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more rewriting to get this #@!#@!&*( Mac OSX GPU to work

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This commit is contained in:
erwin coumans
2013-12-16 15:23:43 -08:00
parent 1dce953d76
commit 7b55ffd237
4 changed files with 408 additions and 3 deletions
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172
src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl
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@@ -706,7 +706,7 @@ bool findSeparatingAxisEdgeEdge( __global const ConvexPolyhedronCL* hullA, __glo
project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);
if(Max0<Min1 || Max1<Min0)
result = false;
return false;
float d0 = Max0 - Min1;
float d1 = Max1 - Min0;
@@ -1351,6 +1351,176 @@ __kernel void findSeparatingAxisKernel( __global const int4* pairs,
}
__kernel void findSeparatingAxisVertexFaceKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,
__global const float4* vertices,
__global const float4* uniqueEdges,
__global const btGpuFace* faces,
__global const int* indices,
__global btAabbCL* aabbs,
__global volatile float4* separatingNormals,
__global volatile int* hasSeparatingAxis,
__global float* dmins,
int numPairs
)
{
int i = get_global_id(0);
if (i<numPairs)
{
int bodyIndexA = pairs[i].x;
int bodyIndexB = pairs[i].y;
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
//once the broadphase avoids static-static pairs, we can remove this test
if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
{
hasSeparatingAxis[i] = 0;
return;
}
if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
{
hasSeparatingAxis[i] = 0;
return;
}
if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))
{
hasSeparatingAxis[i] = 0;
return;
}
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
dmins[i] = dmin;
float4 posA = rigidBodies[bodyIndexA].m_pos;
posA.w = 0.f;
float4 posB = rigidBodies[bodyIndexB].m_pos;
posB.w = 0.f;
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
float4 ornA = rigidBodies[bodyIndexA].m_quat;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
float4 ornB =rigidBodies[bodyIndexB].m_quat;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
float4 sepNormal;
bool sepA = findSeparatingAxis( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
posB,ornB,
DeltaC2,
vertices,uniqueEdges,faces,
indices,&sepNormal,&dmin);
hasSeparatingAxis[i] = 4;
if (!sepA)
{
hasSeparatingAxis[i] = 0;
} else
{
bool sepB = findSeparatingAxis( &convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,
posA,ornA,
DeltaC2,
vertices,uniqueEdges,faces,
indices,&sepNormal,&dmin);
if (sepB)
{
dmins[i] = dmin;
hasSeparatingAxis[i] = 1;
separatingNormals[i] = sepNormal;
}
}
}
}
__kernel void findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,
__global const float4* vertices,
__global const float4* uniqueEdges,
__global const btGpuFace* faces,
__global const int* indices,
__global btAabbCL* aabbs,
__global float4* separatingNormals,
__global int* hasSeparatingAxis,
__global float* dmins,
int numPairs
)
{
int i = get_global_id(0);
if (i<numPairs)
{
if (hasSeparatingAxis[i])
{
int bodyIndexA = pairs[i].x;
int bodyIndexB = pairs[i].y;
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = dmins[i];
float4 posA = rigidBodies[bodyIndexA].m_pos;
posA.w = 0.f;
float4 posB = rigidBodies[bodyIndexB].m_pos;
posB.w = 0.f;
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
float4 ornA = rigidBodies[bodyIndexA].m_quat;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
float4 ornB =rigidBodies[bodyIndexB].m_quat;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
float4 sepNormal = separatingNormals[i];
bool sepEE = findSeparatingAxisEdgeEdge( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
posB,ornB,
DeltaC2,
vertices,uniqueEdges,faces,
indices,&sepNormal,&dmin);
if (!sepEE)
{
hasSeparatingAxis[i] = 0;
} else
{
hasSeparatingAxis[i] = 1;
separatingNormals[i] = sepNormal;
}
} //if (hasSeparatingAxis[i])
}//(i<numPairs)
}