rename gpu_sat -> gpu_narrowphase
This commit is contained in:
erwin coumans
291
opencl/gpu_narrowphase/kernels/bvhTraversal.cl
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291
opencl/gpu_narrowphase/kernels/bvhTraversal.cl
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//keep this enum in sync with the CPU version (in btCollidable.h)
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//written by Erwin Coumans
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#define SHAPE_CONVEX_HULL 3
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#define SHAPE_CONCAVE_TRIMESH 5
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#define TRIANGLE_NUM_CONVEX_FACES 5
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#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
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#define SHAPE_SPHERE 7
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typedef unsigned int u32;
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#define MAX_NUM_PARTS_IN_BITS 10
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///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
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///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
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typedef struct
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{
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes
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int m_escapeIndexOrTriangleIndex;
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} btQuantizedBvhNode;
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/*
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bool isLeafNode() const
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{
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//skipindex is negative (internal node), triangleindex >=0 (leafnode)
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return (m_escapeIndexOrTriangleIndex >= 0);
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}
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int getEscapeIndex() const
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{
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btAssert(!isLeafNode());
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return -m_escapeIndexOrTriangleIndex;
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}
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int getTriangleIndex() const
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{
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btAssert(isLeafNode());
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unsigned int x=0;
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unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
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// Get only the lower bits where the triangle index is stored
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return (m_escapeIndexOrTriangleIndex&~(y));
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}
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int getPartId() const
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{
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btAssert(isLeafNode());
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// Get only the highest bits where the part index is stored
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return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
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}
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*/
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int getTriangleIndex(const btQuantizedBvhNode* rootNode)
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{
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unsigned int x=0;
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unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
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// Get only the lower bits where the triangle index is stored
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return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
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}
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int isLeaf(const btQuantizedBvhNode* rootNode)
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{
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//skipindex is negative (internal node), triangleindex >=0 (leafnode)
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return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
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}
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int getEscapeIndex(const btQuantizedBvhNode* rootNode)
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{
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return -rootNode->m_escapeIndexOrTriangleIndex;
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}
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typedef struct
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{
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes, points to the root of the subtree
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int m_rootNodeIndex;
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//4 bytes
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int m_subtreeSize;
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int m_padding[3];
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} btBvhSubtreeInfo;
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///keep this in sync with btCollidable.h
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typedef struct
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{
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int m_numChildShapes;
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int blaat2;
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int m_shapeType;
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int m_shapeIndex;
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} btCollidableGpu;
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typedef struct
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{
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float4 m_childPosition;
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float4 m_childOrientation;
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int m_shapeIndex;
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int m_unused0;
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int m_unused1;
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int m_unused2;
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} btGpuChildShape;
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typedef struct
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{
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float4 m_pos;
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float4 m_quat;
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float4 m_linVel;
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float4 m_angVel;
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u32 m_collidableIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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} BodyData;
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typedef struct
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{
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union
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{
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float4 m_min;
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float m_minElems[4];
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int m_minIndices[4];
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};
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union
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{
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float4 m_max;
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float m_maxElems[4];
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int m_maxIndices[4];
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};
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} btAabbCL;
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int testQuantizedAabbAgainstQuantizedAabb(
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const unsigned short int* aabbMin1,
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const unsigned short int* aabbMax1,
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const unsigned short int* aabbMin2,
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const unsigned short int* aabbMax2)
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{
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//int overlap = 1;
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if (aabbMin1[0] > aabbMax2[0])
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return 0;
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if (aabbMax1[0] < aabbMin2[0])
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return 0;
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if (aabbMin1[1] > aabbMax2[1])
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return 0;
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if (aabbMax1[1] < aabbMin2[1])
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return 0;
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if (aabbMin1[2] > aabbMax2[2])
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return 0;
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if (aabbMax1[2] < aabbMin2[2])
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return 0;
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return 1;
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//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;
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//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;
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//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;
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//return overlap;
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}
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void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)
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{
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float4 clampedPoint = max(point2,bvhAabbMin);
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clampedPoint = min (clampedPoint, bvhAabbMax);
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float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
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if (isMax)
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{
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out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));
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out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));
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out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));
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} else
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{
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out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));
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out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));
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out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));
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}
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}
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// work-in-progress
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__kernel void bvhTraversalKernel( __global const int2* pairs,
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__global const BodyData* rigidBodies,
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__global const btCollidableGpu* collidables,
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__global btAabbCL* aabbs,
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__global int4* concavePairsOut,
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__global volatile int* numConcavePairsOut,
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__global const btBvhSubtreeInfo* subtreeHeaders,
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__global const btQuantizedBvhNode* quantizedNodes,
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float4 bvhAabbMin,
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float4 bvhAabbMax,
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float4 bvhQuantization,
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int numSubtreeHeaders,
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int numPairs,
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int maxNumConcavePairsCapacity)
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{
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int id = get_global_id(0);
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if (id>=numPairs)
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return;
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int bodyIndexA = pairs[id].x;
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int bodyIndexB = pairs[id].y;
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int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
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int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
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//once the broadphase avoids static-static pairs, we can remove this test
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if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
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{
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return;
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}
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if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)
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return;
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int shapeTypeB = collidables[collidableIndexB].m_shapeType;
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if (shapeTypeB!=SHAPE_CONVEX_HULL &&
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shapeTypeB!=SHAPE_SPHERE &&
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shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS
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)
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return;
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unsigned short int quantizedQueryAabbMin[3];
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unsigned short int quantizedQueryAabbMax[3];
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quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);
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quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);
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for (int i=0;i<numSubtreeHeaders;i++)
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{
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btBvhSubtreeInfo subtree = subtreeHeaders[i];
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int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
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if (overlap != 0)
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{
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int startNodeIndex = subtree.m_rootNodeIndex;
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int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;
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int curIndex = startNodeIndex;
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int escapeIndex;
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int isLeafNode;
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int aabbOverlap;
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while (curIndex < endNodeIndex)
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{
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btQuantizedBvhNode rootNode = quantizedNodes[curIndex];
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aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);
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isLeafNode = isLeaf(&rootNode);
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if (aabbOverlap)
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{
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if (isLeafNode)
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{
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int triangleIndex = getTriangleIndex(&rootNode);
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if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
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{
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int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
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int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);
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for (int b=0;b<numChildrenB;b++)
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{
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if ((pairIdx+b)<maxNumConcavePairsCapacity)
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{
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int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
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int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);
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concavePairsOut[pairIdx+b] = newPair;
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}
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}
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} else
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{
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int pairIdx = atomic_inc(numConcavePairsOut);
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if (pairIdx<maxNumConcavePairsCapacity)
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{
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int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);
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concavePairsOut[pairIdx] = newPair;
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}
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}
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}
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curIndex++;
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} else
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{
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if (isLeafNode)
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{
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curIndex++;
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} else
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{
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escapeIndex = getEscapeIndex(&rootNode);
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curIndex += escapeIndex;
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}
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}
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}
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}
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}
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}
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