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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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157
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
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@@ -901,7 +901,7 @@ static const char* satKernelsCL= \
" project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
" \n"
" if(Max0<Min1 || Max1<Min0)\n"
" result = false;\n"
" return false;\n"
" \n"
" float d0 = Max0 - Min1;\n"
" float d1 = Max1 - Min0;\n"
@@ -1472,6 +1472,161 @@ static const char* satKernelsCL= \
" \n"
" }\n"
"}\n"
"__kernel void findSeparatingAxisVertexFaceKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"
" __global const float4* vertices,\n"
" __global const float4* uniqueEdges,\n"
" __global const btGpuFace* faces,\n"
" __global const int* indices,\n"
" __global btAabbCL* aabbs,\n"
" __global volatile float4* separatingNormals,\n"
" __global volatile int* hasSeparatingAxis,\n"
" __global float* dmins,\n"
" int numPairs\n"
" )\n"
"{\n"
" int i = get_global_id(0);\n"
" \n"
" if (i<numPairs)\n"
" {\n"
" \n"
" int bodyIndexA = pairs[i].x;\n"
" int bodyIndexB = pairs[i].y;\n"
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
" \n"
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
" \n"
" \n"
" //once the broadphase avoids static-static pairs, we can remove this test\n"
" if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
" {\n"
" hasSeparatingAxis[i] = 0;\n"
" return;\n"
" }\n"
" \n"
" if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
" {\n"
" hasSeparatingAxis[i] = 0;\n"
" return;\n"
" }\n"
" \n"
" if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))\n"
" {\n"
" hasSeparatingAxis[i] = 0;\n"
" return;\n"
" }\n"
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
" float dmin = FLT_MAX;\n"
" dmins[i] = dmin;\n"
" \n"
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
" posA.w = 0.f;\n"
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
" posB.w = 0.f;\n"
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
" const float4 DeltaC2 = c0 - c1;\n"
" float4 sepNormal;\n"
" \n"
" bool sepA = findSeparatingAxis( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
" posB,ornB,\n"
" DeltaC2,\n"
" vertices,uniqueEdges,faces,\n"
" indices,&sepNormal,&dmin);\n"
" hasSeparatingAxis[i] = 4;\n"
" if (!sepA)\n"
" {\n"
" hasSeparatingAxis[i] = 0;\n"
" } else\n"
" {\n"
" bool sepB = findSeparatingAxis( &convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
" posA,ornA,\n"
" DeltaC2,\n"
" vertices,uniqueEdges,faces,\n"
" indices,&sepNormal,&dmin);\n"
" if (sepB)\n"
" {\n"
" dmins[i] = dmin;\n"
" hasSeparatingAxis[i] = 1;\n"
" separatingNormals[i] = sepNormal;\n"
" }\n"
" }\n"
" \n"
" }\n"
"}\n"
"__kernel void findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"
" __global const float4* vertices,\n"
" __global const float4* uniqueEdges,\n"
" __global const btGpuFace* faces,\n"
" __global const int* indices,\n"
" __global btAabbCL* aabbs,\n"
" __global float4* separatingNormals,\n"
" __global int* hasSeparatingAxis,\n"
" __global float* dmins,\n"
" int numPairs\n"
" )\n"
"{\n"
" int i = get_global_id(0);\n"
" \n"
" if (i<numPairs)\n"
" {\n"
" if (hasSeparatingAxis[i])\n"
" {\n"
" \n"
" int bodyIndexA = pairs[i].x;\n"
" int bodyIndexB = pairs[i].y;\n"
" \n"
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
" \n"
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
" \n"
" \n"
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
" \n"
" float dmin = dmins[i];\n"
" \n"
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
" posA.w = 0.f;\n"
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
" posB.w = 0.f;\n"
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
" const float4 DeltaC2 = c0 - c1;\n"
" float4 sepNormal = separatingNormals[i];\n"
" \n"
" bool sepEE = findSeparatingAxisEdgeEdge( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
" posB,ornB,\n"
" DeltaC2,\n"
" vertices,uniqueEdges,faces,\n"
" indices,&sepNormal,&dmin);\n"
" if (!sepEE)\n"
" {\n"
" hasSeparatingAxis[i] = 0;\n"
" } else\n"
" {\n"
" hasSeparatingAxis[i] = 1;\n"
" separatingNormals[i] = sepNormal;\n"
" }\n"
" } //if (hasSeparatingAxis[i])\n"
" }//(i<numPairs)\n"
"}\n"
"int findClippingFaces(const float4 separatingNormal,\n"
" const ConvexPolyhedronCL* hullA, \n"
" __global const ConvexPolyhedronCL* hullB,\n"