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fix compound collision (host side)

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This commit is contained in:
erwincoumans
2013-08-11 20:02:07 -07:00
parent ac23dbc4be
commit 678f634699
2 changed files with 135 additions and 112 deletions
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7
src/Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h
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@@ -2,6 +2,9 @@
#ifndef B3_COLLIDABLE_H #ifndef B3_COLLIDABLE_H
#define B3_COLLIDABLE_H #define B3_COLLIDABLE_H
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
enum b3ShapeTypes enum b3ShapeTypes
{ {
SHAPE_HEIGHT_FIELD=1, SHAPE_HEIGHT_FIELD=1,
@@ -34,8 +37,8 @@ struct b3CollidableNew
struct b3GpuChildShape struct b3GpuChildShape
{ {
float m_childPosition[4]; b3Vector3 m_childPosition;
float m_childOrientation[4]; b3Quaternion m_childOrientation;
int m_shapeIndex; int m_shapeIndex;
int m_unused0; int m_unused0;
int m_unused1; int m_unused1;

48
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -21,6 +21,10 @@ subject to the following restrictions:
//#define B3_DEBUG_SAT_FACE //#define B3_DEBUG_SAT_FACE
//#define CHECK_ON_HOST //#define CHECK_ON_HOST
#ifdef CHECK_ON_HOST
//#define PERSISTENT_CONTACTS_HOST
#endif
int b3g_actualSATPairTests=0; int b3g_actualSATPairTests=0;
#include "b3ConvexHullContact.h" #include "b3ConvexHullContact.h"
@@ -560,9 +564,11 @@ void computeContactPlaneCompound(int pairIndex,
const b3RigidBodyCL* rigidBodies, const b3RigidBodyCL* rigidBodies,
const b3Collidable* collidables, const b3Collidable* collidables,
const b3ConvexPolyhedronCL* convexShapes, const b3ConvexPolyhedronCL* convexShapes,
const b3GpuChildShape* cpuChildShapes,
const b3Vector3* convexVertices, const b3Vector3* convexVertices,
const int* convexIndices, const int* convexIndices,
const b3GpuFace* faces, const b3GpuFace* faces,
b3Contact4* globalContactsOut, b3Contact4* globalContactsOut,
int& nGlobalContactsOut, int& nGlobalContactsOut,
int maxContactCapacity) int maxContactCapacity)
@@ -572,12 +578,24 @@ void computeContactPlaneCompound(int pairIndex,
b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS); b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
for (int c=0;c<numChildrenB;c++)
{
int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+c;
int childColIndexB = cpuChildShapes[childShapeIndexB].m_shapeIndex;
float4 rootPosB = rigidBodies[bodyIndexB].m_pos;
b3Quaternion rootOrnB = rigidBodies[bodyIndexB].m_quat;
b3Vector3 childPosB = cpuChildShapes[childShapeIndexB].m_childPosition;
b3Quaternion childOrnB = cpuChildShapes[childShapeIndexB].m_childOrientation;
float4 posB = b3QuatRotate(rootOrnB,childPosB)+rootPosB;
b3Quaternion ornB = rootOrnB*childOrnB;//b3QuatMul(ornB,childOrnB);
int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
const b3ConvexPolyhedronCL* hullB = &convexShapes[shapeIndexB];
int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
const b3ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos; b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat; b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
@@ -607,7 +625,7 @@ void computeContactPlaneCompound(int pairIndex,
int hitVertex=-1; int hitVertex=-1;
b3Vector3 hitVtx; b3Vector3 hitVtx;
#define MAX_PLANE_CONVEX_POINTS 64 #define MAX_PLANE_CONVEX_POINTS 64
b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS]; b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
int numPoints = 0; int numPoints = 0;
@@ -658,7 +676,7 @@ void computeContactPlaneCompound(int pairIndex,
numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx); numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
} }
int dstIdx; int dstIdx;
// dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx ); // dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
if (numReducedPoints>0) if (numReducedPoints>0)
{ {
@@ -684,9 +702,9 @@ void computeContactPlaneCompound(int pairIndex,
}//if (dstIdx < numPairs) }//if (dstIdx < numPairs)
} }
}
// printf("computeContactPlaneConvex\n");
} }
@@ -1647,9 +1665,9 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
if (numOldPoints) if (numOldPoints)
{ {
newContact = oldContacts[pairs[pairIndex].z]; newContact = oldContacts[pairs[pairIndex].z];
#ifdef CHECK_ON_HOST #ifdef PERSISTENT_CONTACTS_HOST
b3ContactCache::refreshContactPoints(transA,transB,newContact); b3ContactCache::refreshContactPoints(transA,transB,newContact);
#endif //CHECK_ON_HOST #endif //PERSISTENT_CONTACTS_HOST
} }
numPoints = b3Contact4Data_getNumPoints(&newContact); numPoints = b3Contact4Data_getNumPoints(&newContact);
@@ -1680,7 +1698,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
resultPointOnBWorld.w = distance2; resultPointOnBWorld.w = distance2;
newContact.m_worldPosB[p] = resultPointOnBWorld; newContact.m_worldPosB[p] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2; b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
#ifdef CHECK_ON_HOST #ifdef PERSISTENT_CONTACTS_HOST
newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld; newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld; newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
#endif #endif
@@ -1881,7 +1899,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
} }
hostContacts.resize(nPairs); hostContacts.resize(maxContactCapacity);
for (int i=0;i<nPairs;i++) for (int i=0;i<nPairs;i++)
{ {
@@ -1929,7 +1947,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE) hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
{ {
computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0], computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); &hostCollidables[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
// printf("convex-plane\n"); // printf("convex-plane\n");
} }
@@ -1938,7 +1956,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
{ {
computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0], computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); &hostCollidables[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
// printf("plane-convex\n"); // printf("plane-convex\n");
} }
@@ -1970,9 +1988,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
pairs->copyFromHost(hostPairs); pairs->copyFromHost(hostPairs);
} }
hostContacts.resize(nContacts);
if (nContacts) if (nContacts)
{ {
hostContacts.resize(nContacts);
contactOut->copyFromHost(hostContacts); contactOut->copyFromHost(hostContacts);
} }