.m_row[0] = fabs(matIn.m_row[0]);
out.m_row[1] = fabs(matIn.m_row[1]);
out.m_row[2] = fabs(matIn.m_row[2]);
return out;
}
#endif
#endif //B3_MAT3x3_H

64
src/Bullet3Common/shared/b3Quat.h
View File

@@ -2,12 +2,76 @@
#define B3_QUAT_H
#include "Bullet3Common/shared/b3PlatformDefinitions.h"
#include "Bullet3Common/shared/b3Float4.h"
#ifdef __cplusplus
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#define b3Quat b3Quaternion
#define b3QuatConstArg const b3Quaternion&
inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
{
b3Transform tr;
tr.setOrigin(translation);
tr.setRotation(orientation);
return tr(point);
}
#else
typedef float4 b3Quat;
#define b3QuatConstArg const b3Quat
inline float4 b3FastNormalize4(float4 v)
{
v = (float4)(v.xyz,0.f);
return fast_normalize(v);
}
inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
inline b3Quat b3QuatNormalize(b3QuatConstArg in);
inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
inline b3Quat b3QuatInvert(b3QuatConstArg q);
inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
{
b3Quat ans;
ans = b3Cross3( a, b );
ans += a.w*b+b.w*a;
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
ans.w = a.w*b.w - b3Dot3F4(a, b);
return ans;
}
inline b3Quat b3QuatNormalize(b3QuatConstArg in)
{
return b3FastNormalize4(in);
}
inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
{
b3Quat qInv = b3QuatInvert( q );
float4 vcpy = vec;
vcpy.w = 0.f;
float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);
return out;
}
inline b3Quat b3QuatInvert(b3QuatConstArg q)
{
return (b3Quat)(-q.xyz, q.w);
}
inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)
{
return b3QuatRotate( b3QuatInvert( q ), vec );
}
inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
{
return b3QuatRotate( orientation, point ) + (translation);
}
#endif
#endif //B3_QUAT_H

6
src/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
View File

@@ -58,7 +58,7 @@ public:
const b3Matrix3x3& world2B,
const b3Vector3& inertiaInvA,
const b3Vector3& inertiaInvB)
:m_linearJointAxis(b3Vector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
:m_linearJointAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
{
m_aJ= world2A*jointAxis;
m_bJ = world2B*-jointAxis;
@@ -74,7 +74,7 @@ public:
const b3Vector3& axisInB,
const b3Vector3& inertiaInvA,
const b3Vector3& inertiaInvB)
: m_linearJointAxis(b3Vector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
: m_linearJointAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
, m_aJ(axisInA)
, m_bJ(-axisInB)
{
@@ -97,7 +97,7 @@ public:
m_aJ= world2A*(rel_pos1.cross(jointAxis));
m_bJ = world2A*(rel_pos2.cross(-jointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = b3Vector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
m_1MinvJt = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
b3Assert(m_Adiag > b3Scalar(0.0));

62
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
View File

@@ -450,16 +450,16 @@ void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody,
if (rb)
{
solverBody->m_worldTransform = getWorldTransform(rb);
solverBody->internalSetInvMass(b3Vector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->internalSetInvMass(b3MakeVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->m_originalBodyIndex = bodyIndex;
solverBody->m_angularFactor = b3Vector3(1,1,1);
solverBody->m_linearFactor = b3Vector3(1,1,1);
solverBody->m_angularFactor = b3MakeVector3(1,1,1);
solverBody->m_linearFactor = b3MakeVector3(1,1,1);
solverBody->m_linearVelocity = getLinearVelocity(rb);
solverBody->m_angularVelocity = getAngularVelocity(rb);
} else
{
solverBody->m_worldTransform.setIdentity();
solverBody->internalSetInvMass(b3Vector3(0,0,0));
solverBody->internalSetInvMass(b3MakeVector3(0,0,0));
solverBody->m_originalBodyIndex = bodyIndex;
solverBody->m_angularFactor.setValue(1,1,1);
solverBody->m_linearFactor.setValue(1,1,1);
@@ -510,12 +510,12 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
{
b3Vector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
{
b3Vector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
b3Scalar scaledDenom;
@@ -555,10 +555,10 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
b3Scalar rel_vel;
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3MakeVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -590,7 +590,7 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
b3Scalar desiredVelocity, b3Scalar cfmSlip)
{
b3Vector3 normalAxis(0,0,0);
b3Vector3 normalAxis=b3MakeVector3(0,0,0);
solverConstraint.m_contactNormal = normalAxis;
@@ -612,18 +612,18 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
{
b3Vector3 ftorqueAxis1 = -normalAxis1;
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
{
b3Vector3 ftorqueAxis1 = normalAxis1;
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
{
b3Vector3 iMJaA = body0?getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*solverConstraint.m_relpos1CrossNormal:b3Vector3(0,0,0);
b3Vector3 iMJaB = body1?getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*solverConstraint.m_relpos2CrossNormal:b3Vector3(0,0,0);
b3Vector3 iMJaA = body0?getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*solverConstraint.m_relpos1CrossNormal:b3MakeVector3(0,0,0);
b3Vector3 iMJaB = body1?getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*solverConstraint.m_relpos2CrossNormal:b3MakeVector3(0,0,0);
b3Scalar sum = 0;
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
@@ -634,10 +634,10 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
b3Scalar rel_vel;
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3MakeVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -730,9 +730,9 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
relaxation = 1.f;
b3Vector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex])*torqueAxis0 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex])*torqueAxis0 : b3MakeVector3(0,0,0);
b3Vector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex])*-torqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex])*-torqueAxis1 : b3MakeVector3(0,0,0);
b3Scalar scaledDenom;
{
@@ -781,8 +781,8 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
{
b3Vector3 vel1,vel2;
vel1 = rb0? getVelocityInLocalPoint(rb0,rel_pos1) : b3Vector3(0,0,0);
vel2 = rb1? getVelocityInLocalPoint(rb1, rel_pos2) : b3Vector3(0,0,0);
vel1 = rb0? getVelocityInLocalPoint(rb0,rel_pos1) : b3MakeVector3(0,0,0);
vel2 = rb1? getVelocityInLocalPoint(rb1, rel_pos2) : b3MakeVector3(0,0,0);
// b3Vector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : b3Vector3(0,0,0);
vel = vel1 - vel2;
@@ -817,10 +817,10 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
solverConstraint.m_appliedPushImpulse = 0.f;
{
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar rel_vel = vel1Dotn+vel2Dotn;
b3Scalar positionalError = 0.f;
@@ -1080,9 +1080,9 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
m_bodyCountCheck.resize(numBodies,0);
m_deltaLinearVelocities.resize(0);
m_deltaLinearVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaLinearVelocities.resize(numBodies,b3MakeVector3(0,0,0));
m_deltaAngularVelocities.resize(0);
m_deltaAngularVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
int totalBodies = 0;
@@ -1669,9 +1669,9 @@ void b3PgsJacobiSolver::averageVelocities()
int numBodies = m_bodyCount.size();
m_deltaLinearVelocities.resize(0);
m_deltaLinearVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaLinearVelocities.resize(numBodies,b3MakeVector3(0,0,0));
m_deltaAngularVelocities.resize(0);
m_deltaAngularVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
for (int i=0;i<m_tmpSolverBodyPool.size();i++)
{

6
src/Bullet3Geometry/b3AabbUtil.h
View File

@@ -141,7 +141,7 @@ B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
b3Vector3 r = target - source;
int i;
b3Scalar normSign = 1;
b3Vector3 hitNormal(0,0,0);
b3Vector3 hitNormal = b3MakeVector3(0,0,0);
int bit=1;
for (int j=0;j<2;j++)
@@ -181,7 +181,7 @@ B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin,const b3Transform& t,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
{
b3Vector3 halfExtentsWithMargin = halfExtents+b3Vector3(margin,margin,margin);
b3Vector3 halfExtentsWithMargin = halfExtents+b3MakeVector3(margin,margin,margin);
b3Matrix3x3 abs_b = t.getBasis().absolute();
b3Vector3 center = t.getOrigin();
b3Vector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
@@ -196,7 +196,7 @@ B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin,const b3Vecto
//b3Assert(localAabbMin.getY() <= localAabbMax.getY());
//b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
b3Vector3 localHalfExtents = b3Scalar(0.5)*(localAabbMax-localAabbMin);
localHalfExtents+=b3Vector3(margin,margin,margin);
localHalfExtents+=b3MakeVector3(margin,margin,margin);
b3Vector3 localCenter = b3Scalar(0.5)*(localAabbMax+localAabbMin);
b3Matrix3x3 abs_b = trans.getBasis().absolute();

10
src/Bullet3Geometry/b3ConvexHullComputer.cpp
View File

@@ -1943,14 +1943,14 @@ static bool b3PointCmp(const b3ConvexHullInternal::Point32& p, const b3ConvexHul
void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
{
b3Vector3 min(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)), max(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30));
b3Vector3 min = b3MakeVector3(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)), max = b3MakeVector3(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30));
const char* ptr = (const char*) coords;
if (doubleCoords)
{
for (int i = 0; i < count; i++)
{
const double* v = (const double*) ptr;
b3Vector3 p((b3Scalar) v[0], (b3Scalar) v[1], (b3Scalar) v[2]);
b3Vector3 p = b3MakeVector3((b3Scalar) v[0], (b3Scalar) v[1], (b3Scalar) v[2]);
ptr += stride;
min.setMin(p);
max.setMax(p);
@@ -1961,7 +1961,7 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
for (int i = 0; i < count; i++)
{
const float* v = (const float*) ptr;
b3Vector3 p(v[0], v[1], v[2]);
b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]);
ptr += stride;
min.setMin(p);
max.setMax(p);
@@ -2007,7 +2007,7 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
for (int i = 0; i < count; i++)
{
const double* v = (const double*) ptr;
b3Vector3 p((b3Scalar) v[0], (b3Scalar) v[1], (b3Scalar) v[2]);
b3Vector3 p = b3MakeVector3((b3Scalar) v[0], (b3Scalar) v[1], (b3Scalar) v[2]);
ptr += stride;
p = (p - center) * s;
points[i].x = (btInt32_t) p[medAxis];
@@ -2021,7 +2021,7 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
for (int i = 0; i < count; i++)
{
const float* v = (const float*) ptr;
b3Vector3 p(v[0], v[1], v[2]);
b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]);
ptr += stride;
p = (p - center) * s;
points[i].x = (btInt32_t) p[medAxis];

10
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
View File

@@ -869,13 +869,13 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
int axis=0;
{
B3_PROFILE("CPU compute best variance axis");
b3Vector3 s(0,0,0),s2(0,0,0);
b3Vector3 s=b3MakeVector3(0,0,0),s2=b3MakeVector3(0,0,0);
int numRigidBodies = numSmallAabbs;
for(int i=0;i<numRigidBodies;i++)
{
b3Vector3 maxAabb(m_smallAabbsCPU[i].m_max[0],m_smallAabbsCPU[i].m_max[1],m_smallAabbsCPU[i].m_max[2]);
b3Vector3 minAabb(m_smallAabbsCPU[i].m_min[0],m_smallAabbsCPU[i].m_min[1],m_smallAabbsCPU[i].m_min[2]);
b3Vector3 maxAabb=b3MakeVector3(m_smallAabbsCPU[i].m_max[0],m_smallAabbsCPU[i].m_max[1],m_smallAabbsCPU[i].m_max[2]);
b3Vector3 minAabb=b3MakeVector3(m_smallAabbsCPU[i].m_min[0],m_smallAabbsCPU[i].m_min[1],m_smallAabbsCPU[i].m_min[2]);
b3Vector3 centerAabb=(maxAabb+minAabb)*0.5f;
s += centerAabb;
@@ -1058,8 +1058,8 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
m_dst.resize(numSmallAabbs+1);
m_sum.resize(numSmallAabbs+1);
m_sum2.resize(numSmallAabbs+1);
m_sum.at(numSmallAabbs)=b3Vector3(0,0,0); //slow?
m_sum2.at(numSmallAabbs)=b3Vector3(0,0,0); //slow?
m_sum.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
m_sum2.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
}
b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel );

239
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@@ -252,7 +252,7 @@ struct MyTriangleCallback : public b3NodeOverlapCallback
#define float4 b3Vector3
#define make_float4(x,y,z,w) b3Vector4(x,y,z,w)
#define make_float4(x,y,z,w) b3MakeVector3(x,y,z,w)
float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn, float4* closestPointOnFace)
{
@@ -289,7 +289,7 @@ inline bool IsPointInPolygon(const float4& p,
float4 ap;
float4 v;
float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
float4 plane = b3MakeVector3(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
if (face->m_numIndices<2)
return false;
@@ -347,7 +347,7 @@ int extractManifoldSequentialGlobal( const float4* p, int nPoints, const float4&
if (nPoints >64)
nPoints = 64;
float4 center = make_float4(0,0,0,0);
float4 center = b3MakeVector3(0,0,0,0);
{
for (int i=0;i<nPoints;i++)
@@ -724,7 +724,7 @@ bool findSeparatingAxisEdgeEdge( __global const b3ConvexPolyhedronData* hullA, _
__inline float4 lerp3(const float4& a,const float4& b, float t)
{
return make_float4( a.x + (b.x - a.x) * t,
return b3MakeVector3( a.x + (b.x - a.x) * t,
a.y + (b.y - a.y) * t,
a.z + (b.z - a.z) * t,
0.f);
@@ -803,7 +803,7 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
float dmin = FLT_MAX;
for(int face=0;face<hullA->m_numFaces;face++)
{
const float4 Normal = make_float4(
const float4 Normal = b3MakeVector3(
facesA[hullA->m_faceOffset+face].m_plane.x,
facesA[hullA->m_faceOffset+face].m_plane.y,
facesA[hullA->m_faceOffset+face].m_plane.z,0.f);
@@ -873,7 +873,7 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
{
float4 pointInWorld = pVtxIn[i];
//resultOut.addContactPoint(separatingNormal,point,depth);
contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
//printf("depth=%f\n",depth);
}
} else
@@ -934,7 +934,7 @@ static int clipHullAgainstHull(const float4& separatingNormal,
#endif //BT_DEBUG_SAT_FACE
//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
{
const float4 Normal = make_float4(facesB[hullB.m_faceOffset+face].m_plane.x,
const float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset+face].m_plane.x,
facesB[hullB.m_faceOffset+face].m_plane.y, facesB[hullB.m_faceOffset+face].m_plane.z,0.f);
const float4 WorldNormal = b3QuatRotate(ornB, Normal);
#ifdef BT_DEBUG_SAT_FACE
@@ -1145,7 +1145,7 @@ int clipHullHullSingle(
float4 worldVertsB2[MAX_VERTS];
int capacityWorldVerts = MAX_VERTS;
float4 hostNormal = make_float4(sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ(),0.f);
float4 hostNormal = make_float4(sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z,0.f);
int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
@@ -1158,11 +1158,11 @@ int clipHullHullSingle(
{
//B3_PROFILE("transform computation");
//trA.setIdentity();
trA.setOrigin(b3Vector3(posA.x,posA.y,posA.z));
trA.setOrigin(b3MakeVector3(posA.x,posA.y,posA.z));
trA.setRotation(b3Quaternion(ornA.x,ornA.y,ornA.z,ornA.w));
//trB.setIdentity();
trB.setOrigin(b3Vector3(posB.x,posB.y,posB.z));
trB.setOrigin(b3MakeVector3(posB.x,posB.y,posB.z));
trB.setRotation(b3Quaternion(ornB.x,ornB.y,ornB.z,ornB.w));
}
@@ -1263,7 +1263,7 @@ void computeContactPlaneConvex(int pairIndex,
int numWorldVertsB1= 0;
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
b3Vector3 planeNormalWorld = b3QuatRotate(ornA,planeNormal);
float planeConstant = planeEq.w;
b3Transform convexWorldTransform;
@@ -1358,7 +1358,7 @@ void computeContactPlaneConvex(int pairIndex,
b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
c->m_worldPosB[i] = pOnB1;
}
c->m_worldNormalOnB[3] = (b3Scalar)numReducedPoints;
c->m_worldNormalOnB.w = (b3Scalar)numReducedPoints;
}//if (dstIdx < numPairs)
}
@@ -1373,9 +1373,9 @@ B3_FORCE_INLINE b3Vector3 MyUnQuantize(const unsigned short* vecIn, const b3Vect
{
b3Vector3 vecOut;
vecOut.setValue(
(b3Scalar)(vecIn[0]) / (quantization.getX()),
(b3Scalar)(vecIn[1]) / (quantization.getY()),
(b3Scalar)(vecIn[2]) / (quantization.getZ()));
(b3Scalar)(vecIn[0]) / (quantization.x),
(b3Scalar)(vecIn[1]) / (quantization.y),
(b3Scalar)(vecIn[2]) / (quantization.z));
vecOut += bvhAabbMin;
return vecOut;
}
@@ -1385,6 +1385,11 @@ void traverseTreeTree()
}
#include "Bullet3Common/shared/b3Mat3x3.h"
int numAabbChecks = 0;
int maxNumAabbChecks = 0;
int maxDepth = 0;
// work-in-progress
__kernel void findCompoundPairsKernel(
@@ -1408,8 +1413,8 @@ __kernel void findCompoundPairsKernel(
b3AlignedObjectArray<b3BvhInfo>& bvhInfoCPU
)
{
numAabbChecks=0;
maxNumAabbChecks=0;
int i = pairIndex;
{
@@ -1462,7 +1467,7 @@ __kernel void findCompoundPairsKernel(
b3Vector3 aabbAMinOut,aabbAMaxOut;
float margin=0.f;
b3TransformAabb(treeAminLocal,treeAmaxLocal, margin,transA,aabbAMinOut,aabbAMaxOut);
b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,transA.getOrigin(),transA.getRotation(),&aabbAMinOut,&aabbAMaxOut);
for (int q=0;q<numSubTreesB;q++)
{
@@ -1473,17 +1478,19 @@ __kernel void findCompoundPairsKernel(
b3Vector3 aabbBMinOut,aabbBMaxOut;
float margin=0.f;
b3TransformAabb(treeBminLocal,treeBmaxLocal, margin,transB,aabbBMinOut,aabbBMaxOut);
b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,transB.getOrigin(),transB.getRotation(),&aabbBMinOut,&aabbBMaxOut);
bool aabbOverlap = b3TestAabbAgainstAabb2(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
numAabbChecks=0;
bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
if (aabbOverlap)
{
int startNodeIndexA = subtreeA.m_rootNodeIndex;
int endNodeIndexA = subtreeA.m_rootNodeIndex+subtreeA.m_subtreeSize;
int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfoCPU[bvhA].m_nodeOffset;
int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
int startNodeIndexB = subtreeB.m_rootNodeIndex;
int endNodeIndexB = subtreeB.m_rootNodeIndex+subtreeB.m_subtreeSize;
int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfoCPU[bvhB].m_nodeOffset;
int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
b3AlignedObjectArray<b3Int2> nodeStack;
b3Int2 node0;
@@ -1497,8 +1504,13 @@ __kernel void findCompoundPairsKernel(
do
{
if (depth > maxDepth)
{
maxDepth=depth;
printf("maxDepth=%d\n",maxDepth);
}
b3Int2 node = nodeStack[--depth];
b3Vector3 aMinLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMin,bvhInfoCPU[bvhA].m_quantization,bvhInfoCPU[bvhA].m_aabbMin);
b3Vector3 aMaxLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMax,bvhInfoCPU[bvhA].m_quantization,bvhInfoCPU[bvhA].m_aabbMin);
@@ -1507,12 +1519,13 @@ __kernel void findCompoundPairsKernel(
float margin=0.f;
b3Vector3 aabbAMinOut,aabbAMaxOut;
b3TransformAabb(aMinLocal,aMaxLocal, margin,transA,aabbAMinOut,aabbAMaxOut);
b3TransformAabb2(aMinLocal,aMaxLocal, margin,transA.getOrigin(),transA.getRotation(),&aabbAMinOut,&aabbAMaxOut);
b3Vector3 aabbBMinOut,aabbBMaxOut;
b3TransformAabb(bMinLocal,bMaxLocal, margin,transB,aabbBMinOut,aabbBMaxOut);
b3TransformAabb2(bMinLocal,bMaxLocal, margin,transB.getOrigin(),transB.getRotation(),&aabbBMinOut,&aabbBMaxOut);
bool nodeOverlap = b3TestAabbAgainstAabb2(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
numAabbChecks++;
bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
if (nodeOverlap)
{
bool isLeafA = treeNodesCPU[node.x].isLeafNode();
@@ -1573,34 +1586,11 @@ __kernel void findCompoundPairsKernel(
}
}
} while (depth);
maxNumAabbChecks = b3Max(numAabbChecks,maxNumAabbChecks);
}
/*
for (i=0;i<this->m_SubtreeHeaders.size();i++)
{
const b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
//PCK: unsigned instead of bool
unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
if (overlap != 0)
{
walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
subtree.m_rootNodeIndex,
subtree.m_rootNodeIndex+subtree.m_subtreeSize);
}
}
*/
/*bvhInfoCPU[bvhA].m_numNodes;
bvhInfoCPU[bvhA].m_nodeOffset
b3AlignedObjectArray<b3Int2> nodeStack;
b3Int2 n;n.x =
nodeStack.push_back(
*/
}
}
return;
}
@@ -1624,8 +1614,8 @@ __kernel void findCompoundPairsKernel(
b3Quat newOrnA = b3QuatMul(ornA,childOrnA);
int shapeIndexA = collidables[childColIndexA].m_shapeIndex;
b3Aabb aabbA = aabbsLocalSpace[shapeIndexA];
b3Aabb aabbA = aabbsLocalSpace[childColIndexA];
b3Transform transA;
@@ -1636,7 +1626,7 @@ __kernel void findCompoundPairsKernel(
b3Vector3 aabbAMinOut,aabbAMaxOut;
b3TransformAabb((const b3Float4&)aabbA.m_min,(const b3Float4&)aabbA.m_max, margin,transA,aabbAMinOut,aabbAMaxOut);
b3TransformAabb2((const b3Float4&)aabbA.m_min,(const b3Float4&)aabbA.m_max, margin,transA.getOrigin(),transA.getRotation(),&aabbAMinOut,&aabbAMaxOut);
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
@@ -1654,10 +1644,7 @@ __kernel void findCompoundPairsKernel(
int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
b3Aabb aabbB = aabbsLocalSpace[shapeIndexB];
b3Aabb aabbB = aabbsLocalSpace[childColIndexB];
b3Transform transB;
transB.setIdentity();
@@ -1665,9 +1652,10 @@ __kernel void findCompoundPairsKernel(
transB.setRotation(newOrnB);
b3Vector3 aabbBMinOut,aabbBMaxOut;
b3TransformAabb((const b3Float4&)aabbB.m_min,(const b3Float4&)aabbB.m_max, margin,transB,aabbBMinOut,aabbBMaxOut);
b3TransformAabb2((const b3Float4&)aabbB.m_min,(const b3Float4&)aabbB.m_max, margin,transB.getOrigin(),transB.getRotation(),&aabbBMinOut,&aabbBMaxOut);
bool aabbOverlap = b3TestAabbAgainstAabb2(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
numAabbChecks++;
bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
if (aabbOverlap)
{
/*
@@ -2083,6 +2071,7 @@ void computeContactCompoundCompound(int pairIndex,
bvhInfoCPU
);
printf("maxNumAabbChecks=%d\n",maxNumAabbChecks);
if (numCompoundPairsOut>maxNumCompoundPairsCapacity)
{
b3Error("numCompoundPairsOut exceeded maxNumCompoundPairsCapacity (%d)\n",maxNumCompoundPairsCapacity);
@@ -2238,7 +2227,7 @@ void computeContactPlaneCompound(int pairIndex,
int numWorldVertsB1= 0;
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
b3Vector3 planeNormalWorld = b3QuatRotate(ornA,planeNormal);
float planeConstant = planeEq.w;
b3Transform convexWorldTransform;
@@ -2333,7 +2322,7 @@ void computeContactPlaneCompound(int pairIndex,
b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
c->m_worldPosB[i] = pOnB1;
}
c->m_worldNormalOnB[3] = (b3Scalar)numReducedPoints;
c->m_worldNormalOnB.w = (b3Scalar)numReducedPoints;
}//if (dstIdx < numPairs)
}
@@ -2382,8 +2371,8 @@ void computeContactSphereConvex(int pairIndex,
int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;
int shapeIndex = collidables[collidableIndex].m_shapeIndex;
int numFaces = convexShapes[shapeIndex].m_numFaces;
float4 closestPnt = make_float4(0, 0, 0, 0);
float4 hitNormalWorld = make_float4(0, 0, 0, 0);
float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
float minDist = -1000000.f; // TODO: What is the largest/smallest float?
bool bCollide = true;
int region = -1;
@@ -2392,10 +2381,10 @@ void computeContactSphereConvex(int pairIndex,
{
b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
float4 planeEqn;
float4 localPlaneNormal = make_float4(face.m_plane.getX(),face.m_plane.getY(),face.m_plane.getZ(),0.f);
float4 localPlaneNormal = b3MakeVector3(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
float4 n1 = localPlaneNormal;//quatRotate(quat,localPlaneNormal);
planeEqn = n1;
planeEqn[3] = face.m_plane[3];
planeEqn[3] = face.m_plane.w;
float4 pntReturn;
float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
@@ -2471,7 +2460,7 @@ void computeContactSphereConvex(int pairIndex,
if (actualDepth<0)
{
//printf("actualDepth = ,%f,", actualDepth);
//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.getX(),normalOnSurfaceB1.getY(),normalOnSurfaceB1.getZ());
//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
//printf("region=,%d,\n", region);
pOnB1[3] = actualDepth;
@@ -2493,7 +2482,7 @@ void computeContactSphereConvex(int pairIndex,
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
c->m_worldPosB[0] = pOnB1;
int numPoints = 1;
c->m_worldNormalOnB[3] = (b3Scalar)numPoints;
c->m_worldNormalOnB.w = (b3Scalar)numPoints;
}//if (dstIdx < numPairs)
}
}//if (hasCollision)
@@ -2539,7 +2528,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
float maximumDistanceSquared = 1e30f;
b3Vector3 resultPointOnBWorld;
b3Vector3 sepAxis2(0,1,0);
b3Vector3 sepAxis2=b3MakeVector3(0,1,0);
b3Scalar distance2 = 1e30f;
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
@@ -2749,7 +2738,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
const b3OpenCLArray<b3Aabb>& clAabbslocalSpace,
const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
@@ -2788,7 +2777,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
clAabbslocalSpace.copyToHost(hostAabbsLocalSpace);
clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
b3AlignedObjectArray<b3Int4> hostPairs;
pairs->copyToHost(hostPairs);
@@ -3115,8 +3104,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
numCompoundPairs = m_numCompoundPairsOut.at(0);
if (1)
bool useGpuFindCompoundPairs=true;
if (useGpuFindCompoundPairs)
{
B3_PROFILE("findCompoundPairsKernel");
b3BufferInfoCL bInfo[] =
@@ -3129,10 +3118,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
b3BufferInfoCL( clAabbsLocalSpace.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL())
b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL()),
b3BufferInfoCL(subTreesGPU->getBufferCL()),
b3BufferInfoCL(treeNodesGPU->getBufferCL()),
b3BufferInfoCL(bvhInfo->getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
@@ -3143,17 +3135,104 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
numCompoundPairs = m_numCompoundPairsOut.at(0);
//printf("numCompoundPairs =%d\n",numCompoundPairs );
if (numCompoundPairs)
{
//printf("numCompoundPairs=%d\n",numCompoundPairs);
}
} else
{
b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
treeNodesGPU->copyToHost(treeNodesCPU);
b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
subTreesGPU->copyToHost(subTreesCPU);
b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
bvhInfo->copyToHost(bvhInfoCPU);
b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
b3AlignedObjectArray<b3Int4> hostPairs;
pairs->copyToHost(hostPairs);
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
bodyBuf->copyToHost(hostBodyBuf);
int numCompoundPairsOut=0;
b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
cpuCompoundPairsOut.resize(compoundPairCapacity);
b3AlignedObjectArray<b3Collidable> hostCollidables;
gpuCollidables.copyToHost(hostCollidables);
b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
gpuChildShapes.copyToHost(cpuChildShapes);
b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
convexData.copyToHost(hostConvexData);
b3AlignedObjectArray<b3Vector3> hostVertices;
gpuVertices.copyToHost(hostVertices);
for (int pairIndex=0;pairIndex<nPairs;pairIndex++)
{
int bodyIndexA = hostPairs[pairIndex].x;
int bodyIndexB = hostPairs[pairIndex].y;
int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
findCompoundPairsKernel(
pairIndex,
bodyIndexA,
bodyIndexB,
collidableIndexA,
collidableIndexB,
&hostBodyBuf[0],
&hostCollidables[0],
&hostConvexData[0],
hostVertices,
hostAabbsWorldSpace,
hostAabbsLocalSpace,
&cpuChildShapes[0],
&cpuCompoundPairsOut[0],
&numCompoundPairsOut,
compoundPairCapacity,
treeNodesCPU,
subTreesCPU,
bvhInfoCPU
);
}
if (numCompoundPairsOut)
{
printf("numCompoundPairsOut=%d\n",numCompoundPairsOut);
}
}
numCompoundPairs = m_numCompoundPairsOut.at(0);
//printf("numCompoundPairs =%d\n",numCompoundPairs );
if (numCompoundPairs > compoundPairCapacity)
{
b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
numCompoundPairs = compoundPairCapacity;
}
m_gpuCompoundPairs.resize(numCompoundPairs);
m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
m_gpuCompoundSepNormals.resize(numCompoundPairs);

8
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.cpp
View File

@@ -127,12 +127,12 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
b3MyFace& faceA = tmpFaces[refFace];
todoFaces.pop_back();
b3Vector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
for (int j=todoFaces.size()-1;j>=0;j--)
{
int i = todoFaces[j];
b3MyFace& faceB = tmpFaces[i];
b3Vector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
{
coplanarFaceGroup.push_back(i);
@@ -147,14 +147,14 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
//do the merge: use Graham Scan 2d convex hull
b3AlignedObjectArray<b3GrahamVector3> orgpoints;
b3Vector3 averageFaceNormal(0,0,0);
b3Vector3 averageFaceNormal = b3MakeVector3(0,0,0);
for (int i=0;i<coplanarFaceGroup.size();i++)
{
// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
b3MyFace& face = tmpFaces[coplanarFaceGroup[i]];
b3Vector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
averageFaceNormal+=faceNormal;
for (int f=0;f<face.m_indices.size();f++)
{

22
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
View File

@@ -148,7 +148,7 @@ namespace gjkepa2_impl
}
void Initialize()
{
m_ray = b3Vector3(0,0,0);
m_ray = b3MakeVector3(0,0,0);
m_nfree = 0;
m_status = eStatus::Failed;
m_current = 0;
@@ -175,7 +175,7 @@ namespace gjkepa2_impl
m_simplices[0].rank = 0;
m_ray = guess;
const b3Scalar sqrl= m_ray.length2();
appendvertice(m_simplices[0],sqrl>0?-m_ray:b3Vector3(1,0,0));
appendvertice(m_simplices[0],sqrl>0?-m_ray:b3MakeVector3(1,0,0));
m_simplices[0].p[0] = 1;
m_ray = m_simplices[0].c[0]->w;
sqdist = sqrl;
@@ -242,7 +242,7 @@ namespace gjkepa2_impl
if(sqdist>=0)
{/* Valid */
ns.rank = 0;
m_ray = b3Vector3(0,0,0);
m_ray = b3MakeVector3(0,0,0);
m_current = next;
for(unsigned int i=0,ni=cs.rank;i<ni;++i)
{
@@ -285,7 +285,7 @@ namespace gjkepa2_impl
{
for(unsigned int i=0;i<3;++i)
{
b3Vector3 axis=b3Vector3(0,0,0);
b3Vector3 axis=b3MakeVector3(0,0,0);
axis[i]=1;
appendvertice(*m_simplex, axis);
if(EncloseOrigin()) return(true);
@@ -301,7 +301,7 @@ namespace gjkepa2_impl
const b3Vector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w;
for(unsigned int i=0;i<3;++i)
{
b3Vector3 axis=b3Vector3(0,0,0);
b3Vector3 axis=b3MakeVector3(0,0,0);
axis[i]=1;
const b3Vector3 p=b3Cross(d,axis);
if(p.length2()>0)
@@ -557,7 +557,7 @@ namespace gjkepa2_impl
void Initialize()
{
m_status = eStatus::Failed;
m_normal = b3Vector3(0,0,0);
m_normal = b3MakeVector3(0,0,0);
m_depth = 0;
m_nextsv = 0;
for(unsigned int i=0;i<EPA_MAX_FACES;++i)
@@ -662,7 +662,7 @@ namespace gjkepa2_impl
if(nl>0)
m_normal = m_normal/nl;
else
m_normal = b3Vector3(1,0,0);
m_normal = b3MakeVector3(1,0,0);
m_depth = 0;
m_result.rank=1;
m_result.c[0]=simplex.c[0];
@@ -813,7 +813,7 @@ namespace gjkepa2_impl
{
/* Results */
results.witnesses[0] =
results.witnesses[1] = b3Vector3(0,0,0);
results.witnesses[1] = b3MakeVector3(0,0,0);
results.status = b3GjkEpaSolver2::sResults::Separated;
/* Shape */
shape.m_shapes[0] = hullA;
@@ -851,8 +851,8 @@ bool b3GjkEpaSolver2::Distance( const b3Transform& transA, const b3Transform& t
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
if(gjk_status==GJK::eStatus::Valid)
{
b3Vector3 w0=b3Vector3(0,0,0);
b3Vector3 w1=b3Vector3(0,0,0);
b3Vector3 w0=b3MakeVector3(0,0,0);
b3Vector3 w1=b3MakeVector3(0,0,0);
for(unsigned int i=0;i<gjk.m_simplex->rank;++i)
{
const b3Scalar p=gjk.m_simplex->p[i];
@@ -897,7 +897,7 @@ bool b3GjkEpaSolver2::Penetration( const b3Transform& transA, const b3Transform&
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=EPA::eStatus::Failed)
{
b3Vector3 w0=b3Vector3(0,0,0);
b3Vector3 w0=b3MakeVector3(0,0,0);
for(unsigned int i=0;i<epa.m_result.rank;++i)
{
w0+=shape.Support(epa.m_result.c[i]->d,0,verticesA,verticesB)*epa.m_result.p[i];

8
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
View File

@@ -33,7 +33,7 @@ int gEpaSeparatingAxis=0;
b3GjkPairDetector::b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2* penetrationDepthSolver)
:m_cachedSeparatingAxis(b3Scalar(0.),b3Scalar(-1.),b3Scalar(0.)),
:m_cachedSeparatingAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(-1.),b3Scalar(0.))),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_ignoreMargin(false),
@@ -159,13 +159,13 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA,
gjkDetector->m_cachedSeparatingDistance = 0.f;
b3Scalar distance=b3Scalar(0.);
b3Vector3 normalInB(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 normalInB= b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 pointOnA,pointOnB;
b3Transform localTransA = transA;
b3Transform localTransB = transB;
b3Vector3 positionOffset(0,0,0);// = (localTransA.getOrigin() + localTransB.getOrigin()) * b3Scalar(0.5);
b3Vector3 positionOffset = b3MakeVector3(0,0,0);// = (localTransA.getOrigin() + localTransB.getOrigin()) * b3Scalar(0.5);
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
@@ -202,7 +202,7 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA,
b3Scalar margin = marginA + marginB;
b3Scalar bestDeltaN = -1e30f;
b3Vector3 bestSepAxis(0,0,0);
b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
b3Vector3 bestPointOnA;
b3Vector3 bestPointOnB;

8
src/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
View File

@@ -167,8 +167,8 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
NodeTriangleCallback callback(m_leafNodes);
b3Vector3 aabbMin(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
b3Vector3 aabbMax(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
b3Vector3 aabbMin=b3MakeVector3(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
b3Vector3 aabbMax=b3MakeVector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@@ -322,7 +322,7 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = b3Vector3(
triangleVerts[j] = b3MakeVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
@@ -330,7 +330,7 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = b3Vector3( b3Scalar(graphicsbase[0]*meshScaling.getX()), b3Scalar(graphicsbase[1]*meshScaling.getY()), b3Scalar(graphicsbase[2]*meshScaling.getZ()));
triangleVerts[j] = b3MakeVector3( b3Scalar(graphicsbase[0]*meshScaling.getX()), b3Scalar(graphicsbase[1]*meshScaling.getY()), b3Scalar(graphicsbase[2]*meshScaling.getZ()));
}
}

12
src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
View File

@@ -90,11 +90,11 @@ b3Vector3 color[4]=
void b3QuantizedBvh::setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin)
{
//enlarge the AABB to avoid division by zero when initializing the quantization values
b3Vector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
b3Vector3 clampValue =b3MakeVector3(quantizationMargin,quantizationMargin,quantizationMargin);
m_bvhAabbMin = bvhAabbMin - clampValue;
m_bvhAabbMax = bvhAabbMax + clampValue;
b3Vector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = b3Vector3(b3Scalar(65533.0),b3Scalar(65533.0),b3Scalar(65533.0)) / aabbSize;
m_bvhQuantization = b3MakeVector3(b3Scalar(65533.0),b3Scalar(65533.0),b3Scalar(65533.0)) / aabbSize;
m_useQuantization = true;
}
@@ -233,7 +233,7 @@ int b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
int numIndices = endIndex - startIndex;
b3Scalar splitValue;
b3Vector3 means(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 means=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
for (i=startIndex;i<endIndex;i++)
{
b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
@@ -284,8 +284,8 @@ int b3QuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
{
int i;
b3Vector3 means(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 variance(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 means=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 variance=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
int numIndices = endIndex-startIndex;
for (i=startIndex;i<endIndex;i++)
@@ -754,7 +754,7 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallba
void b3QuantizedBvh::reportRayOverlappingNodex (b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const
{
reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,b3Vector3(0,0,0),b3Vector3(0,0,0));
reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,b3MakeVector3(0,0,0),b3MakeVector3(0,0,0));
}

2
src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h
View File

@@ -39,7 +39,7 @@ B3_ATTRIBUTE_ALIGNED16(class ) b3StridingMeshInterface
public:
B3_DECLARE_ALIGNED_ALLOCATOR();
b3StridingMeshInterface() :m_scaling(b3Scalar(1.),b3Scalar(1.),b3Scalar(1.))
b3StridingMeshInterface() :m_scaling(b3MakeVector3(b3Scalar(1.),b3Scalar(1.),b3Scalar(1.)))
{
}

2
src/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
View File

@@ -12,7 +12,7 @@ struct b3GjkPairDetector;
inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const struct b3ConvexPolyhedronCL* hull,
const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
{
b3Vector3 supVec(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 supVec = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Scalar maxDot = b3Scalar(-B3_LARGE_FLOAT);
// Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically.

2
src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
b3TriangleCallback::~b3TriangleCallback()
{
}

8
src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
View File

@@ -68,7 +68,7 @@ void b3VoronoiSimplexSolver::reset()
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = b3Vector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
m_lastW = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
m_cachedBC.reset();
}
@@ -118,7 +118,7 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
const b3Vector3& to = m_simplexVectorW[1];
b3Vector3 nearest;
b3Vector3 p (b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 diff = p - from;
b3Vector3 v = to - from;
b3Scalar t = v.dot(diff);
@@ -157,7 +157,7 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
case 3:
{
//closest point origin from triangle
b3Vector3 p (b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
const b3Vector3& a = m_simplexVectorW[0];
const b3Vector3& b = m_simplexVectorW[1];
@@ -183,7 +183,7 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
{
b3Vector3 p (b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
const b3Vector3& a = m_simplexVectorW[0];
const b3Vector3& b = m_simplexVectorW[1];

14
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
View File

@@ -18,6 +18,20 @@ static const char* primitiveContactsKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

314
src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl
View File

@@ -7,6 +7,7 @@
#define TRIANGLE_NUM_CONVEX_FACES 5
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
#define B3_MAX_STACK_DEPTH 256
typedef unsigned int u32;
@@ -14,13 +15,104 @@ typedef unsigned int u32;
///keep this in sync with btCollidable.h
typedef struct
{
int m_numChildShapes;
int blaat2;
union {
int m_numChildShapes;
int m_bvhIndex;
};
union
{
float m_radius;
int m_compoundBvhIndex;
};
int m_shapeType;
int m_shapeIndex;
} btCollidableGpu;
#define MAX_NUM_PARTS_IN_BITS 10
///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
typedef struct
{
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes
int m_escapeIndexOrTriangleIndex;
} b3QuantizedBvhNode;
typedef struct
{
float4 m_aabbMin;
float4 m_aabbMax;
float4 m_quantization;
int m_numNodes;
int m_numSubTrees;
int m_nodeOffset;
int m_subTreeOffset;
} b3BvhInfo;
int getTriangleIndex(const b3QuantizedBvhNode* rootNode)
{
unsigned int x=0;
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
// Get only the lower bits where the triangle index is stored
return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
}
int getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
{
unsigned int x=0;
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
// Get only the lower bits where the triangle index is stored
return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
}
int isLeafNode(const b3QuantizedBvhNode* rootNode)
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
}
int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
}
int getEscapeIndex(const b3QuantizedBvhNode* rootNode)
{
return -rootNode->m_escapeIndexOrTriangleIndex;
}
int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
{
return -rootNode->m_escapeIndexOrTriangleIndex;
}
typedef struct
{
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes, points to the root of the subtree
int m_rootNodeIndex;
//4 bytes
int m_subtreeSize;
int m_padding[3];
} b3BvhSubtreeInfo;
typedef struct
{
float4 m_childPosition;
@@ -80,6 +172,11 @@ typedef struct
};
} btAabbCL;
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
#include "Bullet3Common/shared/b3Int2.h"
typedef struct
{
float4 m_plane;
@@ -755,6 +852,34 @@ __kernel void processCompoundPairsKernel( __global const int4* gpuCompoundPair
}
inline b3Float4 MyUnQuantize(const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)
{
b3Float4 vecOut;
vecOut = b3MakeFloat4(
(float)(vecIn[0]) / (quantization.x),
(float)(vecIn[1]) / (quantization.y),
(float)(vecIn[2]) / (quantization.z),
0.f);
vecOut += bvhAabbMin;
return vecOut;
}
inline b3Float4 MyUnQuantizeGlobal(__global const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)
{
b3Float4 vecOut;
vecOut = b3MakeFloat4(
(float)(vecIn[0]) / (quantization.x),
(float)(vecIn[1]) / (quantization.y),
(float)(vecIn[2]) / (quantization.z),
0.f);
vecOut += bvhAabbMin;
return vecOut;
}
// work-in-progress
__kernel void findCompoundPairsKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
@@ -764,10 +889,13 @@ __kernel void findCompoundPairsKernel( __global const int4* pairs,
__global const float4* uniqueEdges,
__global const btGpuFace* faces,
__global const int* indices,
__global btAabbCL* aabbs,
__global b3Aabb_t* aabbLocalSpace,
__global const btGpuChildShape* gpuChildShapes,
__global volatile int4* gpuCompoundPairsOut,
__global volatile int* numCompoundPairsOut,
__global const b3BvhSubtreeInfo* subtrees,
__global const b3QuantizedBvhNode* quantizedNodes,
__global const b3BvhInfo* bvhInfos,
int numPairs,
int maxNumCompoundPairsCapacity
)
@@ -793,6 +921,157 @@ __kernel void findCompoundPairsKernel( __global const int4* pairs,
return;
}
if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
{
int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;
int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;
int numSubTreesA = bvhInfos[bvhA].m_numSubTrees;
int subTreesOffsetA = bvhInfos[bvhA].m_subTreeOffset;
int subTreesOffsetB = bvhInfos[bvhB].m_subTreeOffset;
int numSubTreesB = bvhInfos[bvhB].m_numSubTrees;
float4 posA = rigidBodies[bodyIndexA].m_pos;
b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
float4 posB = rigidBodies[bodyIndexB].m_pos;
for (int p=0;p<numSubTreesA;p++)
{
b3BvhSubtreeInfo subtreeA = subtrees[subTreesOffsetA+p];
//bvhInfos[bvhA].m_quantization
b3Float4 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
b3Float4 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
b3Float4 aabbAMinOut,aabbAMaxOut;
float margin=0.f;
b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);
for (int q=0;q<numSubTreesB;q++)
{
b3BvhSubtreeInfo subtreeB = subtrees[subTreesOffsetB+q];
b3Float4 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
b3Float4 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
b3Float4 aabbBMinOut,aabbBMaxOut;
float margin=0.f;
b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);
bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
if (aabbOverlap)
{
int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfos[bvhA].m_nodeOffset;
int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfos[bvhB].m_nodeOffset;
int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
b3Int2 nodeStack[B3_MAX_STACK_DEPTH];
b3Int2 node0;
node0.x = startNodeIndexA;
node0.y = startNodeIndexB;
int maxStackDepth = B3_MAX_STACK_DEPTH;
int depth=0;
nodeStack[depth++]=node0;
do
{
b3Int2 node = nodeStack[--depth];
b3Float4 aMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
b3Float4 aMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);
b3Float4 bMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
b3Float4 bMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);
float margin=0.f;
b3Float4 aabbAMinOut,aabbAMaxOut;
b3TransformAabb2(aMinLocal,aMaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);
b3Float4 aabbBMinOut,aabbBMaxOut;
b3TransformAabb2(bMinLocal,bMaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);
bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
if (nodeOverlap)
{
bool isLeafA = isLeafNodeGlobal(&quantizedNodes[node.x]);
bool isLeafB = isLeafNodeGlobal(&quantizedNodes[node.y]);
bool isInternalA = !isLeafA;
bool isInternalB = !isLeafB;
//fail, even though it might hit two leaf nodes
if (depth+4>maxStackDepth && !(isLeafA && isLeafB))
{
//printf("Error: traversal exceeded maxStackDepth");
continue;
}
if(isInternalA)
{
int nodeAleftChild = node.x+1;
bool isNodeALeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.x+1]);
int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + getEscapeIndexGlobal(&quantizedNodes[node.x+1]);
if(isInternalB)
{
int nodeBleftChild = node.y+1;
bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);
int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);
nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);
nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);
nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);
nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);
}
else
{
nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);
nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);
}
}
else
{
if(isInternalB)
{
int nodeBleftChild = node.y+1;
bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);
int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);
nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);
nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);
}
else
{
int compoundPairIdx = atomic_inc(numCompoundPairsOut);
if (compoundPairIdx<maxNumCompoundPairsCapacity)
{
int childShapeIndexA = getTriangleIndexGlobal(&quantizedNodes[node.x]);
int childShapeIndexB = getTriangleIndexGlobal(&quantizedNodes[node.y]);
gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);
}
}
}
}
} while (depth);
}
}
}
return;
}
if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
{
@@ -813,7 +1092,18 @@ __kernel void findCompoundPairsKernel( __global const int4* pairs,
float4 newOrnA = qtMul(ornA,childOrnA);
int shapeIndexA = collidables[childColIndexA].m_shapeIndex;
b3Aabb_t aabbAlocal = aabbLocalSpace[shapeIndexA];
float margin = 0.f;
b3Float4 aabbAMinWS;
b3Float4 aabbAMaxWS;
b3TransformAabb2(aabbAlocal.m_minVec,aabbAlocal.m_maxVec,margin,
newPosA,
newOrnA,
&aabbAMinWS,&aabbAMaxWS);
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
@@ -829,8 +1119,20 @@ __kernel void findCompoundPairsKernel( __global const int4* pairs,
float4 newOrnB = qtMul(ornB,childOrnB);
int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
if (1)
b3Aabb_t aabbBlocal = aabbLocalSpace[shapeIndexB];
b3Float4 aabbBMinWS;
b3Float4 aabbBMaxWS;
b3TransformAabb2(aabbBlocal.m_minVec,aabbBlocal.m_maxVec,margin,
newPosB,
newOrnB,
&aabbBMinWS,&aabbBMaxWS);
bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinWS,aabbAMaxWS,aabbBMinWS,aabbBMaxWS);
if (aabbOverlap)
{
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;

14
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
View File

@@ -50,6 +50,20 @@ static const char* satClipKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

461
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
View File

@@ -6,16 +6,90 @@ static const char* satKernelsCL= \
"#define SHAPE_CONCAVE_TRIMESH 5\n"
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
"#define B3_MAX_STACK_DEPTH 256\n"
"typedef unsigned int u32;\n"
"///keep this in sync with btCollidable.h\n"
"typedef struct\n"
"{\n"
" int m_numChildShapes;\n"
" int blaat2;\n"
" union {\n"
" int m_numChildShapes;\n"
" int m_bvhIndex;\n"
" };\n"
" union\n"
" {\n"
" float m_radius;\n"
" int m_compoundBvhIndex;\n"
" };\n"
" \n"
" int m_shapeType;\n"
" int m_shapeIndex;\n"
" \n"
"} btCollidableGpu;\n"
"#define MAX_NUM_PARTS_IN_BITS 10\n"
"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
"typedef struct\n"
"{\n"
" //12 bytes\n"
" unsigned short int m_quantizedAabbMin[3];\n"
" unsigned short int m_quantizedAabbMax[3];\n"
" //4 bytes\n"
" int m_escapeIndexOrTriangleIndex;\n"
"} b3QuantizedBvhNode;\n"
"typedef struct\n"
"{\n"
" float4 m_aabbMin;\n"
" float4 m_aabbMax;\n"
" float4 m_quantization;\n"
" int m_numNodes;\n"
" int m_numSubTrees;\n"
" int m_nodeOffset;\n"
" int m_subTreeOffset;\n"
"} b3BvhInfo;\n"
"int getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
"{\n"
" unsigned int x=0;\n"
" unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
" // Get only the lower bits where the triangle index is stored\n"
" return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
"}\n"
"int getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
"{\n"
" unsigned int x=0;\n"
" unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
" // Get only the lower bits where the triangle index is stored\n"
" return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
"}\n"
"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
"{\n"
" //skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
" return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
"}\n"
"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
"{\n"
" //skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
" return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
"}\n"
" \n"
"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
"{\n"
" return -rootNode->m_escapeIndexOrTriangleIndex;\n"
"}\n"
"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
"{\n"
" return -rootNode->m_escapeIndexOrTriangleIndex;\n"
"}\n"
"typedef struct\n"
"{\n"
" //12 bytes\n"
" unsigned short int m_quantizedAabbMin[3];\n"
" unsigned short int m_quantizedAabbMax[3];\n"
" //4 bytes, points to the root of the subtree\n"
" int m_rootNodeIndex;\n"
" //4 bytes\n"
" int m_subtreeSize;\n"
" int m_padding[3];\n"
"} b3BvhSubtreeInfo;\n"
"typedef struct\n"
"{\n"
" float4 m_childPosition;\n"
@@ -67,6 +141,210 @@ static const char* satKernelsCL= \
" int m_maxIndices[4];\n"
" };\n"
"} btAabbCL;\n"
"#ifndef B3_AABB_H\n"
"#define B3_AABB_H\n"
"#ifndef B3_FLOAT4_H\n"
"#define B3_FLOAT4_H\n"
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
"#define B3_PLATFORM_DEFINITIONS_H\n"
"struct MyTest\n"
"{\n"
" int bla;\n"
"};\n"
"#ifdef __cplusplus\n"
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"#ifndef B3_MAT3x3_H\n"
"#define B3_MAT3x3_H\n"
"#ifndef B3_QUAT_H\n"
"#define B3_QUAT_H\n"
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
"#ifdef __cplusplus\n"
"#else\n"
"#endif\n"
"#endif\n"
"#ifndef B3_FLOAT4_H\n"
"#ifdef __cplusplus\n"
"#else\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Quat;\n"
" #define b3QuatConstArg const b3Quat\n"
" \n"
" \n"
"inline float4 b3FastNormalize4(float4 v)\n"
"{\n"
" v = (float4)(v.xyz,0.f);\n"
" return fast_normalize(v);\n"
"}\n"
" \n"
"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
"inline b3Quat b3QuatNormalize(b3QuatConstArg in);\n"
"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
"{\n"
" b3Quat ans;\n"
" ans = b3Cross3( 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 - b3Dot3F4(a, b);\n"
" return ans;\n"
"}\n"
"inline b3Quat b3QuatNormalize(b3QuatConstArg in)\n"
"{\n"
" return b3FastNormalize4(in);\n"
"}\n"
"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
"{\n"
" b3Quat qInv = b3QuatInvert( q );\n"
" float4 vcpy = vec;\n"
" vcpy.w = 0.f;\n"
" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
" return out;\n"
"}\n"
"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
"{\n"
" return (b3Quat)(-q.xyz, q.w);\n"
"}\n"
"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
"{\n"
" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
"}\n"
"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
"{\n"
" return b3QuatRotate( orientation, point ) + (translation);\n"
"}\n"
" \n"
"#endif \n"
"#endif //B3_QUAT_H\n"
"#ifdef __cplusplus\n"
"#else\n"
"typedef struct\n"
"{\n"
" float4 m_row[3];\n"
"}b3Mat3x3;\n"
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
"#define b3GetRow(m,row) (m.m_row[row])\n"
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
"{\n"
" float4 quat2 = (float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
" b3Mat3x3 out;\n"
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
" out.m_row[0].w = 0.f;\n"
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
" out.m_row[1].w = 0.f;\n"
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
" out.m_row[2].w = 0.f;\n"
" return out;\n"
"}\n"
"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
"{\n"
" b3Mat3x3 out;\n"
" out.m_row[0] = fabs(matIn.m_row[0]);\n"
" out.m_row[1] = fabs(matIn.m_row[1]);\n"
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
" return out;\n"
"}\n"
"#endif\n"
"#endif //B3_MAT3x3_H\n"
"typedef struct b3Aabb b3Aabb_t;\n"
"struct b3Aabb\n"
"{\n"
" union\n"
" {\n"
" float m_min[4];\n"
" b3Float4 m_minVec;\n"
" int m_minIndices[4];\n"
" };\n"
" union\n"
" {\n"
" float m_max[4];\n"
" b3Float4 m_maxVec;\n"
" int m_signedMaxIndices[4];\n"
" };\n"
"};\n"
"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
" b3Float4ConstArg pos,\n"
" b3QuatConstArg orn,\n"
" b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
"{\n"
" b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
" localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
" b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
" b3Mat3x3 m;\n"
" m = b3QuatGetRotationMatrix(orn);\n"
" b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
" b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
" \n"
" b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
" b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
" b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
" 0.f);\n"
" *aabbMinOut = center-extent;\n"
" *aabbMaxOut = center+extent;\n"
"}\n"
"/// conservative test for overlap between two aabbs\n"
"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
" b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
"{\n"
" bool overlap = true;\n"
" overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
" overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
" overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
" return overlap;\n"
"}\n"
"#endif //B3_AABB_H\n"
"/*\n"
"Bullet Continuous Collision Detection and Physics Library\n"
"Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org\n"
"This software is provided 'as-is', without any express or implied warranty.\n"
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
"Permission is granted to anyone to use this software for any purpose,\n"
"including commercial applications, and to alter it and redistribute it freely,\n"
"subject to the following restrictions:\n"
"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.\n"
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
"3. This notice may not be removed or altered from any source distribution.\n"
"*/\n"
"#ifndef B3_INT2_H\n"
"#define B3_INT2_H\n"
"#ifdef __cplusplus\n"
"#else\n"
"#define b3UnsignedInt2 uint2\n"
"#define b3Int2 int2\n"
"#define b3MakeInt2 (int2)\n"
"#endif //__cplusplus\n"
"#endif\n"
"typedef struct\n"
"{\n"
" float4 m_plane;\n"
@@ -650,6 +928,28 @@ static const char* satKernelsCL= \
" }\n"
" \n"
"}\n"
"inline b3Float4 MyUnQuantize(const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
"{\n"
" b3Float4 vecOut;\n"
" vecOut = b3MakeFloat4(\n"
" (float)(vecIn[0]) / (quantization.x),\n"
" (float)(vecIn[1]) / (quantization.y),\n"
" (float)(vecIn[2]) / (quantization.z),\n"
" 0.f);\n"
" vecOut += bvhAabbMin;\n"
" return vecOut;\n"
"}\n"
"inline b3Float4 MyUnQuantizeGlobal(__global const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
"{\n"
" b3Float4 vecOut;\n"
" vecOut = b3MakeFloat4(\n"
" (float)(vecIn[0]) / (quantization.x),\n"
" (float)(vecIn[1]) / (quantization.y),\n"
" (float)(vecIn[2]) / (quantization.z),\n"
" 0.f);\n"
" vecOut += bvhAabbMin;\n"
" return vecOut;\n"
"}\n"
"// work-in-progress\n"
"__kernel void findCompoundPairsKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
@@ -659,10 +959,13 @@ static const char* satKernelsCL= \
" __global const float4* uniqueEdges,\n"
" __global const btGpuFace* faces,\n"
" __global const int* indices,\n"
" __global btAabbCL* aabbs,\n"
" __global b3Aabb_t* aabbLocalSpace,\n"
" __global const btGpuChildShape* gpuChildShapes,\n"
" __global volatile int4* gpuCompoundPairsOut,\n"
" __global volatile int* numCompoundPairsOut,\n"
" __global const b3BvhSubtreeInfo* subtrees,\n"
" __global const b3QuantizedBvhNode* quantizedNodes,\n"
" __global const b3BvhInfo* bvhInfos,\n"
" int numPairs,\n"
" int maxNumCompoundPairsCapacity\n"
" )\n"
@@ -681,6 +984,131 @@ static const char* satKernelsCL= \
" {\n"
" return;\n"
" }\n"
" if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
" {\n"
" int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;\n"
" int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;\n"
" int numSubTreesA = bvhInfos[bvhA].m_numSubTrees;\n"
" int subTreesOffsetA = bvhInfos[bvhA].m_subTreeOffset;\n"
" int subTreesOffsetB = bvhInfos[bvhB].m_subTreeOffset;\n"
" int numSubTreesB = bvhInfos[bvhB].m_numSubTrees;\n"
" \n"
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
" b3Quat ornA = rigidBodies[bodyIndexA].m_quat;\n"
" b3Quat ornB = rigidBodies[bodyIndexB].m_quat;\n"
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
" \n"
" for (int p=0;p<numSubTreesA;p++)\n"
" {\n"
" b3BvhSubtreeInfo subtreeA = subtrees[subTreesOffsetA+p];\n"
" //bvhInfos[bvhA].m_quantization\n"
" b3Float4 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
" b3Float4 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
" b3Float4 aabbAMinOut,aabbAMaxOut;\n"
" float margin=0.f;\n"
" b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
" \n"
" for (int q=0;q<numSubTreesB;q++)\n"
" {\n"
" b3BvhSubtreeInfo subtreeB = subtrees[subTreesOffsetB+q];\n"
" b3Float4 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
" b3Float4 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
" b3Float4 aabbBMinOut,aabbBMaxOut;\n"
" float margin=0.f;\n"
" b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
" \n"
" \n"
" bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
" if (aabbOverlap)\n"
" {\n"
" \n"
" int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfos[bvhA].m_nodeOffset;\n"
" int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;\n"
" int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfos[bvhB].m_nodeOffset;\n"
" int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;\n"
" b3Int2 nodeStack[B3_MAX_STACK_DEPTH];\n"
" b3Int2 node0;\n"
" node0.x = startNodeIndexA;\n"
" node0.y = startNodeIndexB;\n"
" int maxStackDepth = B3_MAX_STACK_DEPTH;\n"
" int depth=0;\n"
" nodeStack[depth++]=node0;\n"
" do\n"
" {\n"
" b3Int2 node = nodeStack[--depth];\n"
" b3Float4 aMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
" b3Float4 aMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
" b3Float4 bMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
" b3Float4 bMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
" float margin=0.f;\n"
" b3Float4 aabbAMinOut,aabbAMaxOut;\n"
" b3TransformAabb2(aMinLocal,aMaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
" b3Float4 aabbBMinOut,aabbBMaxOut;\n"
" b3TransformAabb2(bMinLocal,bMaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
" \n"
" bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
" if (nodeOverlap)\n"
" {\n"
" bool isLeafA = isLeafNodeGlobal(&quantizedNodes[node.x]);\n"
" bool isLeafB = isLeafNodeGlobal(&quantizedNodes[node.y]);\n"
" bool isInternalA = !isLeafA;\n"
" bool isInternalB = !isLeafB;\n"
" //fail, even though it might hit two leaf nodes\n"
" if (depth+4>maxStackDepth && !(isLeafA && isLeafB))\n"
" {\n"
" //printf(\"Error: traversal exceeded maxStackDepth\");\n"
" continue;\n"
" }\n"
" if(isInternalA)\n"
" {\n"
" int nodeAleftChild = node.x+1;\n"
" bool isNodeALeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.x+1]);\n"
" int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + getEscapeIndexGlobal(&quantizedNodes[node.x+1]);\n"
" if(isInternalB)\n"
" { \n"
" int nodeBleftChild = node.y+1;\n"
" bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
" int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
" nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);\n"
" nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);\n"
" nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);\n"
" nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);\n"
" }\n"
" else\n"
" {\n"
" nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);\n"
" nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);\n"
" }\n"
" }\n"
" else\n"
" {\n"
" if(isInternalB)\n"
" {\n"
" int nodeBleftChild = node.y+1;\n"
" bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
" int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
" nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);\n"
" nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);\n"
" }\n"
" else\n"
" {\n"
" int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
" if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
" {\n"
" int childShapeIndexA = getTriangleIndexGlobal(&quantizedNodes[node.x]);\n"
" int childShapeIndexB = getTriangleIndexGlobal(&quantizedNodes[node.y]);\n"
" gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
" }\n"
" }\n"
" }\n"
" }\n"
" } while (depth);\n"
" }\n"
" }\n"
" }\n"
" \n"
" return;\n"
" }\n"
" if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
" {\n"
" if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) \n"
@@ -697,6 +1125,18 @@ static const char* satKernelsCL= \
" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
" float4 newOrnA = qtMul(ornA,childOrnA);\n"
" int shapeIndexA = collidables[childColIndexA].m_shapeIndex;\n"
" b3Aabb_t aabbAlocal = aabbLocalSpace[shapeIndexA];\n"
" float margin = 0.f;\n"
" \n"
" b3Float4 aabbAMinWS;\n"
" b3Float4 aabbAMaxWS;\n"
" \n"
" b3TransformAabb2(aabbAlocal.m_minVec,aabbAlocal.m_maxVec,margin,\n"
" newPosA,\n"
" newOrnA,\n"
" &aabbAMinWS,&aabbAMaxWS);\n"
" \n"
" \n"
" if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
" {\n"
" int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
@@ -711,7 +1151,20 @@ static const char* satKernelsCL= \
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
" int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
" if (1)\n"
" b3Aabb_t aabbBlocal = aabbLocalSpace[shapeIndexB];\n"
" \n"
" b3Float4 aabbBMinWS;\n"
" b3Float4 aabbBMaxWS;\n"
" \n"
" b3TransformAabb2(aabbBlocal.m_minVec,aabbBlocal.m_maxVec,margin,\n"
" newPosB,\n"
" newOrnB,\n"
" &aabbBMinWS,&aabbBMaxWS);\n"
" \n"
" \n"
" \n"
" bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinWS,aabbAMaxWS,aabbBMinWS,aabbBMaxWS);\n"
" if (aabbOverlap)\n"
" {\n"
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
" float dmin = FLT_MAX;\n"

2
src/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
View File

@@ -100,7 +100,7 @@ void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<
void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum)
{
b3Vector3 s(0,0,0);
b3Vector3 s=b3MakeVector3(0,0,0);
//if( data->m_option == EXCLUSIVE )
{
for(int i=0; i<n; i++)

2
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
View File

@@ -80,7 +80,7 @@ bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const
{
float exitFraction = hitFraction;
float enterFraction = -0.1f;
b3Vector3 curHitNormal(0,0,0);
b3Vector3 curHitNormal=b3MakeVector3(0,0,0);
for (int i=0;i<poly.m_numFaces;i++)
{
const b3GpuFace& face = faces[poly.m_faceOffset+i];

2
src/Bullet3OpenCL/RigidBody/b3Config.h
View File

@@ -32,7 +32,7 @@ struct b3Config
m_maxConvexShapes = m_maxConvexBodies;
m_maxBroadphasePairs = 16*m_maxConvexBodies;
m_maxContactCapacity = m_maxBroadphasePairs;
m_compoundPairCapacity = 1524*1024;
m_compoundPairCapacity = 16*1524*1024;
}
};

83
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
View File

@@ -200,8 +200,8 @@ int b3GpuNarrowPhase::registerSphereShape(float radius)
if (col.m_shapeIndex>=0)
{
b3SapAabb aabb;
b3Vector3 myAabbMin(-radius,-radius,-radius);
b3Vector3 myAabbMax(radius,radius,radius);
b3Vector3 myAabbMin=b3MakeVector3(-radius,-radius,-radius);
b3Vector3 myAabbMax=b3MakeVector3(radius,radius,radius);
aabb.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabb.m_min[1] = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
@@ -226,10 +226,7 @@ int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConsta
{
int faceOffset = m_data->m_convexFaces.size();
b3GpuFace& face = m_data->m_convexFaces.expand();
face.m_plane[0] = faceNormal.getX();
face.m_plane[1] = faceNormal.getY();
face.m_plane[2] = faceNormal.getZ();
face.m_plane[3] = faceConstant;
face.m_plane = b3MakeVector3(faceNormal.x,faceNormal.y,faceNormal.z,faceConstant);
return faceOffset;
}
@@ -303,10 +300,12 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* convexPtr,b3Colli
for (i=0;i<convexPtr->m_faces.size();i++)
{
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = convexPtr->m_faces[i].m_plane[0];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = convexPtr->m_faces[i].m_plane[1];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = convexPtr->m_faces[i].m_plane[2];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = convexPtr->m_faces[i].m_plane[3];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
convexPtr->m_faces[i].m_plane[1],
convexPtr->m_faces[i].m_plane[2],
convexPtr->m_faces[i].m_plane[3]);
int indexOffset = m_data->m_convexIndices.size();
int numIndices = convexPtr->m_faces[i].m_indices.size();
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
@@ -344,7 +343,7 @@ int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int stride
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
b3ConvexUtility* utilPtr = new b3ConvexUtility();
@@ -371,7 +370,7 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
b3Vector3 localCenter(0,0,0);
b3Vector3 localCenter=b3MakeVector3(0,0,0);
for (int i=0;i<utilPtr->m_vertices.size();i++)
localCenter+=utilPtr->m_vertices[i];
localCenter*= (1.f/utilPtr->m_vertices.size());
@@ -384,8 +383,8 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
b3SapAabb aabb;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
for (int i=0;i<utilPtr->m_vertices.size();i++)
{
@@ -436,8 +435,8 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
b3SapAabb aabbLocalSpace;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
b3AlignedObjectArray<b3Aabb> childLocalAabbs;
childLocalAabbs.resize(childShapes->size());
@@ -449,20 +448,15 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
b3Collidable& childCol = getCollidableCpu(childColIndex);
b3SapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
b3Vector3 childLocalAabbMin(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
b3Vector3 childLocalAabbMax(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
b3Vector3 childLocalAabbMin=b3MakeVector3(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
b3Vector3 childLocalAabbMax=b3MakeVector3(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
b3Vector3 aMin,aMax;
b3Scalar margin(0.f);
b3Transform childTr;
childTr.setIdentity();
childTr.setOrigin(b3Vector3(childShapes->at(i).m_childPosition[0],
childShapes->at(i).m_childPosition[1],
childShapes->at(i).m_childPosition[2]));
childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation[0],
childShapes->at(i).m_childOrientation[1],
childShapes->at(i).m_childOrientation[2],
childShapes->at(i).m_childOrientation[3]));
childTr.setOrigin(childShapes->at(i).m_childPosition);
childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation));
b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
@@ -580,7 +574,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
{
b3Vector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
@@ -594,8 +588,8 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
b3SapAabb aabb;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
for (int i=0;i<vertices->size();i++)
{
@@ -625,7 +619,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
b3IndexedMesh mesh;
mesh.m_numTriangles = indices->size()/3;
mesh.m_numVertices = vertices->size();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).getX();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).x;
mesh.m_vertexStride = sizeof(b3Vector3);
mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
@@ -673,17 +667,17 @@ int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>*
{
b3Vector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
b3ConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = b3Vector3(0,0,0);
convex.mE = b3Vector3(0,0,0);
convex.m_extents= b3Vector3(0,0,0);
convex.m_localCenter = b3Vector3(0,0,0);
convex.mC = b3MakeVector3(0,0,0);
convex.mE = b3MakeVector3(0,0,0);
convex.m_extents= b3MakeVector3(0,0,0);
convex.m_localCenter = b3MakeVector3(0,0,0);
convex.m_radius = 0.f;
convex.m_numUniqueEdges = 0;
@@ -709,10 +703,7 @@ int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>*
b3Vector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
b3Scalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.getX();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.getY();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.getZ();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector4(normal.x,normal.y,normal.z,c);
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
@@ -898,8 +889,8 @@ const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation , const float* aabbMinPtr, const float* aabbMaxPtr,bool writeToGpu)
{
b3Vector3 aabbMin(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax (aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
b3Vector3 aabbMin=b3MakeVector3(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax=b3MakeVector3(aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies))
@@ -917,9 +908,9 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
body.m_frictionCoeff = friction;
body.m_restituitionCoeff = restitution;
body.m_angVel.setZero();
body.m_linVel.setValue(0,0,0);//.setZero();
body.m_pos.setValue(position[0],position[1],position[2]);
body.m_angVel = b3MakeVector3(0,0,0);
body.m_linVel=b3MakeVector3(0,0,0);//.setZero();
body.m_pos =b3MakeVector3(position[0],position[1],position[2]);
body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
body.m_collidableIdx = collidableIndex;
if (collidableIndex>=0)
@@ -1066,7 +1057,7 @@ void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.setValue(position[0],position[1],position[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_pos=b3MakeVector3(position[0],position[1],position[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
}
else
@@ -1078,8 +1069,8 @@ void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bo
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel.setValue(linVel[0],linVel[1],linVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel.setValue(angVel[0],angVel[1],angVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel=b3MakeVector3(linVel[0],linVel[1],linVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel=b3MakeVector3(angVel[0],angVel[1],angVel[2]);
} else
{
b3Warning("setObjectVelocityCpu out of range.\n");

6
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
View File

@@ -664,10 +664,10 @@ void b3GpuPgsJacobiSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* solver
b3Assert(rb);
// solverBody->m_worldTransform = getWorldTransform(rb);
solverBody->internalSetInvMass(b3Vector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->internalSetInvMass(b3MakeVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->m_originalBodyIndex = bodyIndex;
solverBody->m_angularFactor = b3Vector3(1,1,1);
solverBody->m_linearFactor = b3Vector3(1,1,1);
solverBody->m_angularFactor = b3MakeVector3(1,1,1);
solverBody->m_linearFactor = b3MakeVector3(1,1,1);
solverBody->m_linearVelocity = getLinearVelocity(rb);
solverBody->m_angularVelocity = getAngularVelocity(rb);
}

14
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
View File

@@ -33,7 +33,7 @@ subject to the following restrictions:
#define B3_RIGIDBODY_INTEGRATE_PATH "src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl"
#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
bool useDbvt = true;//false;//true;
bool useDbvt = false;//true;
bool useBullet2CpuSolver = true;
bool dumpContactStats = false;
@@ -228,8 +228,8 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
for (int i=0;i<m_data->m_allAabbsCPU.size();i++)
{
b3BroadphaseProxy* proxy = &m_data->m_broadphaseDbvt->m_proxies[i];
b3Vector3 aabbMin(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
b3Vector3 aabbMax(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
b3Vector3 aabbMin=b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
b3Vector3 aabbMax=b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
m_data->m_broadphaseDbvt->setAabb(proxy,aabbMin,aabbMax,0);
}
}
@@ -498,19 +498,19 @@ void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
{
b3Vector3 aabbMin(0,0,0),aabbMax(0,0,0);
b3Vector3 aabbMin=b3MakeVector3(0,0,0),aabbMax=b3MakeVector3(0,0,0);
if (collidableIndex>=0)
{
b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
b3Vector3 localAabbMin(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
b3Vector3 localAabbMax(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
b3Scalar margin = 0.01f;
b3Transform t;
t.setIdentity();
t.setOrigin(b3Vector3(position[0],position[1],position[2]));
t.setOrigin(b3MakeVector3(position[0],position[1],position[2]));
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
b3TransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
} else

14
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
View File

@@ -30,6 +30,20 @@ static const char* batchingKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

14
src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
View File

@@ -30,6 +30,20 @@ static const char* batchingKernelsNewCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

14
src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
View File

@@ -30,6 +30,20 @@ static const char* solverSetupCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

14
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
View File

@@ -30,6 +30,20 @@ static const char* solverSetup2CL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

14
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
View File

@@ -30,6 +30,20 @@ static const char* solverUtilsCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"

4
test/OpenCL/KernelLaunch/main.cpp
View File

@@ -21,9 +21,9 @@ subject to the following restrictions:
#include <stdio.h>
#include <string.h>
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/shared/b3Float4.h"
typedef b3Vector3 b3Float4;
//typedef b3Vector3 b3Float4;
typedef struct b3Contact4Data b3Contact4Data_t;
struct b3Contact4Data
{