avoid out-of-bounds issue for some OpenCL kernel, hanging Mac OSX (should not happen, need to check why)
split kernel for debugging
This commit is contained in:
Erwin Coumans
@@ -14,7 +14,8 @@ subject to the following restrictions:
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*/
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bool findSeparatingAxisOnGpu = true;
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bool splitSearchSepAxis = false;//true;
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bool splitSearchSepAxisConcave = false;
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bool splitSearchSepAxisConvex = true;
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bool bvhTraversalKernelGPU = true;
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bool findConcaveSeparatingAxisKernelGPU = true;
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@@ -134,6 +135,17 @@ m_dmins(m_context,m_queue)
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m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisKernel",&errNum,satProg );
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b3Assert(m_findConcaveSeparatingAxisKernel);
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b3Assert(errNum==CL_SUCCESS);
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m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisVertexFaceKernel",&errNum,satProg );
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b3Assert(m_findConcaveSeparatingAxisVertexFaceKernel);
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b3Assert(errNum==CL_SUCCESS);
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m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisEdgeEdgeKernel",&errNum,satProg );
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b3Assert(m_findConcaveSeparatingAxisEdgeEdgeKernel);
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b3Assert(errNum==CL_SUCCESS);
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m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findCompoundPairsKernel",&errNum,satProg );
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b3Assert(m_findCompoundPairsKernel);
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@@ -234,6 +246,13 @@ GpuSatCollision::~GpuSatCollision()
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if (m_findSeparatingAxisKernel)
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clReleaseKernel(m_findSeparatingAxisKernel);
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if (m_findConcaveSeparatingAxisVertexFaceKernel)
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clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
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if (m_findConcaveSeparatingAxisEdgeEdgeKernel)
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clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
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if (m_findConcaveSeparatingAxisKernel)
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clReleaseKernel(m_findConcaveSeparatingAxisKernel);
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@@ -3039,7 +3058,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
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if (findSeparatingAxisOnGpu)
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{
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m_dmins.resize(nPairs);
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if (splitSearchSepAxis)
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if (splitSearchSepAxisConvex)
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{
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{
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B3_PROFILE("findSeparatingAxisVertexFaceKernel");
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@@ -3119,211 +3138,338 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
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}
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numCompoundPairs = m_numCompoundPairsOut.at(0);
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bool useGpuFindCompoundPairs=true;
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if (useGpuFindCompoundPairs)
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{
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B3_PROFILE("findCompoundPairsKernel");
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b3BufferInfoCL bInfo[] =
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{
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b3BufferInfoCL( pairs->getBufferCL(), true ),
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b3BufferInfoCL( bodyBuf->getBufferCL(),true),
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b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
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b3BufferInfoCL( convexData.getBufferCL(),true),
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b3BufferInfoCL( gpuVertices.getBufferCL(),true),
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b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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b3BufferInfoCL( gpuFaces.getBufferCL(),true),
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b3BufferInfoCL( gpuIndices.getBufferCL(),true),
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b3BufferInfoCL( clAabbsLocalSpace.getBufferCL(),true),
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b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
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b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
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b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL()),
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b3BufferInfoCL(subTreesGPU->getBufferCL()),
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b3BufferInfoCL(treeNodesGPU->getBufferCL()),
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b3BufferInfoCL(bvhInfo->getBufferCL())
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};
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}
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else
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{
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b3AlignedObjectArray<b3Int4> hostPairs;
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pairs->copyToHost(hostPairs);
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b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
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bodyBuf->copyToHost(hostBodyBuf);
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b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel,"m_findCompoundPairsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( nPairs );
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launcher.setConst( compoundPairCapacity);
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b3AlignedObjectArray<b3Collidable> hostCollidables;
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gpuCollidables.copyToHost(hostCollidables);
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b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
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gpuChildShapes.copyToHost(cpuChildShapes);
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b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexShapeData;
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convexData.copyToHost(hostConvexShapeData);
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b3AlignedObjectArray<b3Vector3> hostVertices;
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gpuVertices.copyToHost(hostVertices);
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b3AlignedObjectArray<int> hostHasSepAxis;
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hostHasSepAxis.resize(nPairs);
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b3AlignedObjectArray<b3Vector3> hostSepAxis;
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hostSepAxis.resize(nPairs);
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b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
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gpuUniqueEdges.copyToHost(hostUniqueEdges);
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b3AlignedObjectArray<b3GpuFace> hostFaces;
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gpuFaces.copyToHost(hostFaces);
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b3AlignedObjectArray<int> hostIndices;
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gpuIndices.copyToHost(hostIndices);
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for (int i=0;i<nPairs;i++)
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{
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int bodyIndexA = hostPairs[i].x;
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int bodyIndexB = hostPairs[i].y;
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int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
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int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
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int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
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int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
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hostHasSepAxis[i] = 0;
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//once the broadphase avoids static-static pairs, we can remove this test
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if ((hostBodyBuf[bodyIndexA].m_invMass==0) &&(hostBodyBuf[bodyIndexB].m_invMass==0))
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{
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continue;
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}
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if ((hostCollidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(hostCollidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
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{
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continue;
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}
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float dmin = FLT_MAX;
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b3ConvexPolyhedronData* convexShapeA = &hostConvexShapeData[shapeIndexA];
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b3ConvexPolyhedronData* convexShapeB = &hostConvexShapeData[shapeIndexB];
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b3Vector3 posA = hostBodyBuf[bodyIndexA].m_pos;
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b3Vector3 posB = hostBodyBuf[bodyIndexB].m_pos;
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b3Quaternion ornA =hostBodyBuf[bodyIndexA].m_quat;
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b3Quaternion ornB =hostBodyBuf[bodyIndexB].m_quat;
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b3Vector3 c0local = hostConvexShapeData[shapeIndexA].m_localCenter;
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b3Vector3 c0 = b3TransformPoint(c0local, posA, ornA);
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b3Vector3 c1local = hostConvexShapeData[shapeIndexB].m_localCenter;
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b3Vector3 c1 = b3TransformPoint(c1local,posB,ornB);
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b3Vector3 DeltaC2 = c0 - c1;
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b3Vector3 sepAxis;
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bool hasSepAxisA = b3FindSeparatingAxis(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
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&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
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&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
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&sepAxis, &dmin);
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if (hasSepAxisA)
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{
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bool hasSepAxisB = b3FindSeparatingAxis(convexShapeB, convexShapeA, posB, ornB, posA, ornA, DeltaC2,
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&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
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&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
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&sepAxis, &dmin);
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if (hasSepAxisB)
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{
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bool hasEdgeEdge = b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
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&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
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&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
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&sepAxis, &dmin);
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if (hasEdgeEdge)
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{
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hostHasSepAxis[i] = 1;
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hostSepAxis[i] = sepAxis;
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}
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}
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}
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}
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m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
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m_sepNormals.copyFromHost(hostSepAxis);
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/*
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//double-check results from GPU (comment-out the 'else' so both paths are executed
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b3AlignedObjectArray<int> checkHasSepAxis;
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m_hasSeparatingNormals.copyToHost(checkHasSepAxis);
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static int frameCount = 0;
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frameCount++;
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for (int i=0;i<nPairs;i++)
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{
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if (hostHasSepAxis[i] != checkHasSepAxis[i])
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{
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printf("at frameCount %d hostHasSepAxis[%d] = %d but checkHasSepAxis[i] = %d\n",
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frameCount,i,hostHasSepAxis[i],checkHasSepAxis[i]);
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}
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}
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//m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
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// m_sepNormals.copyFromHost(hostSepAxis);
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*/
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}
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numCompoundPairs = m_numCompoundPairsOut.at(0);
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bool useGpuFindCompoundPairs=true;
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if (useGpuFindCompoundPairs)
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{
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B3_PROFILE("findCompoundPairsKernel");
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b3BufferInfoCL bInfo[] =
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{
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b3BufferInfoCL( pairs->getBufferCL(), true ),
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b3BufferInfoCL( bodyBuf->getBufferCL(),true),
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b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
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b3BufferInfoCL( convexData.getBufferCL(),true),
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b3BufferInfoCL( gpuVertices.getBufferCL(),true),
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b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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b3BufferInfoCL( gpuFaces.getBufferCL(),true),
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b3BufferInfoCL( gpuIndices.getBufferCL(),true),
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b3BufferInfoCL( clAabbsLocalSpace.getBufferCL(),true),
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b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
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b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
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b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL()),
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b3BufferInfoCL(subTreesGPU->getBufferCL()),
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b3BufferInfoCL(treeNodesGPU->getBufferCL()),
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b3BufferInfoCL(bvhInfo->getBufferCL())
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};
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int num = nPairs;
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launcher.launch1D( num);
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clFinish(m_queue);
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b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel,"m_findCompoundPairsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( nPairs );
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launcher.setConst( compoundPairCapacity);
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numCompoundPairs = m_numCompoundPairsOut.at(0);
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//printf("numCompoundPairs =%d\n",numCompoundPairs );
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if (numCompoundPairs)
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{
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//printf("numCompoundPairs=%d\n",numCompoundPairs);
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}
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int num = nPairs;
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launcher.launch1D( num);
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clFinish(m_queue);
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} else
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{
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numCompoundPairs = m_numCompoundPairsOut.at(0);
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//printf("numCompoundPairs =%d\n",numCompoundPairs );
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if (numCompoundPairs)
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{
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//printf("numCompoundPairs=%d\n",numCompoundPairs);
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}
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} else
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{
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b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
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treeNodesGPU->copyToHost(treeNodesCPU);
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b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
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treeNodesGPU->copyToHost(treeNodesCPU);
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b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
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subTreesGPU->copyToHost(subTreesCPU);
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b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
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subTreesGPU->copyToHost(subTreesCPU);
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b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
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bvhInfo->copyToHost(bvhInfoCPU);
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b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
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bvhInfo->copyToHost(bvhInfoCPU);
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b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
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clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
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b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
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clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
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b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
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clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
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b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
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clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
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b3AlignedObjectArray<b3Int4> hostPairs;
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pairs->copyToHost(hostPairs);
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b3AlignedObjectArray<b3Int4> hostPairs;
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pairs->copyToHost(hostPairs);
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b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
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bodyBuf->copyToHost(hostBodyBuf);
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b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
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bodyBuf->copyToHost(hostBodyBuf);
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int numCompoundPairsOut=0;
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int numCompoundPairsOut=0;
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b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
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cpuCompoundPairsOut.resize(compoundPairCapacity);
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b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
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cpuCompoundPairsOut.resize(compoundPairCapacity);
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b3AlignedObjectArray<b3Collidable> hostCollidables;
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gpuCollidables.copyToHost(hostCollidables);
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b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
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gpuChildShapes.copyToHost(cpuChildShapes);
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b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
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convexData.copyToHost(hostConvexData);
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b3AlignedObjectArray<b3Collidable> hostCollidables;
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gpuCollidables.copyToHost(hostCollidables);
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b3AlignedObjectArray<b3Vector3> hostVertices;
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gpuVertices.copyToHost(hostVertices);
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b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
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gpuChildShapes.copyToHost(cpuChildShapes);
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b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
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convexData.copyToHost(hostConvexData);
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b3AlignedObjectArray<b3Vector3> hostVertices;
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gpuVertices.copyToHost(hostVertices);
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for (int pairIndex=0;pairIndex<nPairs;pairIndex++)
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{
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int bodyIndexA = hostPairs[pairIndex].x;
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int bodyIndexB = hostPairs[pairIndex].y;
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int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
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int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
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findCompoundPairsKernel(
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pairIndex,
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bodyIndexA,
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bodyIndexB,
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collidableIndexA,
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collidableIndexB,
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&hostBodyBuf[0],
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&hostCollidables[0],
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&hostConvexData[0],
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hostVertices,
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hostAabbsWorldSpace,
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hostAabbsLocalSpace,
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&cpuChildShapes[0],
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&cpuCompoundPairsOut[0],
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&numCompoundPairsOut,
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compoundPairCapacity,
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treeNodesCPU,
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subTreesCPU,
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bvhInfoCPU
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);
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}
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if (numCompoundPairsOut)
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{
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for (int pairIndex=0;pairIndex<nPairs;pairIndex++)
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{
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int bodyIndexA = hostPairs[pairIndex].x;
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int bodyIndexB = hostPairs[pairIndex].y;
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int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
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int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
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findCompoundPairsKernel(
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pairIndex,
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bodyIndexA,
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bodyIndexB,
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collidableIndexA,
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collidableIndexB,
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&hostBodyBuf[0],
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&hostCollidables[0],
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&hostConvexData[0],
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hostVertices,
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hostAabbsWorldSpace,
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hostAabbsLocalSpace,
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&cpuChildShapes[0],
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&cpuCompoundPairsOut[0],
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&numCompoundPairsOut,
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compoundPairCapacity,
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treeNodesCPU,
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subTreesCPU,
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bvhInfoCPU
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);
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}
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if (numCompoundPairsOut)
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{
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// printf("numCompoundPairsOut=%d\n",numCompoundPairsOut);
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}
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}
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if (numCompoundPairs > compoundPairCapacity)
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{
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b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
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numCompoundPairs = compoundPairCapacity;
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}
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}
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}
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if (numCompoundPairs > compoundPairCapacity)
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{
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b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
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numCompoundPairs = compoundPairCapacity;
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}
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m_gpuCompoundPairs.resize(numCompoundPairs);
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m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
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m_gpuCompoundSepNormals.resize(numCompoundPairs);
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m_gpuCompoundPairs.resize(numCompoundPairs);
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m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
|
||||
m_gpuCompoundSepNormals.resize(numCompoundPairs);
|
||||
|
||||
|
||||
if (numCompoundPairs)
|
||||
{
|
||||
B3_PROFILE("processCompoundPairsPrimitivesKernel");
|
||||
b3BufferInfoCL bInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( contactOut->getBufferCL()),
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
if (numCompoundPairs)
|
||||
{
|
||||
B3_PROFILE("processCompoundPairsPrimitivesKernel");
|
||||
b3BufferInfoCL bInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( contactOut->getBufferCL()),
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel,"m_processCompoundPairsPrimitivesKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numCompoundPairs );
|
||||
launcher.setConst(maxContactCapacity);
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel,"m_processCompoundPairsPrimitivesKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numCompoundPairs );
|
||||
launcher.setConst(maxContactCapacity);
|
||||
|
||||
int num = numCompoundPairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
nContacts = m_totalContactsOut.at(0);
|
||||
//printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
|
||||
if (nContacts>maxContactCapacity)
|
||||
{
|
||||
|
||||
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
|
||||
nContacts = maxContactCapacity;
|
||||
}
|
||||
}
|
||||
|
||||
int num = numCompoundPairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
nContacts = m_totalContactsOut.at(0);
|
||||
//printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
|
||||
if (nContacts>maxContactCapacity)
|
||||
{
|
||||
|
||||
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
|
||||
nContacts = maxContactCapacity;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (numCompoundPairs)
|
||||
{
|
||||
B3_PROFILE("processCompoundPairsKernel");
|
||||
b3BufferInfoCL bInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL()),
|
||||
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
|
||||
};
|
||||
if (numCompoundPairs)
|
||||
{
|
||||
B3_PROFILE("processCompoundPairsKernel");
|
||||
b3BufferInfoCL bInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL()),
|
||||
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel,"m_processCompoundPairsKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numCompoundPairs );
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel,"m_processCompoundPairsKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numCompoundPairs );
|
||||
|
||||
int num = numCompoundPairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
|
||||
}
|
||||
int num = numCompoundPairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
|
||||
}
|
||||
|
||||
|
||||
//printf("numConcave = %d\n",numConcave);
|
||||
|
||||
}//if (findSeparatingAxisOnGpu)
|
||||
//printf("numConcave = %d\n",numConcave);
|
||||
|
||||
|
||||
|
||||
// printf("hostNormals.size()=%d\n",hostNormals.size());
|
||||
//int numPairs = pairCount.at(0);
|
||||
@@ -3445,8 +3591,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
|
||||
clippingFacesOutGPU.resize(numConcavePairs);
|
||||
worldNormalsAGPU.resize(numConcavePairs);
|
||||
worldVertsA1GPU.resize(vertexFaceCapacity*numConcavePairs);
|
||||
worldVertsB1GPU.resize(vertexFaceCapacity*numConcavePairs);
|
||||
worldVertsA1GPU.resize(vertexFaceCapacity*(numConcavePairs));
|
||||
worldVertsB1GPU.resize(vertexFaceCapacity*(numConcavePairs));
|
||||
|
||||
|
||||
if (findConcaveSeparatingAxisKernelGPU)
|
||||
@@ -3461,34 +3607,118 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
*/
|
||||
|
||||
//now perform a SAT test for each triangle-convex element (stored in triangleConvexPairsOut)
|
||||
B3_PROFILE("findConcaveSeparatingAxisKernel");
|
||||
b3BufferInfoCL bInfo[] = {
|
||||
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
|
||||
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
|
||||
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
||||
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldVertsB1GPU.getBufferCL())
|
||||
};
|
||||
if (splitSearchSepAxisConcave)
|
||||
{
|
||||
//printf("numConcavePairs = %d\n",numConcavePairs);
|
||||
m_dmins.resize(numConcavePairs);
|
||||
{
|
||||
B3_PROFILE("findConcaveSeparatingAxisVertexFaceKernel");
|
||||
b3BufferInfoCL bInfo[] = {
|
||||
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
|
||||
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
|
||||
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
||||
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
|
||||
b3BufferInfoCL(m_dmins.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisVertexFaceKernel,"m_findConcaveSeparatingAxisVertexFaceKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(vertexFaceCapacity);
|
||||
launcher.setConst( numConcavePairs );
|
||||
|
||||
int num = numConcavePairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(vertexFaceCapacity);
|
||||
launcher.setConst( numConcavePairs );
|
||||
|
||||
}
|
||||
// numConcavePairs = 0;
|
||||
if (1)
|
||||
{
|
||||
B3_PROFILE("findConcaveSeparatingAxisEdgeEdgeKernel");
|
||||
b3BufferInfoCL bInfo[] = {
|
||||
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
|
||||
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
|
||||
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
||||
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
|
||||
b3BufferInfoCL(m_dmins.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisEdgeEdgeKernel,"m_findConcaveSeparatingAxisEdgeEdgeKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(vertexFaceCapacity);
|
||||
launcher.setConst( numConcavePairs );
|
||||
|
||||
int num = numConcavePairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
// numConcavePairs = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
B3_PROFILE("findConcaveSeparatingAxisKernel");
|
||||
b3BufferInfoCL bInfo[] = {
|
||||
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
|
||||
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
|
||||
b3BufferInfoCL( convexData.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
|
||||
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
||||
b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
|
||||
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
|
||||
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
|
||||
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
||||
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
|
||||
b3BufferInfoCL(worldVertsB1GPU.getBufferCL())
|
||||
};
|
||||
|
||||
int num = numConcavePairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(vertexFaceCapacity);
|
||||
launcher.setConst( numConcavePairs );
|
||||
|
||||
int num = numConcavePairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
|
||||
@@ -31,6 +31,12 @@ struct GpuSatCollision
|
||||
cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
|
||||
|
||||
cl_kernel m_findConcaveSeparatingAxisKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
|
||||
|
||||
|
||||
|
||||
|
||||
cl_kernel m_findCompoundPairsKernel;
|
||||
cl_kernel m_processCompoundPairsKernel;
|
||||
|
||||
|
||||
@@ -1381,27 +1381,21 @@ __kernel void findSeparatingAxisVertexFaceKernel( __global const int4* pairs,
|
||||
|
||||
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
||||
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
||||
|
||||
|
||||
hasSeparatingAxis[i] = 0;
|
||||
|
||||
//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;
|
||||
|
||||
@@ -1524,7 +1518,7 @@ __kernel void findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs,
|
||||
|
||||
|
||||
|
||||
int findClippingFaces(const float4 separatingNormal,
|
||||
inline int findClippingFaces(const float4 separatingNormal,
|
||||
const ConvexPolyhedronCL* hullA,
|
||||
__global const ConvexPolyhedronCL* hullB,
|
||||
const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
|
||||
@@ -1565,11 +1559,17 @@ int findClippingFaces(const float4 separatingNormal,
|
||||
|
||||
{
|
||||
const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];
|
||||
const int numVertices = polyB.m_numIndices;
|
||||
int numVertices = polyB.m_numIndices;
|
||||
if (numVertices>capacityWorldVerts)
|
||||
numVertices = capacityWorldVerts;
|
||||
|
||||
for(int e0=0;e0<numVertices;e0++)
|
||||
{
|
||||
const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
|
||||
worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
|
||||
if (e0<capacityWorldVerts)
|
||||
{
|
||||
const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
|
||||
worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1596,10 +1596,16 @@ int findClippingFaces(const float4 separatingNormal,
|
||||
}
|
||||
|
||||
int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
|
||||
if (numVerticesA>capacityWorldVerts)
|
||||
numVerticesA = capacityWorldVerts;
|
||||
|
||||
for(int e0=0;e0<numVerticesA;e0++)
|
||||
{
|
||||
const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
|
||||
worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);
|
||||
if (e0<capacityWorldVerts)
|
||||
{
|
||||
const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
|
||||
worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);
|
||||
}
|
||||
}
|
||||
|
||||
clippingFaces[pairIndex].x = closestFaceA;
|
||||
@@ -1913,3 +1919,543 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
|
||||
concavePairs[pairIdx].w = -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
// work-in-progress
|
||||
__kernel void findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,
|
||||
__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 const btGpuChildShape* gpuChildShapes,
|
||||
__global btAabbCL* aabbs,
|
||||
__global float4* concaveSeparatingNormalsOut,
|
||||
__global int* concaveHasSeparatingNormals,
|
||||
__global int4* clippingFacesOut,
|
||||
__global float4* worldVertsA1GPU,
|
||||
__global float4* worldNormalsAGPU,
|
||||
__global float4* worldVertsB1GPU,
|
||||
__global float* dmins,
|
||||
int vertexFaceCapacity,
|
||||
int numConcavePairs
|
||||
)
|
||||
{
|
||||
|
||||
int i = get_global_id(0);
|
||||
if (i>=numConcavePairs)
|
||||
return;
|
||||
|
||||
concaveHasSeparatingNormals[i] = 0;
|
||||
|
||||
int pairIdx = i;
|
||||
|
||||
int bodyIndexA = concavePairs[i].x;
|
||||
int bodyIndexB = concavePairs[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;
|
||||
|
||||
if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
|
||||
collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
||||
{
|
||||
concavePairs[pairIdx].w = -1;
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
||||
int numActualConcaveConvexTests = 0;
|
||||
|
||||
int f = concavePairs[i].z;
|
||||
|
||||
bool overlap = false;
|
||||
|
||||
ConvexPolyhedronCL convexPolyhedronA;
|
||||
|
||||
//add 3 vertices of the triangle
|
||||
convexPolyhedronA.m_numVertices = 3;
|
||||
convexPolyhedronA.m_vertexOffset = 0;
|
||||
float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
|
||||
|
||||
btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
|
||||
float4 triMinAabb, triMaxAabb;
|
||||
btAabbCL triAabb;
|
||||
triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
|
||||
triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
|
||||
|
||||
float4 verticesA[3];
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
int index = indices[face.m_indexOffset+i];
|
||||
float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
|
||||
verticesA[i] = vert;
|
||||
localCenter += vert;
|
||||
|
||||
triAabb.m_min = min(triAabb.m_min,vert);
|
||||
triAabb.m_max = max(triAabb.m_max,vert);
|
||||
|
||||
}
|
||||
|
||||
overlap = true;
|
||||
overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
|
||||
overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
|
||||
overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
|
||||
|
||||
if (overlap)
|
||||
{
|
||||
float dmin = FLT_MAX;
|
||||
int hasSeparatingAxis=5;
|
||||
float4 sepAxis=make_float4(1,2,3,4);
|
||||
|
||||
int localCC=0;
|
||||
numActualConcaveConvexTests++;
|
||||
|
||||
//a triangle has 3 unique edges
|
||||
convexPolyhedronA.m_numUniqueEdges = 3;
|
||||
convexPolyhedronA.m_uniqueEdgesOffset = 0;
|
||||
float4 uniqueEdgesA[3];
|
||||
|
||||
uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
|
||||
uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
|
||||
uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
|
||||
|
||||
|
||||
convexPolyhedronA.m_faceOffset = 0;
|
||||
|
||||
float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
|
||||
|
||||
btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
|
||||
int indicesA[3+3+2+2+2];
|
||||
int curUsedIndices=0;
|
||||
int fidx=0;
|
||||
|
||||
//front size of triangle
|
||||
{
|
||||
facesA[fidx].m_indexOffset=curUsedIndices;
|
||||
indicesA[0] = 0;
|
||||
indicesA[1] = 1;
|
||||
indicesA[2] = 2;
|
||||
curUsedIndices+=3;
|
||||
float c = face.m_plane.w;
|
||||
facesA[fidx].m_plane.x = normal.x;
|
||||
facesA[fidx].m_plane.y = normal.y;
|
||||
facesA[fidx].m_plane.z = normal.z;
|
||||
facesA[fidx].m_plane.w = c;
|
||||
facesA[fidx].m_numIndices=3;
|
||||
}
|
||||
fidx++;
|
||||
//back size of triangle
|
||||
{
|
||||
facesA[fidx].m_indexOffset=curUsedIndices;
|
||||
indicesA[3]=2;
|
||||
indicesA[4]=1;
|
||||
indicesA[5]=0;
|
||||
curUsedIndices+=3;
|
||||
float c = dot(normal,verticesA[0]);
|
||||
float c1 = -face.m_plane.w;
|
||||
facesA[fidx].m_plane.x = -normal.x;
|
||||
facesA[fidx].m_plane.y = -normal.y;
|
||||
facesA[fidx].m_plane.z = -normal.z;
|
||||
facesA[fidx].m_plane.w = c;
|
||||
facesA[fidx].m_numIndices=3;
|
||||
}
|
||||
fidx++;
|
||||
|
||||
bool addEdgePlanes = true;
|
||||
if (addEdgePlanes)
|
||||
{
|
||||
int numVertices=3;
|
||||
int prevVertex = numVertices-1;
|
||||
for (int i=0;i<numVertices;i++)
|
||||
{
|
||||
float4 v0 = verticesA[i];
|
||||
float4 v1 = verticesA[prevVertex];
|
||||
|
||||
float4 edgeNormal = normalize(cross(normal,v1-v0));
|
||||
float c = -dot(edgeNormal,v0);
|
||||
|
||||
facesA[fidx].m_numIndices = 2;
|
||||
facesA[fidx].m_indexOffset=curUsedIndices;
|
||||
indicesA[curUsedIndices++]=i;
|
||||
indicesA[curUsedIndices++]=prevVertex;
|
||||
|
||||
facesA[fidx].m_plane.x = edgeNormal.x;
|
||||
facesA[fidx].m_plane.y = edgeNormal.y;
|
||||
facesA[fidx].m_plane.z = edgeNormal.z;
|
||||
facesA[fidx].m_plane.w = c;
|
||||
fidx++;
|
||||
prevVertex = i;
|
||||
}
|
||||
}
|
||||
convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
|
||||
convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
|
||||
|
||||
|
||||
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
||||
posA.w = 0.f;
|
||||
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
||||
posB.w = 0.f;
|
||||
|
||||
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
||||
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
||||
|
||||
|
||||
|
||||
|
||||
///////////////////
|
||||
///compound shape support
|
||||
|
||||
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
||||
{
|
||||
int compoundChild = concavePairs[pairIdx].w;
|
||||
int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
|
||||
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
||||
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
||||
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
||||
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
||||
float4 newOrnB = qtMul(ornB,childOrnB);
|
||||
posB = newPosB;
|
||||
ornB = newOrnB;
|
||||
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
|
||||
}
|
||||
//////////////////
|
||||
|
||||
float4 c0local = convexPolyhedronA.m_localCenter;
|
||||
float4 c0 = transform(&c0local, &posA, &ornA);
|
||||
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
||||
float4 c1 = transform(&c1local,&posB,&ornB);
|
||||
const float4 DeltaC2 = c0 - c1;
|
||||
|
||||
|
||||
bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
|
||||
posA,ornA,
|
||||
posB,ornB,
|
||||
DeltaC2,
|
||||
verticesA,uniqueEdgesA,facesA,indicesA,
|
||||
vertices,uniqueEdges,faces,indices,
|
||||
&sepAxis,&dmin);
|
||||
hasSeparatingAxis = 4;
|
||||
if (!sepA)
|
||||
{
|
||||
hasSeparatingAxis = 0;
|
||||
} else
|
||||
{
|
||||
bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,
|
||||
posB,ornB,
|
||||
posA,ornA,
|
||||
DeltaC2,
|
||||
vertices,uniqueEdges,faces,indices,
|
||||
verticesA,uniqueEdgesA,facesA,indicesA,
|
||||
&sepAxis,&dmin);
|
||||
|
||||
if (!sepB)
|
||||
{
|
||||
hasSeparatingAxis = 0;
|
||||
} else
|
||||
{
|
||||
hasSeparatingAxis = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (hasSeparatingAxis)
|
||||
{
|
||||
dmins[i] = dmin;
|
||||
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
|
||||
concaveHasSeparatingNormals[i]=1;
|
||||
|
||||
} else
|
||||
{
|
||||
//mark this pair as in-active
|
||||
concavePairs[pairIdx].w = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//mark this pair as in-active
|
||||
concavePairs[pairIdx].w = -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
// work-in-progress
|
||||
__kernel void findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,
|
||||
__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 const btGpuChildShape* gpuChildShapes,
|
||||
__global btAabbCL* aabbs,
|
||||
__global float4* concaveSeparatingNormalsOut,
|
||||
__global int* concaveHasSeparatingNormals,
|
||||
__global int4* clippingFacesOut,
|
||||
__global float4* worldVertsA1GPU,
|
||||
__global float4* worldNormalsAGPU,
|
||||
__global float4* worldVertsB1GPU,
|
||||
__global float* dmins,
|
||||
int vertexFaceCapacity,
|
||||
int numConcavePairs
|
||||
)
|
||||
{
|
||||
|
||||
int i = get_global_id(0);
|
||||
if (i>=numConcavePairs)
|
||||
return;
|
||||
|
||||
if (!concaveHasSeparatingNormals[i])
|
||||
return;
|
||||
|
||||
int pairIdx = i;
|
||||
|
||||
int bodyIndexA = concavePairs[i].x;
|
||||
int bodyIndexB = concavePairs[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;
|
||||
int numActualConcaveConvexTests = 0;
|
||||
|
||||
int f = concavePairs[i].z;
|
||||
|
||||
bool overlap = false;
|
||||
|
||||
ConvexPolyhedronCL convexPolyhedronA;
|
||||
|
||||
//add 3 vertices of the triangle
|
||||
convexPolyhedronA.m_numVertices = 3;
|
||||
convexPolyhedronA.m_vertexOffset = 0;
|
||||
float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
|
||||
|
||||
btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
|
||||
float4 triMinAabb, triMaxAabb;
|
||||
btAabbCL triAabb;
|
||||
triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
|
||||
triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
|
||||
|
||||
float4 verticesA[3];
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
int index = indices[face.m_indexOffset+i];
|
||||
float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
|
||||
verticesA[i] = vert;
|
||||
localCenter += vert;
|
||||
|
||||
triAabb.m_min = min(triAabb.m_min,vert);
|
||||
triAabb.m_max = max(triAabb.m_max,vert);
|
||||
|
||||
}
|
||||
|
||||
overlap = true;
|
||||
overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
|
||||
overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
|
||||
overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
|
||||
|
||||
if (overlap)
|
||||
{
|
||||
float dmin = dmins[i];
|
||||
int hasSeparatingAxis=5;
|
||||
float4 sepAxis=make_float4(1,2,3,4);
|
||||
sepAxis = concaveSeparatingNormalsOut[pairIdx];
|
||||
|
||||
int localCC=0;
|
||||
numActualConcaveConvexTests++;
|
||||
|
||||
//a triangle has 3 unique edges
|
||||
convexPolyhedronA.m_numUniqueEdges = 3;
|
||||
convexPolyhedronA.m_uniqueEdgesOffset = 0;
|
||||
float4 uniqueEdgesA[3];
|
||||
|
||||
uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
|
||||
uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
|
||||
uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
|
||||
|
||||
|
||||
convexPolyhedronA.m_faceOffset = 0;
|
||||
|
||||
float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
|
||||
|
||||
btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
|
||||
int indicesA[3+3+2+2+2];
|
||||
int curUsedIndices=0;
|
||||
int fidx=0;
|
||||
|
||||
//front size of triangle
|
||||
{
|
||||
facesA[fidx].m_indexOffset=curUsedIndices;
|
||||
indicesA[0] = 0;
|
||||
indicesA[1] = 1;
|
||||
indicesA[2] = 2;
|
||||
curUsedIndices+=3;
|
||||
float c = face.m_plane.w;
|
||||
facesA[fidx].m_plane.x = normal.x;
|
||||
facesA[fidx].m_plane.y = normal.y;
|
||||
facesA[fidx].m_plane.z = normal.z;
|
||||
facesA[fidx].m_plane.w = c;
|
||||
facesA[fidx].m_numIndices=3;
|
||||
}
|
||||
fidx++;
|
||||
//back size of triangle
|
||||
{
|
||||
facesA[fidx].m_indexOffset=curUsedIndices;
|
||||
indicesA[3]=2;
|
||||
indicesA[4]=1;
|
||||
indicesA[5]=0;
|
||||
curUsedIndices+=3;
|
||||
float c = dot(normal,verticesA[0]);
|
||||
float c1 = -face.m_plane.w;
|
||||
facesA[fidx].m_plane.x = -normal.x;
|
||||
facesA[fidx].m_plane.y = -normal.y;
|
||||
facesA[fidx].m_plane.z = -normal.z;
|
||||
facesA[fidx].m_plane.w = c;
|
||||
facesA[fidx].m_numIndices=3;
|
||||
}
|
||||
fidx++;
|
||||
|
||||
bool addEdgePlanes = true;
|
||||
if (addEdgePlanes)
|
||||
{
|
||||
int numVertices=3;
|
||||
int prevVertex = numVertices-1;
|
||||
for (int i=0;i<numVertices;i++)
|
||||
{
|
||||
float4 v0 = verticesA[i];
|
||||
float4 v1 = verticesA[prevVertex];
|
||||
|
||||
float4 edgeNormal = normalize(cross(normal,v1-v0));
|
||||
float c = -dot(edgeNormal,v0);
|
||||
|
||||
facesA[fidx].m_numIndices = 2;
|
||||
facesA[fidx].m_indexOffset=curUsedIndices;
|
||||
indicesA[curUsedIndices++]=i;
|
||||
indicesA[curUsedIndices++]=prevVertex;
|
||||
|
||||
facesA[fidx].m_plane.x = edgeNormal.x;
|
||||
facesA[fidx].m_plane.y = edgeNormal.y;
|
||||
facesA[fidx].m_plane.z = edgeNormal.z;
|
||||
facesA[fidx].m_plane.w = c;
|
||||
fidx++;
|
||||
prevVertex = i;
|
||||
}
|
||||
}
|
||||
convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
|
||||
convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
|
||||
|
||||
|
||||
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
||||
posA.w = 0.f;
|
||||
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
||||
posB.w = 0.f;
|
||||
|
||||
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
||||
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
||||
|
||||
|
||||
|
||||
|
||||
///////////////////
|
||||
///compound shape support
|
||||
|
||||
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
||||
{
|
||||
int compoundChild = concavePairs[pairIdx].w;
|
||||
int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
|
||||
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
||||
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
||||
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
||||
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
||||
float4 newOrnB = qtMul(ornB,childOrnB);
|
||||
posB = newPosB;
|
||||
ornB = newOrnB;
|
||||
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
|
||||
}
|
||||
//////////////////
|
||||
|
||||
float4 c0local = convexPolyhedronA.m_localCenter;
|
||||
float4 c0 = transform(&c0local, &posA, &ornA);
|
||||
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
||||
float4 c1 = transform(&c1local,&posB,&ornB);
|
||||
const float4 DeltaC2 = c0 - c1;
|
||||
|
||||
|
||||
{
|
||||
bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
|
||||
posA,ornA,
|
||||
posB,ornB,
|
||||
DeltaC2,
|
||||
verticesA,uniqueEdgesA,facesA,indicesA,
|
||||
vertices,uniqueEdges,faces,indices,
|
||||
&sepAxis,&dmin);
|
||||
|
||||
if (!sepEE)
|
||||
{
|
||||
hasSeparatingAxis = 0;
|
||||
} else
|
||||
{
|
||||
hasSeparatingAxis = 1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (hasSeparatingAxis)
|
||||
{
|
||||
sepAxis.w = dmin;
|
||||
dmins[i] = dmin;
|
||||
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
|
||||
concaveHasSeparatingNormals[i]=1;
|
||||
|
||||
float minDist = -1e30f;
|
||||
float maxDist = 0.02f;
|
||||
|
||||
findClippingFaces(sepAxis,
|
||||
&convexPolyhedronA,
|
||||
&convexShapes[shapeIndexB],
|
||||
posA,ornA,
|
||||
posB,ornB,
|
||||
worldVertsA1GPU,
|
||||
worldNormalsAGPU,
|
||||
worldVertsB1GPU,
|
||||
vertexFaceCapacity,
|
||||
minDist, maxDist,
|
||||
verticesA,
|
||||
facesA,
|
||||
indicesA,
|
||||
vertices,
|
||||
faces,
|
||||
indices,
|
||||
clippingFacesOut, pairIdx);
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
//mark this pair as in-active
|
||||
concavePairs[pairIdx].w = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//mark this pair as in-active
|
||||
concavePairs[pairIdx].w = -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1499,26 +1499,20 @@ static const char* satKernelsCL= \
|
||||
" \n"
|
||||
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
||||
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" hasSeparatingAxis[i] = 0; \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"
|
||||
@@ -1627,7 +1621,7 @@ static const char* satKernelsCL= \
|
||||
" } //if (hasSeparatingAxis[i])\n"
|
||||
" }//(i<numPairs)\n"
|
||||
"}\n"
|
||||
"int findClippingFaces(const float4 separatingNormal,\n"
|
||||
"inline int findClippingFaces(const float4 separatingNormal,\n"
|
||||
" const ConvexPolyhedronCL* hullA, \n"
|
||||
" __global const ConvexPolyhedronCL* hullB,\n"
|
||||
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
|
||||
@@ -1668,11 +1662,17 @@ static const char* satKernelsCL= \
|
||||
" \n"
|
||||
" {\n"
|
||||
" const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const int numVertices = polyB.m_numIndices;\n"
|
||||
" int numVertices = polyB.m_numIndices;\n"
|
||||
" if (numVertices>capacityWorldVerts)\n"
|
||||
" numVertices = capacityWorldVerts;\n"
|
||||
" \n"
|
||||
" for(int e0=0;e0<numVertices;e0++)\n"
|
||||
" {\n"
|
||||
" const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
|
||||
" worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
|
||||
" if (e0<capacityWorldVerts)\n"
|
||||
" {\n"
|
||||
" const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
|
||||
" worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
@@ -1699,10 +1699,16 @@ static const char* satKernelsCL= \
|
||||
" }\n"
|
||||
" \n"
|
||||
" int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
|
||||
" if (numVerticesA>capacityWorldVerts)\n"
|
||||
" numVerticesA = capacityWorldVerts;\n"
|
||||
" \n"
|
||||
" for(int e0=0;e0<numVerticesA;e0++)\n"
|
||||
" {\n"
|
||||
" const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
|
||||
" worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
|
||||
" if (e0<capacityWorldVerts)\n"
|
||||
" {\n"
|
||||
" const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
|
||||
" worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" clippingFaces[pairIndex].x = closestFaceA;\n"
|
||||
@@ -1974,4 +1980,531 @@ static const char* satKernelsCL= \
|
||||
" concavePairs[pairIdx].w = -1;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"// work-in-progress\n"
|
||||
"__kernel void findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,\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 const btGpuChildShape* gpuChildShapes,\n"
|
||||
" __global btAabbCL* aabbs,\n"
|
||||
" __global float4* concaveSeparatingNormalsOut,\n"
|
||||
" __global int* concaveHasSeparatingNormals,\n"
|
||||
" __global int4* clippingFacesOut,\n"
|
||||
" __global float4* worldVertsA1GPU,\n"
|
||||
" __global float4* worldNormalsAGPU,\n"
|
||||
" __global float4* worldVertsB1GPU,\n"
|
||||
" __global float* dmins,\n"
|
||||
" int vertexFaceCapacity,\n"
|
||||
" int numConcavePairs\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" \n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numConcavePairs)\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" concaveHasSeparatingNormals[i] = 0;\n"
|
||||
" \n"
|
||||
" int pairIdx = i;\n"
|
||||
" \n"
|
||||
" int bodyIndexA = concavePairs[i].x;\n"
|
||||
" int bodyIndexB = concavePairs[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"
|
||||
" if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
|
||||
" collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
||||
" {\n"
|
||||
" concavePairs[pairIdx].w = -1;\n"
|
||||
" return;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
||||
" int numActualConcaveConvexTests = 0;\n"
|
||||
" \n"
|
||||
" int f = concavePairs[i].z;\n"
|
||||
" \n"
|
||||
" bool overlap = false;\n"
|
||||
" \n"
|
||||
" ConvexPolyhedronCL convexPolyhedronA;\n"
|
||||
" \n"
|
||||
" //add 3 vertices of the triangle\n"
|
||||
" convexPolyhedronA.m_numVertices = 3;\n"
|
||||
" convexPolyhedronA.m_vertexOffset = 0;\n"
|
||||
" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
|
||||
" \n"
|
||||
" btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
|
||||
" float4 triMinAabb, triMaxAabb;\n"
|
||||
" btAabbCL triAabb;\n"
|
||||
" triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
|
||||
" triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
|
||||
" \n"
|
||||
" float4 verticesA[3];\n"
|
||||
" for (int i=0;i<3;i++)\n"
|
||||
" {\n"
|
||||
" int index = indices[face.m_indexOffset+i];\n"
|
||||
" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
|
||||
" verticesA[i] = vert;\n"
|
||||
" localCenter += vert;\n"
|
||||
" \n"
|
||||
" triAabb.m_min = min(triAabb.m_min,vert);\n"
|
||||
" triAabb.m_max = max(triAabb.m_max,vert);\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" overlap = true;\n"
|
||||
" overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
|
||||
" overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
|
||||
" overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
|
||||
" \n"
|
||||
" if (overlap)\n"
|
||||
" {\n"
|
||||
" float dmin = FLT_MAX;\n"
|
||||
" int hasSeparatingAxis=5;\n"
|
||||
" float4 sepAxis=make_float4(1,2,3,4);\n"
|
||||
" \n"
|
||||
" int localCC=0;\n"
|
||||
" numActualConcaveConvexTests++;\n"
|
||||
" \n"
|
||||
" //a triangle has 3 unique edges\n"
|
||||
" convexPolyhedronA.m_numUniqueEdges = 3;\n"
|
||||
" convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
|
||||
" float4 uniqueEdgesA[3];\n"
|
||||
" \n"
|
||||
" uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
|
||||
" uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
|
||||
" uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" convexPolyhedronA.m_faceOffset = 0;\n"
|
||||
" \n"
|
||||
" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
|
||||
" \n"
|
||||
" btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
|
||||
" int indicesA[3+3+2+2+2];\n"
|
||||
" int curUsedIndices=0;\n"
|
||||
" int fidx=0;\n"
|
||||
" \n"
|
||||
" //front size of triangle\n"
|
||||
" {\n"
|
||||
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
||||
" indicesA[0] = 0;\n"
|
||||
" indicesA[1] = 1;\n"
|
||||
" indicesA[2] = 2;\n"
|
||||
" curUsedIndices+=3;\n"
|
||||
" float c = face.m_plane.w;\n"
|
||||
" facesA[fidx].m_plane.x = normal.x;\n"
|
||||
" facesA[fidx].m_plane.y = normal.y;\n"
|
||||
" facesA[fidx].m_plane.z = normal.z;\n"
|
||||
" facesA[fidx].m_plane.w = c;\n"
|
||||
" facesA[fidx].m_numIndices=3;\n"
|
||||
" }\n"
|
||||
" fidx++;\n"
|
||||
" //back size of triangle\n"
|
||||
" {\n"
|
||||
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
||||
" indicesA[3]=2;\n"
|
||||
" indicesA[4]=1;\n"
|
||||
" indicesA[5]=0;\n"
|
||||
" curUsedIndices+=3;\n"
|
||||
" float c = dot(normal,verticesA[0]);\n"
|
||||
" float c1 = -face.m_plane.w;\n"
|
||||
" facesA[fidx].m_plane.x = -normal.x;\n"
|
||||
" facesA[fidx].m_plane.y = -normal.y;\n"
|
||||
" facesA[fidx].m_plane.z = -normal.z;\n"
|
||||
" facesA[fidx].m_plane.w = c;\n"
|
||||
" facesA[fidx].m_numIndices=3;\n"
|
||||
" }\n"
|
||||
" fidx++;\n"
|
||||
" \n"
|
||||
" bool addEdgePlanes = true;\n"
|
||||
" if (addEdgePlanes)\n"
|
||||
" {\n"
|
||||
" int numVertices=3;\n"
|
||||
" int prevVertex = numVertices-1;\n"
|
||||
" for (int i=0;i<numVertices;i++)\n"
|
||||
" {\n"
|
||||
" float4 v0 = verticesA[i];\n"
|
||||
" float4 v1 = verticesA[prevVertex];\n"
|
||||
" \n"
|
||||
" float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
|
||||
" float c = -dot(edgeNormal,v0);\n"
|
||||
" \n"
|
||||
" facesA[fidx].m_numIndices = 2;\n"
|
||||
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
||||
" indicesA[curUsedIndices++]=i;\n"
|
||||
" indicesA[curUsedIndices++]=prevVertex;\n"
|
||||
" \n"
|
||||
" facesA[fidx].m_plane.x = edgeNormal.x;\n"
|
||||
" facesA[fidx].m_plane.y = edgeNormal.y;\n"
|
||||
" facesA[fidx].m_plane.z = edgeNormal.z;\n"
|
||||
" facesA[fidx].m_plane.w = c;\n"
|
||||
" fidx++;\n"
|
||||
" prevVertex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
|
||||
" convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
|
||||
" \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"
|
||||
" \n"
|
||||
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
||||
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" ///////////////////\n"
|
||||
" ///compound shape support\n"
|
||||
" \n"
|
||||
" if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
||||
" {\n"
|
||||
" int compoundChild = concavePairs[pairIdx].w;\n"
|
||||
" int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
|
||||
" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
||||
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
||||
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
||||
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
|
||||
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
||||
" posB = newPosB;\n"
|
||||
" ornB = newOrnB;\n"
|
||||
" shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
|
||||
" }\n"
|
||||
" //////////////////\n"
|
||||
" \n"
|
||||
" float4 c0local = convexPolyhedronA.m_localCenter;\n"
|
||||
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
||||
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
||||
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
||||
" const float4 DeltaC2 = c0 - c1;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],\n"
|
||||
" posA,ornA,\n"
|
||||
" posB,ornB,\n"
|
||||
" DeltaC2,\n"
|
||||
" verticesA,uniqueEdgesA,facesA,indicesA,\n"
|
||||
" vertices,uniqueEdges,faces,indices,\n"
|
||||
" &sepAxis,&dmin);\n"
|
||||
" hasSeparatingAxis = 4;\n"
|
||||
" if (!sepA)\n"
|
||||
" {\n"
|
||||
" hasSeparatingAxis = 0;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,\n"
|
||||
" posB,ornB,\n"
|
||||
" posA,ornA,\n"
|
||||
" DeltaC2,\n"
|
||||
" vertices,uniqueEdges,faces,indices,\n"
|
||||
" verticesA,uniqueEdgesA,facesA,indicesA,\n"
|
||||
" &sepAxis,&dmin);\n"
|
||||
" \n"
|
||||
" if (!sepB)\n"
|
||||
" {\n"
|
||||
" hasSeparatingAxis = 0;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" hasSeparatingAxis = 1;\n"
|
||||
" }\n"
|
||||
" } \n"
|
||||
" \n"
|
||||
" if (hasSeparatingAxis)\n"
|
||||
" {\n"
|
||||
" dmins[i] = dmin;\n"
|
||||
" concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
|
||||
" concaveHasSeparatingNormals[i]=1;\n"
|
||||
" \n"
|
||||
" } else\n"
|
||||
" { \n"
|
||||
" //mark this pair as in-active\n"
|
||||
" concavePairs[pairIdx].w = -1;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" { \n"
|
||||
" //mark this pair as in-active\n"
|
||||
" concavePairs[pairIdx].w = -1;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"// work-in-progress\n"
|
||||
"__kernel void findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,\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 const btGpuChildShape* gpuChildShapes,\n"
|
||||
" __global btAabbCL* aabbs,\n"
|
||||
" __global float4* concaveSeparatingNormalsOut,\n"
|
||||
" __global int* concaveHasSeparatingNormals,\n"
|
||||
" __global int4* clippingFacesOut,\n"
|
||||
" __global float4* worldVertsA1GPU,\n"
|
||||
" __global float4* worldNormalsAGPU,\n"
|
||||
" __global float4* worldVertsB1GPU,\n"
|
||||
" __global float* dmins,\n"
|
||||
" int vertexFaceCapacity,\n"
|
||||
" int numConcavePairs\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" \n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numConcavePairs)\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" if (!concaveHasSeparatingNormals[i])\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" int pairIdx = i;\n"
|
||||
" \n"
|
||||
" int bodyIndexA = concavePairs[i].x;\n"
|
||||
" int bodyIndexB = concavePairs[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"
|
||||
" int numActualConcaveConvexTests = 0;\n"
|
||||
" \n"
|
||||
" int f = concavePairs[i].z;\n"
|
||||
" \n"
|
||||
" bool overlap = false;\n"
|
||||
" \n"
|
||||
" ConvexPolyhedronCL convexPolyhedronA;\n"
|
||||
" \n"
|
||||
" //add 3 vertices of the triangle\n"
|
||||
" convexPolyhedronA.m_numVertices = 3;\n"
|
||||
" convexPolyhedronA.m_vertexOffset = 0;\n"
|
||||
" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
|
||||
" \n"
|
||||
" btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
|
||||
" float4 triMinAabb, triMaxAabb;\n"
|
||||
" btAabbCL triAabb;\n"
|
||||
" triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
|
||||
" triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
|
||||
" \n"
|
||||
" float4 verticesA[3];\n"
|
||||
" for (int i=0;i<3;i++)\n"
|
||||
" {\n"
|
||||
" int index = indices[face.m_indexOffset+i];\n"
|
||||
" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
|
||||
" verticesA[i] = vert;\n"
|
||||
" localCenter += vert;\n"
|
||||
" \n"
|
||||
" triAabb.m_min = min(triAabb.m_min,vert);\n"
|
||||
" triAabb.m_max = max(triAabb.m_max,vert);\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" overlap = true;\n"
|
||||
" overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
|
||||
" overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
|
||||
" overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
|
||||
" \n"
|
||||
" if (overlap)\n"
|
||||
" {\n"
|
||||
" float dmin = dmins[i];\n"
|
||||
" int hasSeparatingAxis=5;\n"
|
||||
" float4 sepAxis=make_float4(1,2,3,4);\n"
|
||||
" sepAxis = concaveSeparatingNormalsOut[pairIdx];\n"
|
||||
" \n"
|
||||
" int localCC=0;\n"
|
||||
" numActualConcaveConvexTests++;\n"
|
||||
" \n"
|
||||
" //a triangle has 3 unique edges\n"
|
||||
" convexPolyhedronA.m_numUniqueEdges = 3;\n"
|
||||
" convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
|
||||
" float4 uniqueEdgesA[3];\n"
|
||||
" \n"
|
||||
" uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
|
||||
" uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
|
||||
" uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" convexPolyhedronA.m_faceOffset = 0;\n"
|
||||
" \n"
|
||||
" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
|
||||
" \n"
|
||||
" btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
|
||||
" int indicesA[3+3+2+2+2];\n"
|
||||
" int curUsedIndices=0;\n"
|
||||
" int fidx=0;\n"
|
||||
" \n"
|
||||
" //front size of triangle\n"
|
||||
" {\n"
|
||||
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
||||
" indicesA[0] = 0;\n"
|
||||
" indicesA[1] = 1;\n"
|
||||
" indicesA[2] = 2;\n"
|
||||
" curUsedIndices+=3;\n"
|
||||
" float c = face.m_plane.w;\n"
|
||||
" facesA[fidx].m_plane.x = normal.x;\n"
|
||||
" facesA[fidx].m_plane.y = normal.y;\n"
|
||||
" facesA[fidx].m_plane.z = normal.z;\n"
|
||||
" facesA[fidx].m_plane.w = c;\n"
|
||||
" facesA[fidx].m_numIndices=3;\n"
|
||||
" }\n"
|
||||
" fidx++;\n"
|
||||
" //back size of triangle\n"
|
||||
" {\n"
|
||||
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
||||
" indicesA[3]=2;\n"
|
||||
" indicesA[4]=1;\n"
|
||||
" indicesA[5]=0;\n"
|
||||
" curUsedIndices+=3;\n"
|
||||
" float c = dot(normal,verticesA[0]);\n"
|
||||
" float c1 = -face.m_plane.w;\n"
|
||||
" facesA[fidx].m_plane.x = -normal.x;\n"
|
||||
" facesA[fidx].m_plane.y = -normal.y;\n"
|
||||
" facesA[fidx].m_plane.z = -normal.z;\n"
|
||||
" facesA[fidx].m_plane.w = c;\n"
|
||||
" facesA[fidx].m_numIndices=3;\n"
|
||||
" }\n"
|
||||
" fidx++;\n"
|
||||
" \n"
|
||||
" bool addEdgePlanes = true;\n"
|
||||
" if (addEdgePlanes)\n"
|
||||
" {\n"
|
||||
" int numVertices=3;\n"
|
||||
" int prevVertex = numVertices-1;\n"
|
||||
" for (int i=0;i<numVertices;i++)\n"
|
||||
" {\n"
|
||||
" float4 v0 = verticesA[i];\n"
|
||||
" float4 v1 = verticesA[prevVertex];\n"
|
||||
" \n"
|
||||
" float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
|
||||
" float c = -dot(edgeNormal,v0);\n"
|
||||
" \n"
|
||||
" facesA[fidx].m_numIndices = 2;\n"
|
||||
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
||||
" indicesA[curUsedIndices++]=i;\n"
|
||||
" indicesA[curUsedIndices++]=prevVertex;\n"
|
||||
" \n"
|
||||
" facesA[fidx].m_plane.x = edgeNormal.x;\n"
|
||||
" facesA[fidx].m_plane.y = edgeNormal.y;\n"
|
||||
" facesA[fidx].m_plane.z = edgeNormal.z;\n"
|
||||
" facesA[fidx].m_plane.w = c;\n"
|
||||
" fidx++;\n"
|
||||
" prevVertex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
|
||||
" convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
|
||||
" \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"
|
||||
" \n"
|
||||
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
||||
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" ///////////////////\n"
|
||||
" ///compound shape support\n"
|
||||
" \n"
|
||||
" if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
||||
" {\n"
|
||||
" int compoundChild = concavePairs[pairIdx].w;\n"
|
||||
" int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
|
||||
" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
||||
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
||||
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
||||
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
|
||||
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
||||
" posB = newPosB;\n"
|
||||
" ornB = newOrnB;\n"
|
||||
" shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
|
||||
" }\n"
|
||||
" //////////////////\n"
|
||||
" \n"
|
||||
" float4 c0local = convexPolyhedronA.m_localCenter;\n"
|
||||
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
||||
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
||||
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
||||
" const float4 DeltaC2 = c0 - c1;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" {\n"
|
||||
" bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],\n"
|
||||
" posA,ornA,\n"
|
||||
" posB,ornB,\n"
|
||||
" DeltaC2,\n"
|
||||
" verticesA,uniqueEdgesA,facesA,indicesA,\n"
|
||||
" vertices,uniqueEdges,faces,indices,\n"
|
||||
" &sepAxis,&dmin);\n"
|
||||
" \n"
|
||||
" if (!sepEE)\n"
|
||||
" {\n"
|
||||
" hasSeparatingAxis = 0;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" hasSeparatingAxis = 1;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" if (hasSeparatingAxis)\n"
|
||||
" {\n"
|
||||
" sepAxis.w = dmin;\n"
|
||||
" dmins[i] = dmin;\n"
|
||||
" concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
|
||||
" concaveHasSeparatingNormals[i]=1;\n"
|
||||
" \n"
|
||||
" float minDist = -1e30f;\n"
|
||||
" float maxDist = 0.02f;\n"
|
||||
" findClippingFaces(sepAxis,\n"
|
||||
" &convexPolyhedronA,\n"
|
||||
" &convexShapes[shapeIndexB],\n"
|
||||
" posA,ornA,\n"
|
||||
" posB,ornB,\n"
|
||||
" worldVertsA1GPU,\n"
|
||||
" worldNormalsAGPU,\n"
|
||||
" worldVertsB1GPU,\n"
|
||||
" vertexFaceCapacity,\n"
|
||||
" minDist, maxDist,\n"
|
||||
" verticesA,\n"
|
||||
" facesA,\n"
|
||||
" indicesA,\n"
|
||||
" vertices,\n"
|
||||
" faces,\n"
|
||||
" indices,\n"
|
||||
" clippingFacesOut, pairIdx);\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" } else\n"
|
||||
" { \n"
|
||||
" //mark this pair as in-active\n"
|
||||
" concavePairs[pairIdx].w = -1;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" { \n"
|
||||
" //mark this pair as in-active\n"
|
||||
" concavePairs[pairIdx].w = -1;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
;
|
||||
|
||||
Reference in New Issue
Block a user