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step closer to GPU bvh traversal

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This commit is contained in:
erwin coumans
2013-03-19 20:06:24 -07:00
parent a3358b1099
commit 8bfbaf3ed1
26 changed files with 3639 additions and 98 deletions
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138
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
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@@ -7,6 +7,8 @@
#include "../../gpu_broadphase/host/btSapAabb.h"
#include <string.h>
#include "btConfig.h"
#include "../../gpu_sat/host/btOptimizedBvh.h"
#include "../../gpu_sat/host/btTriangleIndexVertexArray.h"
struct btGpuNarrowPhaseInternalData
{
@@ -60,6 +62,7 @@ struct btGpuNarrowPhaseInternalData
btOpenCLArray<btSapAabb>* m_localShapeAABBGPU;
btAlignedObjectArray<btSapAabb>* m_localShapeAABBCPU;
btAlignedObjectArray<class btOptimizedBvh*> m_bvhData;
btConfig m_config;
};
@@ -323,8 +326,137 @@ int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* utilPtr)
}
int btGpuNarrowPhase::registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling1)
{
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
btCollidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
col.m_shapeIndex = registerConcaveMeshShape(vertices,indices,col,scaling);
btSapAabb aabb;
btVector3 myAabbMin(1e30f,1e30f,1e30f);
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
for (int i=0;i<vertices->size();i++)
{
btVector3 vtx(vertices->at(i)*scaling);
myAabbMin.setMin(vtx);
myAabbMax.setMax(vtx);
}
aabb.m_min[0] = myAabbMin[0];
aabb.m_min[1] = myAabbMin[1];
aabb.m_min[2] = myAabbMin[2];
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];
aabb.m_max[1]= myAabbMax[1];
aabb.m_max[2]= myAabbMax[2];
aabb.m_signedMaxIndices[3]= 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
m_data->m_localShapeAABBGPU->push_back(aabb);
btOptimizedBvh* bvh = new btOptimizedBvh();
//void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
bool useQuantizedAabbCompression = true;
btTriangleIndexVertexArray* meshInterface=new btTriangleIndexVertexArray();
btIndexedMesh mesh;
mesh.m_numTriangles = indices->size()/3;
mesh.m_numVertices = vertices->size();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).getX();
mesh.m_vertexStride = sizeof(btVector3);
mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
meshInterface->addIndexedMesh(mesh);
bvh->build(meshInterface, useQuantizedAabbCompression, (btVector3&)aabb.m_min, (btVector3&)aabb.m_max);
m_data->m_bvhData.push_back(bvh);
return collidableIndex;
}
int btGpuNarrowPhase::registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,btCollidable& col, const float* scaling1)
{
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
btConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = btVector3(0,0,0);
convex.mE = btVector3(0,0,0);
convex.m_extents= btVector3(0,0,0);
convex.m_localCenter = btVector3(0,0,0);
convex.m_radius = 0.f;
convex.m_numUniqueEdges = 0;
int edgeOffset = m_data->m_uniqueEdges.size();
convex.m_uniqueEdgesOffset = edgeOffset;
int faceOffset = m_data->m_convexFaces.size();
convex.m_faceOffset = faceOffset;
convex.m_numFaces = indices->size()/3;
m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
m_data->m_convexIndices.reserve(convex.m_numFaces*3);
for (int i=0;i<convex.m_numFaces;i++)
{
if (i%256==0)
{
printf("i=%d out of %d", i,convex.m_numFaces);
}
btVector3 vert0(vertices->at(indices->at(i*3))*scaling);
btVector3 vert1(vertices->at(indices->at(i*3+1))*scaling);
btVector3 vert2(vertices->at(indices->at(i*3+2))*scaling);
btVector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
btScalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.x();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.y();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.z();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
m_data->m_convexIndices.resize(indexOffset+numIndices);
for (int p=0;p<numIndices;p++)
{
int vi = indices->at(i*3+p);
m_data->m_convexIndices[indexOffset+p] = vi;//convexPtr->m_faces[i].m_indices[p];
}
}
convex.m_numVertices = vertices->size();
int vertexOffset = m_data->m_convexVertices.size();
convex.m_vertexOffset =vertexOffset;
m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
for (int i=0;i<vertices->size();i++)
{
m_data->m_convexVertices[vertexOffset+i] = vertices->at(i)*scaling;
}
(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0;
m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges);
m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices);
m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices);
return m_data->m_numAcceleratedShapes++;
}
@@ -388,7 +520,7 @@ cl_mem btGpuNarrowPhase::getContactsGpu()
}
void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbs, int numObjects)
void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWS, int numObjects)
{
int nContactOut = 0;
@@ -399,7 +531,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
btOpenCLArray<btInt2> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
btOpenCLArray<btYetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
clAabbArray.setFromOpenCLBuffer(aabbs,numObjects);
clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
&broadphasePairsGPU, numBroadphasePairs,
@@ -419,7 +551,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
*m_data->m_worldNormalsAGPU,
*m_data->m_worldVertsA1GPU,
*m_data->m_worldVertsB2GPU,
m_data->m_bvhData,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,