Initial work on batch raycast support.
This commit is contained in:
johnmccutchan
118
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
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118
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
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#include <stdio.h>
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#include "SpuRaycastTask.h"
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#include "SpuCollisionObjectWrapper.h"
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#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
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struct RaycastTask_LocalStoreMemory
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{
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ATTRIBUTE_ALIGNED16(char gColObj [sizeof(btCollisionObject)+16]);
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btCollisionObject* getColObj()
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{
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return (btCollisionObject*) gColObj;
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}
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SpuCollisionObjectWrapper gCollisionObjectWrapper;
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SpuCollisionObjectWrapper* getCollisionObjectWrapper ()
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{
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return &gCollisionObjectWrapper;
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}
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CollisionShape_LocalStoreMemory gCollisionShape;
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ATTRIBUTE_ALIGNED16(int spuIndices[16]);
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bvhMeshShape_LocalStoreMemory bvhShapeData;
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SpuConvexPolyhedronVertexData convexVertexData;
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CompoundShape_LocalStoreMemory compoundShapeData;
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};
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#ifdef WIN32
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void* createRaycastLocalStoreMemory()
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{
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return new RaycastTask_LocalStoreMemory;
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};
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#elif defined(__CELLOS_LV2__)
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ATTRIBUTE_ALIGNED16(RaycastTask_LocalStoreMemory gLocalStoreMemory);
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void* createRaycastLocalStoreMemory()
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{
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return &gLocalStoreMemory;
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}
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#endif
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void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData& gatheredObjectData, RaycastTask_LocalStoreMemory& lsMem, ppu_address_t objectWrapper)
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{
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register int dmaSize;
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register ppu_address_t dmaPpuAddress2;
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/* DMA Collision object wrapper into local store */
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dmaSize = sizeof(SpuCollisionObjectWrapper);
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dmaPpuAddress2 = objectWrapper;
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cellDmaGet(&lsMem.gCollisionObjectWrapper, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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/* DMA Collision object into local store */
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dmaSize = sizeof(btCollisionObject);
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dmaPpuAddress2 = lsMem.getCollisionObjectWrapper()->getCollisionObjectPtr();
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cellDmaGet(&lsMem.gColObj, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(2));
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/* Gather information about collision object and shape */
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gatheredObjectData.m_worldTransform = lsMem.getColObj()->getWorldTransform();
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gatheredObjectData.m_collisionMargin = lsMem.getCollisionObjectWrapper()->getCollisionMargin ();
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gatheredObjectData.m_shapeType = lsMem.getCollisionObjectWrapper()->getShapeType ();
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gatheredObjectData.m_collisionShape = (ppu_address_t)lsMem.getColObj()->getCollisionShape();
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gatheredObjectData.m_spuCollisionShape = (void*)&lsMem.gCollisionShape.collisionShape[0];
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/* DMA shape data */
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dmaCollisionShape (gatheredObjectData.m_spuCollisionShape, gatheredObjectData.m_collisionShape, 1, gatheredObjectData.m_shapeType);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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btConvexInternalShape* spuConvexShape = (btConvexInternalShape*)gatheredObjectData.m_spuCollisionShape;
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gatheredObjectData.m_primitiveDimensions = spuConvexShape->getImplicitShapeDimensions ();
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}
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void dmaLoadRayOutput (ppu_address_t rayOutputAddr, SpuRaycastTaskWorkUnitOut* rayOutput, uint32_t dmaTag)
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{
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cellDmaGet(rayOutput, rayOutputAddr, sizeof(*rayOutput), DMA_TAG(dmaTag), 0, 0);
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}
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void dmaStoreRayOutput (ppu_address_t rayOutputAddr, const SpuRaycastTaskWorkUnitOut* rayOutput, uint32_t dmaTag)
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{
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cellDmaLargePut (rayOutput, rayOutputAddr, sizeof(*rayOutput), DMA_TAG(dmaTag), 0, 0);
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}
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void processRaycastTask(void* userPtr, void* lsMemory)
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{
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RaycastTask_LocalStoreMemory* localMemory = (RaycastTask_LocalStoreMemory*)lsMemory;
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SpuRaycastTaskDesc* taskDescPtr = (SpuRaycastTaskDesc*)userPtr;
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SpuRaycastTaskDesc& taskDesc = *taskDescPtr;
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SpuCollisionObjectWrapper* cows = (SpuCollisionObjectWrapper*)taskDesc.spuCollisionObjectsWrappers;
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/* for each object */
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for (int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
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{
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RaycastGatheredObjectData gatheredObjectData;
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GatherCollisionObjectAndShapeData (gatheredObjectData, *localMemory, (ppu_address_t)&cows[objectId]);
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/* load initial collision shape */
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for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
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{
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SpuRaycastTaskWorkUnitOut rayOut;
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dmaLoadRayOutput ((ppu_address_t)taskDesc.workUnits[rayId].output, &rayOut, 1);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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float t = (float)rayId/(float)taskDesc.numWorkUnits;
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/* performRaycast */
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rayOut.hitFraction = 0.1f * t;
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rayOut.hitNormal = btVector3(1.0, 0.0, 0.0);
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/* write ray cast data back */
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dmaStoreRayOutput ((ppu_address_t)taskDesc.workUnits[rayId].output, &rayOut, 1);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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}
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}
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48
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h
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48
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h
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#ifndef __SPU_RAYCAST_TASK_H
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#define __SPU_RAYCAST_TASK_H
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include "LinearMath/btVector3.h"
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#include "PlatformDefinitions.h"
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struct RaycastGatheredObjectData
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{
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ppu_address_t m_collisionShape;
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void* m_spuCollisionShape;
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btVector3 m_primitiveDimensions;
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int m_shapeType;
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float m_collisionMargin;
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btTransform m_worldTransform;
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};
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struct SpuRaycastTaskWorkUnitOut
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{
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btVector3 hitNormal; /* out */
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btScalar hitFraction; /* out */
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btCollisionWorld::LocalShapeInfo shapeInfo; /* out */
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};
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/* Perform a raycast on collision object */
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struct SpuRaycastTaskWorkUnit
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{
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btVector3 rayFrom; /* in */
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btVector3 rayTo; /* in */
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SpuRaycastTaskWorkUnitOut* output; /* out */
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};
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#define SPU_RAYCAST_WORK_UNITS_PER_TASK 16
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struct SpuRaycastTaskDesc
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{
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SpuRaycastTaskWorkUnit workUnits[SPU_RAYCAST_WORK_UNITS_PER_TASK];
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int numWorkUnits;
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void* spuCollisionObjectsWrappers;
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int numSpuCollisionObjectWrappers;
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int taskId;
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};
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void processRaycastTask (void* userPtr, void* lsMemory);
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void* createRaycastLocalStoreMemory ();
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#endif
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@@ -0,0 +1,145 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "SpuSubSimplexConvexCast.h"
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#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
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SpuSubsimplexConvexCast::SpuSubsimplexConvexCast (const void* convexA,
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const void* convexB,
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SpuVoronoiSimplexSolver* simplexSolver)
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:m_simplexSolver(simplexSolver), m_convexA(convexA),m_convexB(convexB)
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{
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}
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///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
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///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
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#ifdef BT_USE_DOUBLE_PRECISION
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#define MAX_ITERATIONS 64
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#else
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#define MAX_ITERATIONS 32
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#endif
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bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
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const btTransform& toA,
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const btTransform& fromB,
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const btTransform& toB,
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SpuCastResult& result)
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{
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//localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);
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#if 0
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btMinkowskiSumShape combi(m_convexA,m_convexB);
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btMinkowskiSumShape* convex = &combi;
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btTransform rayFromLocalA;
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btTransform rayToLocalA;
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rayFromLocalA = fromA.inverse()* fromB;
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rayToLocalA = toA.inverse()* toB;
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m_simplexSolver->reset();
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convex->setTransformB(btTransform(rayFromLocalA.getBasis()));
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//btScalar radius = btScalar(0.01);
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btScalar lambda = btScalar(0.);
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//todo: need to verify this:
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//because of minkowski difference, we need the inverse direction
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btVector3 s = -rayFromLocalA.getOrigin();
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btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
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btVector3 x = s;
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btVector3 v;
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btVector3 arbitraryPoint = convex->localGetSupportingVertex(r);
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v = x - arbitraryPoint;
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int maxIter = MAX_ITERATIONS;
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btVector3 n;
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n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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bool hasResult = false;
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btVector3 c;
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btScalar lastLambda = lambda;
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btScalar dist2 = v.length2();
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#ifdef BT_USE_DOUBLE_PRECISION
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btScalar epsilon = btScalar(0.0001);
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#else
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btScalar epsilon = btScalar(0.0001);
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#endif //BT_USE_DOUBLE_PRECISION
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btVector3 w,p;
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btScalar VdotR;
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while ( (dist2 > epsilon) && maxIter--)
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{
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p = convex->localGetSupportingVertex( v);
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w = x - p;
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btScalar VdotW = v.dot(w);
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if ( VdotW > btScalar(0.))
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{
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VdotR = v.dot(r);
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if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
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return false;
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else
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{
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lambda = lambda - VdotW / VdotR;
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x = s + lambda * r;
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m_simplexSolver->reset();
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//check next line
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w = x-p;
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lastLambda = lambda;
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n = v;
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hasResult = true;
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}
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}
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m_simplexSolver->addVertex( w, x , p);
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if (m_simplexSolver->closest(v))
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{
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dist2 = v.length2();
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hasResult = true;
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//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
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//printf("DIST2=%f\n",dist2);
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//printf("numverts = %i\n",m_simplexSolver->numVertices());
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} else
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{
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dist2 = btScalar(0.);
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}
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}
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//int numiter = MAX_ITERATIONS - maxIter;
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// printf("number of iterations: %d", numiter);
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result.m_fraction = lambda;
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result.m_normal = n;
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#endif
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return true;
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}
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@@ -0,0 +1,56 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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||||
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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||||
3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef SPU_SUBSIMPLEX_CONVEX_CAST_H
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#define SPU_SUBSIMPLEX_CONVEX_CAST_H
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#include "SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
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#include "SpuRaycastTask.h"
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class btConvexShape;
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struct SpuCastResult
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{
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};
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/// btSubsimplexConvexCast implements Gino van den Bergens' paper
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///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
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/// GJK based Ray Cast, optimized version
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/// Objects should not start in overlap, otherwise results are not defined.
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class SpuSubsimplexConvexCast
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{
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SpuVoronoiSimplexSolver* m_simplexSolver;
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const void* m_convexA;
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const void* m_convexB;
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RaycastGatheredObjectData* m_dataB;
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public:
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SpuSubsimplexConvexCast (const void* shapeA,
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const void* shapeB,
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SpuVoronoiSimplexSolver* simplexSolver);
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//virtual ~btSubsimplexConvexCast();
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///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
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///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
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bool calcTimeOfImpact(const btTransform& fromA,
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const btTransform& toA,
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const btTransform& fromB,
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const btTransform& toB,
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SpuCastResult& result);
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};
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#endif //SUBSIMPLEX_CONVEX_CAST_H
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