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add support for BVH acceleration for concave trianglemesh collision against convex hulls

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bugfix/improvement in batching
This commit is contained in:
erwin coumans
2013-03-20 23:37:34 -07:00
parent 9a693fb850
commit b4f9416cdf
20 changed files with 760 additions and 690 deletions
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36
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
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@@ -63,6 +63,10 @@ struct btGpuNarrowPhaseInternalData
btAlignedObjectArray<btSapAabb>* m_localShapeAABBCPU;
btAlignedObjectArray<class btOptimizedBvh*> m_bvhData;
btOpenCLArray<btQuantizedBvhNode>* m_treeNodesGPU;
btOpenCLArray<btBvhSubtreeInfo>* m_subTreesGPU;
btConfig m_config;
};
@@ -137,6 +141,10 @@ m_queue(queue)
m_data->m_numAcceleratedShapes = 0;
m_data->m_numAcceleratedRigidBodies = 0;
m_data->m_treeNodesGPU = 0;
m_data->m_subTreesGPU = 0;
//m_data->m_contactCGPU = new btOpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_frictionCGPU = new btOpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
@@ -170,6 +178,8 @@ btGpuNarrowPhase::~btGpuNarrowPhase()
delete m_data->m_worldVertsA1GPU;
delete m_data->m_worldVertsB2GPU;
delete m_data->m_treeNodesGPU;
delete m_data->m_subTreesGPU;
delete m_data->m_convexData;
delete m_data;
@@ -328,6 +338,15 @@ int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* utilPtr)
int btGpuNarrowPhase::registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling1)
{
//right now we only support one single mesh, it is on the todo to merge all mesh data etc
btAssert(m_data->m_treeNodesGPU ==0);
btAssert(m_data->m_subTreesGPU ==0);
if (m_data->m_treeNodesGPU)
{
printf("error, only 1 single concave mesh supported at the moment\n");
exit (0);
}
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
@@ -377,6 +396,17 @@ int btGpuNarrowPhase::registerConcaveMesh(btAlignedObjectArray<btVector3>* vert
meshInterface->addIndexedMesh(mesh);
bvh->build(meshInterface, useQuantizedAabbCompression, (btVector3&)aabb.m_min, (btVector3&)aabb.m_max);
m_data->m_bvhData.push_back(bvh);
int numNodes = bvh->getQuantizedNodeArray().size();
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU = new btOpenCLArray<btQuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
treeNodesGPU->copyFromHost(bvh->getQuantizedNodeArray());
int numSubTrees = bvh->getSubtreeInfoArray().size();
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU = new btOpenCLArray<btBvhSubtreeInfo>(this->m_context,this->m_queue,numSubTrees);
subTreesGPU->copyFromHost(bvh->getSubtreeInfoArray());
m_data->m_treeNodesGPU = treeNodesGPU;
m_data->m_subTreesGPU = subTreesGPU;
return collidableIndex;
}
@@ -412,7 +442,7 @@ int btGpuNarrowPhase::registerConcaveMeshShape(btAlignedObjectArray<btVector3>*
{
if (i%256==0)
{
printf("i=%d out of %d", i,convex.m_numFaces);
//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);
@@ -524,7 +554,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
{
int nContactOut = 0;
int maxTriConvexPairCapacity = 8192;
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
btOpenCLArray<btInt4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
int numTriConvexPairsOut=0;
@@ -552,6 +582,8 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
*m_data->m_worldVertsA1GPU,
*m_data->m_worldVertsB2GPU,
m_data->m_bvhData,
m_data->m_treeNodesGPU,
m_data->m_subTreesGPU,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,