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bt -> b3 and BT -> B3 rename for content and filenames

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This commit is contained in:
erwin coumans
2013-04-28 23:11:10 -07:00
parent 6bcb5b9d5f
commit 7366e262fd
178 changed files with 5218 additions and 5218 deletions
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136
opencl/gpu_rigidbody/host/b3GpuNarrowPhase.cpp
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@@ -1,7 +1,7 @@
#include "b3GpuNarrowPhase.h"
#include "parallel_primitives/host/btOpenCLArray.h"
#include "parallel_primitives/host/b3OpenCLArray.h"
#include "../../gpu_narrowphase/host/b3ConvexPolyhedronCL.h"
#include "../../gpu_narrowphase/host/b3ConvexHullContact.h"
#include "../../gpu_broadphase/host/b3SapAabb.h"
@@ -12,7 +12,7 @@
#include "Bullet3Geometry/b3AabbUtil.h"
#include "../../gpu_narrowphase/host/b3BvhInfo.h"
struct btGpuNarrowPhaseInternalData
struct b3GpuNarrowPhaseInternalData
{
b3AlignedObjectArray<b3ConvexUtility*>* m_convexData;
@@ -21,59 +21,59 @@ struct btGpuNarrowPhaseInternalData
b3AlignedObjectArray<b3Vector3> m_convexVertices;
b3AlignedObjectArray<int> m_convexIndices;
btOpenCLArray<b3ConvexPolyhedronCL>* m_convexPolyhedraGPU;
btOpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
btOpenCLArray<b3Vector3>* m_convexVerticesGPU;
btOpenCLArray<int>* m_convexIndicesGPU;
b3OpenCLArray<b3ConvexPolyhedronCL>* m_convexPolyhedraGPU;
b3OpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
b3OpenCLArray<b3Vector3>* m_convexVerticesGPU;
b3OpenCLArray<int>* m_convexIndicesGPU;
btOpenCLArray<b3Vector3>* m_worldVertsB1GPU;
btOpenCLArray<btInt4>* m_clippingFacesOutGPU;
btOpenCLArray<b3Vector3>* m_worldNormalsAGPU;
btOpenCLArray<b3Vector3>* m_worldVertsA1GPU;
btOpenCLArray<b3Vector3>* m_worldVertsB2GPU;
b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
b3AlignedObjectArray<btGpuChildShape> m_cpuChildShapes;
btOpenCLArray<btGpuChildShape>* m_gpuChildShapes;
b3AlignedObjectArray<b3GpuChildShape> m_cpuChildShapes;
b3OpenCLArray<b3GpuChildShape>* m_gpuChildShapes;
b3AlignedObjectArray<btGpuFace> m_convexFaces;
btOpenCLArray<btGpuFace>* m_convexFacesGPU;
b3AlignedObjectArray<b3GpuFace> m_convexFaces;
b3OpenCLArray<b3GpuFace>* m_convexFacesGPU;
GpuSatCollision* m_gpuSatCollision;
b3AlignedObjectArray<btInt2>* m_pBufPairsCPU;
b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU;
btOpenCLArray<btInt2>* m_convexPairsOutGPU;
btOpenCLArray<btInt2>* m_planePairs;
b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
b3OpenCLArray<b3Int2>* m_planePairs;
btOpenCLArray<b3Contact4>* m_pBufContactOutGPU;
b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU;
b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
b3AlignedObjectArray<b3RigidBodyCL>* m_bodyBufferCPU;
btOpenCLArray<b3RigidBodyCL>* m_bodyBufferGPU;
b3OpenCLArray<b3RigidBodyCL>* m_bodyBufferGPU;
b3AlignedObjectArray<btInertiaCL>* m_inertiaBufferCPU;
btOpenCLArray<btInertiaCL>* m_inertiaBufferGPU;
b3AlignedObjectArray<b3InertiaCL>* m_inertiaBufferCPU;
b3OpenCLArray<b3InertiaCL>* m_inertiaBufferGPU;
int m_numAcceleratedShapes;
int m_numAcceleratedRigidBodies;
b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
btOpenCLArray<b3Collidable>* m_collidablesGPU;
b3OpenCLArray<b3Collidable>* m_collidablesGPU;
btOpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
b3OpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
b3AlignedObjectArray<btQuantizedBvhNode> m_treeNodesCPU;
b3AlignedObjectArray<btBvhSubtreeInfo> m_subTreesCPU;
b3AlignedObjectArray<b3QuantizedBvhNode> m_treeNodesCPU;
b3AlignedObjectArray<b3BvhSubtreeInfo> m_subTreesCPU;
b3AlignedObjectArray<b3BvhInfo> m_bvhInfoCPU;
btOpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
b3OpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
btOpenCLArray<btQuantizedBvhNode>* m_treeNodesGPU;
btOpenCLArray<btBvhSubtreeInfo>* m_subTreesGPU;
b3OpenCLArray<b3QuantizedBvhNode>* m_treeNodesGPU;
b3OpenCLArray<b3BvhSubtreeInfo>* m_subTreesGPU;
b3Config m_config;
@@ -91,52 +91,52 @@ m_device(device),
m_queue(queue)
{
m_data = new btGpuNarrowPhaseInternalData();
memset(m_data,0,sizeof(btGpuNarrowPhaseInternalData));
m_data = new b3GpuNarrowPhaseInternalData();
memset(m_data,0,sizeof(b3GpuNarrowPhaseInternalData));
m_data->m_config = config;
m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<btInt2>;
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>;
m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
m_data->m_convexPairsOutGPU = new btOpenCLArray<btInt2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_planePairs = new btOpenCLArray<btInt2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>();
m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyCL>();
m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<btInertiaCL>();
m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaCL>();
m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_pBufContactOutGPU = new btOpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_inertiaBufferGPU = new btOpenCLArray<btInertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new btOpenCLArray<b3Collidable>(ctx,queue,config.m_maxConvexShapes);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx,queue,config.m_maxConvexShapes);
m_data->m_localShapeAABBCPU = new b3AlignedObjectArray<b3SapAabb>;
m_data->m_localShapeAABBGPU = new btOpenCLArray<b3SapAabb>(ctx,queue,config.m_maxConvexShapes);
m_data->m_localShapeAABBGPU = new b3OpenCLArray<b3SapAabb>(ctx,queue,config.m_maxConvexShapes);
//m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false);
m_data->m_bodyBufferGPU = new btOpenCLArray<b3RigidBodyCL>(ctx,queue, config.m_maxConvexBodies,false);
m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyCL>(ctx,queue, config.m_maxConvexBodies,false);
m_data->m_convexFacesGPU = new btOpenCLArray<btGpuFace>(ctx,queue,config.m_maxConvexShapes*config.m_maxFacesPerShape,false);
m_data->m_gpuChildShapes = new btOpenCLArray<btGpuChildShape>(ctx,queue,config.m_maxCompoundChildShapes,false);
m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx,queue,config.m_maxConvexShapes*config.m_maxFacesPerShape,false);
m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx,queue,config.m_maxCompoundChildShapes,false);
m_data->m_convexPolyhedraGPU = new btOpenCLArray<b3ConvexPolyhedronCL>(ctx,queue,config.m_maxConvexShapes,false);
m_data->m_uniqueEdgesGPU = new btOpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexUniqueEdges,true);
m_data->m_convexVerticesGPU = new btOpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexVertices,true);
m_data->m_convexIndicesGPU = new btOpenCLArray<int>(ctx,queue,config.m_maxConvexIndices,true);
m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronCL>(ctx,queue,config.m_maxConvexShapes,false);
m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexUniqueEdges,true);
m_data->m_convexVerticesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexVertices,true);
m_data->m_convexIndicesGPU = new b3OpenCLArray<int>(ctx,queue,config.m_maxConvexIndices,true);
m_data->m_worldVertsB1GPU = new btOpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_clippingFacesOutGPU = new btOpenCLArray<btInt4>(ctx,queue,config.m_maxConvexBodies);
m_data->m_worldNormalsAGPU = new btOpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies);
m_data->m_worldVertsA1GPU = new btOpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_worldVertsB2GPU = new btOpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_worldVertsB1GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_clippingFacesOutGPU = new b3OpenCLArray<b3Int4>(ctx,queue,config.m_maxConvexBodies);
m_data->m_worldNormalsAGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies);
m_data->m_worldVertsA1GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_worldVertsB2GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
@@ -150,12 +150,12 @@ m_queue(queue)
m_data->m_numAcceleratedRigidBodies = 0;
m_data->m_subTreesGPU = new btOpenCLArray<btBvhSubtreeInfo>(this->m_context,this->m_queue);
m_data->m_treeNodesGPU = new btOpenCLArray<btQuantizedBvhNode>(this->m_context,this->m_queue);
m_data->m_bvhInfoGPU = new btOpenCLArray<b3BvhInfo>(this->m_context,this->m_queue);
m_data->m_subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context,this->m_queue);
m_data->m_treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue);
m_data->m_bvhInfoGPU = new b3OpenCLArray<b3BvhInfo>(this->m_context,this->m_queue);
//m_data->m_contactCGPU = new btOpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_frictionCGPU = new btOpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
//m_data->m_contactCGPU = new b3OpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_frictionCGPU = new b3OpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
}
@@ -246,7 +246,7 @@ int b3GpuNarrowPhase::registerSphereShape(float radius)
int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant)
{
int faceOffset = m_data->m_convexFaces.size();
btGpuFace& face = m_data->m_convexFaces.expand();
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();
@@ -426,7 +426,7 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
}
int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<btGpuChildShape>* childShapes)
int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes)
{
int collidableIndex = allocateCollidable();
@@ -435,7 +435,7 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<btGpuChildShap
col.m_shapeIndex = m_data->m_cpuChildShapes.size();
{
btAssert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
b3Assert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
for (int i=0;i<childShapes->size();i++)
{
m_data->m_cpuChildShapes.push_back(childShapes->at(i));
@@ -474,7 +474,7 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<btGpuChildShap
childShapes->at(i).m_childOrientation[1],
childShapes->at(i).m_childOrientation[2],
childShapes->at(i).m_childOrientation[3]));
btTransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
}
@@ -539,7 +539,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
bool useQuantizedAabbCompression = true;
b3TriangleIndexVertexArray* meshInterface=new b3TriangleIndexVertexArray();
btIndexedMesh mesh;
b3IndexedMesh mesh;
mesh.m_numTriangles = indices->size()/3;
mesh.m_numVertices = vertices->size();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).getX();
@@ -551,7 +551,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
bvh->build(meshInterface, useQuantizedAabbCompression, (b3Vector3&)aabb.m_min, (b3Vector3&)aabb.m_max);
m_data->m_bvhData.push_back(bvh);
int numNodes = bvh->getQuantizedNodeArray().size();
//btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU = new btOpenCLArray<btQuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
//b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
//treeNodesGPU->copyFromHost(bvh->getQuantizedNodeArray());
int numSubTrees = bvh->getSubtreeInfoArray().size();
@@ -582,7 +582,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
}
//btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU = new btOpenCLArray<btBvhSubtreeInfo>(this->m_context,this->m_queue,numSubTrees);
//b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context,this->m_queue,numSubTrees);
//subTreesGPU->copyFromHost(bvh->getSubtreeInfoArray());
m_data->m_treeNodesGPU->copyFromHost(m_data->m_treeNodesCPU);
@@ -741,12 +741,12 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
int nContactOut = 0;
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
btOpenCLArray<btInt4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
b3OpenCLArray<b3Int4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
int numTriConvexPairsOut=0;
btOpenCLArray<btInt2> broadphasePairsGPU(m_context,m_queue);
b3OpenCLArray<b3Int2> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
btOpenCLArray<btYetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
b3OpenCLArray<b3YetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
@@ -794,7 +794,7 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
b3Vector3 aabbMin(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax (aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
btAssert(m_data->m_numAcceleratedRigidBodies< (m_data->m_config.m_maxConvexBodies-1));
b3Assert(m_data->m_numAcceleratedRigidBodies< (m_data->m_config.m_maxConvexBodies-1));
m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies+1);
@@ -828,7 +828,7 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
m_data->m_bodyBufferGPU->copyFromHostPointer(&body,1,m_data->m_numAcceleratedRigidBodies);
}
btInertiaCL& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
b3InertiaCL& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
if (mass==0.f)
{