add support for BVH acceleration for concave trianglemesh collision against convex hulls
bugfix/improvement in batching
This commit is contained in:
erwin coumans
@@ -939,11 +939,7 @@ __kernel void findSeparatingAxisKernel( __global const int2* pairs,
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__global btAabbCL* aabbs,
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__global volatile float4* separatingNormals,
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__global volatile int* hasSeparatingAxis,
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__global int4* concavePairsOut,
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__global float4* concaveSeparatingNormalsOut,
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__global volatile int* numConcavePairsOut,
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int numPairs,
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int maxNumConcavePairsCapacity
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int numPairs
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)
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{
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@@ -970,230 +966,6 @@ __kernel void findSeparatingAxisKernel( __global const int2* pairs,
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return;
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}
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if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))// && (collidables[collidableIndexB].m_shapeType==SHAPE_CONVEX_HULL))
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{
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int numFacesA = convexShapes[shapeIndexA].m_numFaces;
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int numActualConcaveConvexTests = 0;
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for (int f=0;f<numFacesA;f++)
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{
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bool overlap = false;
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ConvexPolyhedronCL convexPolyhedronA;
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//add 3 vertices of the triangle
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convexPolyhedronA.m_numVertices = 3;
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convexPolyhedronA.m_vertexOffset = 0;
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float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
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btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
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float4 triMinAabb, triMaxAabb;
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btAabbCL triAabb;
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triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
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triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
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float4 verticesA[3];
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for (int i=0;i<3;i++)
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{
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int index = indices[face.m_indexOffset+i];
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float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
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verticesA[i] = vert;
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localCenter += vert;
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#if 0
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//just in case some implementation doesn't support component-wise min and max for float4
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if (triAabb.m_min.x > vert.x)
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triAabb.m_min.x = vert.x;
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if (triAabb.m_min.y > vert.y)
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triAabb.m_min.y = vert.y;
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if (triAabb.m_min.z > vert.z)
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triAabb.m_min.z = vert.z;
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if (triAabb.m_max.x < vert.x)
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triAabb.m_max.x = vert.x;
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if (triAabb.m_max.y < vert.y)
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triAabb.m_max.y = vert.y;
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if (triAabb.m_max.z < vert.z)
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triAabb.m_max.z = vert.z;
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#else
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triAabb.m_min = min(triAabb.m_min,vert);
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triAabb.m_max = max(triAabb.m_max,vert);
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#endif
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}
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overlap = true;
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overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
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overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
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overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
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if (overlap)
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{
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float dmin = FLT_MAX;
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int hasSeparatingAxis=5;
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float4 sepAxis=make_float4(1,2,3,4);
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#if 1
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int localCC=0;
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numActualConcaveConvexTests++;
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//a triangle has 3 unique edges
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convexPolyhedronA.m_numUniqueEdges = 3;
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convexPolyhedronA.m_uniqueEdgesOffset = 0;
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float4 uniqueEdgesA[3];
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uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
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uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
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uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
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convexPolyhedronA.m_faceOffset = 0;
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float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
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btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
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int indicesA[3+3+2+2+2];
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int curUsedIndices=0;
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int fidx=0;
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//front size of triangle
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{
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facesA[fidx].m_indexOffset=curUsedIndices;
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indicesA[0] = 0;
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indicesA[1] = 1;
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indicesA[2] = 2;
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curUsedIndices+=3;
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float c = face.m_plane.w;
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facesA[fidx].m_plane.x = normal.x;
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facesA[fidx].m_plane.y = normal.y;
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facesA[fidx].m_plane.z = normal.z;
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facesA[fidx].m_plane.w = c;
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facesA[fidx].m_numIndices=3;
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}
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fidx++;
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//back size of triangle
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{
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facesA[fidx].m_indexOffset=curUsedIndices;
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indicesA[3]=2;
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indicesA[4]=1;
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indicesA[5]=0;
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curUsedIndices+=3;
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float c = dot(normal,verticesA[0]);
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float c1 = -face.m_plane.w;
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facesA[fidx].m_plane.x = -normal.x;
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facesA[fidx].m_plane.y = -normal.y;
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facesA[fidx].m_plane.z = -normal.z;
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facesA[fidx].m_plane.w = c;
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facesA[fidx].m_numIndices=3;
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}
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fidx++;
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bool addEdgePlanes = true;
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if (addEdgePlanes)
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{
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int numVertices=3;
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int prevVertex = numVertices-1;
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for (int i=0;i<numVertices;i++)
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{
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float4 v0 = verticesA[i];
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float4 v1 = verticesA[prevVertex];
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float4 edgeNormal = normalize(cross(normal,v1-v0));
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float c = -dot(edgeNormal,v0);
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facesA[fidx].m_numIndices = 2;
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facesA[fidx].m_indexOffset=curUsedIndices;
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indicesA[curUsedIndices++]=i;
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indicesA[curUsedIndices++]=prevVertex;
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facesA[fidx].m_plane.x = edgeNormal.x;
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facesA[fidx].m_plane.y = edgeNormal.y;
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facesA[fidx].m_plane.z = edgeNormal.z;
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facesA[fidx].m_plane.w = c;
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fidx++;
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prevVertex = i;
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}
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}
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convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
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convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
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float4 posA = rigidBodies[bodyIndexA].m_pos;
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posA.w = 0.f;
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float4 posB = rigidBodies[bodyIndexB].m_pos;
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posB.w = 0.f;
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float4 c0local = convexPolyhedronA.m_localCenter;
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float4 ornA = rigidBodies[bodyIndexA].m_quat;
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float4 c0 = transform(&c0local, &posA, &ornA);
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float4 c1local = convexShapes[shapeIndexB].m_localCenter;
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float4 ornB =rigidBodies[bodyIndexB].m_quat;
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float4 c1 = transform(&c1local,&posB,&ornB);
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const float4 DeltaC2 = c0 - c1;
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bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
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rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
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DeltaC2,
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verticesA,uniqueEdgesA,facesA,indicesA,
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vertices,uniqueEdges,faces,indices,
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&sepAxis,&dmin);
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hasSeparatingAxis = 4;
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if (!sepA)
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{
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hasSeparatingAxis = 0;
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} else
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{
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bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
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rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
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DeltaC2,
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vertices,uniqueEdges,faces,indices,
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verticesA,uniqueEdgesA,facesA,indicesA,
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&sepAxis,&dmin);
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if (!sepB)
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{
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hasSeparatingAxis = 0;
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} else
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{
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bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
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rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
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DeltaC2,
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verticesA,uniqueEdgesA,facesA,indicesA,
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vertices,uniqueEdges,faces,indices,
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&sepAxis,&dmin);
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if (!sepEE)
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{
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hasSeparatingAxis = 0;
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} else
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{
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hasSeparatingAxis = 1;
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}
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}
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}
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#endif
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if (hasSeparatingAxis)
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{
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int pairIdx = atomic_inc(numConcavePairsOut);
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if (pairIdx<maxNumConcavePairsCapacity)
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{
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concavePairsOut[pairIdx].x = bodyIndexA;
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concavePairsOut[pairIdx].y = bodyIndexB;
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concavePairsOut[pairIdx].z = f;
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concavePairsOut[pairIdx].w = 3;
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sepAxis.w = dmin;
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concaveSeparatingNormalsOut[pairIdx]=sepAxis;
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}
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}
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}
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}
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//todo//??
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hasSeparatingAxis[i] = 0;
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return;
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}
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if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
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{
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@@ -1201,10 +973,12 @@ __kernel void findSeparatingAxisKernel( __global const int2* pairs,
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return;
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}
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if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))
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{
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hasSeparatingAxis[i] = 0;
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return;
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}
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int numFacesA = convexShapes[shapeIndexA].m_numFaces;
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float dmin = FLT_MAX;
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@@ -1262,4 +1036,237 @@ __kernel void findSeparatingAxisKernel( __global const int2* pairs,
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}
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}
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}
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// work-in-progress
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__kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
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__global const BodyData* rigidBodies,
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__global const btCollidableGpu* collidables,
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__global const ConvexPolyhedronCL* convexShapes,
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__global const float4* vertices,
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__global const float4* uniqueEdges,
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__global const btGpuFace* faces,
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__global const int* indices,
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__global btAabbCL* aabbs,
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__global volatile float4* separatingNormals,
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__global volatile int* hasSeparatingAxis,
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__global float4* concaveSeparatingNormalsOut,
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int numConcavePairs
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)
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{
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int i = get_global_id(0);
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if (i>=numConcavePairs)
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return;
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int pairIdx = i;
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int bodyIndexA = concavePairs[i].x;
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int bodyIndexB = concavePairs[i].y;
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int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
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int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
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int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
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int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
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int numFacesA = convexShapes[shapeIndexA].m_numFaces;
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int numActualConcaveConvexTests = 0;
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int f = concavePairs[i].z;
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bool overlap = false;
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ConvexPolyhedronCL convexPolyhedronA;
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//add 3 vertices of the triangle
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convexPolyhedronA.m_numVertices = 3;
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convexPolyhedronA.m_vertexOffset = 0;
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float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
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btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
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float4 triMinAabb, triMaxAabb;
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btAabbCL triAabb;
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triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
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triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
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float4 verticesA[3];
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for (int i=0;i<3;i++)
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{
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int index = indices[face.m_indexOffset+i];
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float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
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verticesA[i] = vert;
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localCenter += vert;
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triAabb.m_min = min(triAabb.m_min,vert);
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triAabb.m_max = max(triAabb.m_max,vert);
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}
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overlap = true;
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overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
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overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
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overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
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if (overlap)
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{
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float dmin = FLT_MAX;
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int hasSeparatingAxis=5;
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float4 sepAxis=make_float4(1,2,3,4);
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int localCC=0;
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numActualConcaveConvexTests++;
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//a triangle has 3 unique edges
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convexPolyhedronA.m_numUniqueEdges = 3;
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convexPolyhedronA.m_uniqueEdgesOffset = 0;
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float4 uniqueEdgesA[3];
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uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
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uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
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uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
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convexPolyhedronA.m_faceOffset = 0;
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float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
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btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
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int indicesA[3+3+2+2+2];
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int curUsedIndices=0;
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int fidx=0;
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//front size of triangle
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{
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facesA[fidx].m_indexOffset=curUsedIndices;
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indicesA[0] = 0;
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indicesA[1] = 1;
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indicesA[2] = 2;
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curUsedIndices+=3;
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float c = face.m_plane.w;
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facesA[fidx].m_plane.x = normal.x;
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facesA[fidx].m_plane.y = normal.y;
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facesA[fidx].m_plane.z = normal.z;
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facesA[fidx].m_plane.w = c;
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facesA[fidx].m_numIndices=3;
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}
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fidx++;
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//back size of triangle
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{
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facesA[fidx].m_indexOffset=curUsedIndices;
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indicesA[3]=2;
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indicesA[4]=1;
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indicesA[5]=0;
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curUsedIndices+=3;
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float c = dot(normal,verticesA[0]);
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float c1 = -face.m_plane.w;
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facesA[fidx].m_plane.x = -normal.x;
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facesA[fidx].m_plane.y = -normal.y;
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facesA[fidx].m_plane.z = -normal.z;
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facesA[fidx].m_plane.w = c;
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facesA[fidx].m_numIndices=3;
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}
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fidx++;
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bool addEdgePlanes = true;
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if (addEdgePlanes)
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{
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int numVertices=3;
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int prevVertex = numVertices-1;
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for (int i=0;i<numVertices;i++)
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{
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float4 v0 = verticesA[i];
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float4 v1 = verticesA[prevVertex];
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float4 edgeNormal = normalize(cross(normal,v1-v0));
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float c = -dot(edgeNormal,v0);
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facesA[fidx].m_numIndices = 2;
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facesA[fidx].m_indexOffset=curUsedIndices;
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indicesA[curUsedIndices++]=i;
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indicesA[curUsedIndices++]=prevVertex;
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facesA[fidx].m_plane.x = edgeNormal.x;
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facesA[fidx].m_plane.y = edgeNormal.y;
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facesA[fidx].m_plane.z = edgeNormal.z;
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facesA[fidx].m_plane.w = c;
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fidx++;
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prevVertex = i;
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}
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}
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convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
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convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
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float4 posA = rigidBodies[bodyIndexA].m_pos;
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posA.w = 0.f;
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float4 posB = rigidBodies[bodyIndexB].m_pos;
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posB.w = 0.f;
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float4 c0local = convexPolyhedronA.m_localCenter;
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float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
||||
float4 c0 = transform(&c0local, &posA, &ornA);
|
||||
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
||||
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
||||
float4 c1 = transform(&c1local,&posB,&ornB);
|
||||
const float4 DeltaC2 = c0 - c1;
|
||||
|
||||
bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
||||
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
||||
DeltaC2,
|
||||
verticesA,uniqueEdgesA,facesA,indicesA,
|
||||
vertices,uniqueEdges,faces,indices,
|
||||
&sepAxis,&dmin);
|
||||
hasSeparatingAxis = 4;
|
||||
if (!sepA)
|
||||
{
|
||||
hasSeparatingAxis = 0;
|
||||
} else
|
||||
{
|
||||
bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
||||
rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
||||
DeltaC2,
|
||||
vertices,uniqueEdges,faces,indices,
|
||||
verticesA,uniqueEdgesA,facesA,indicesA,
|
||||
&sepAxis,&dmin);
|
||||
|
||||
if (!sepB)
|
||||
{
|
||||
hasSeparatingAxis = 0;
|
||||
} else
|
||||
{
|
||||
bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
||||
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
||||
DeltaC2,
|
||||
verticesA,uniqueEdgesA,facesA,indicesA,
|
||||
vertices,uniqueEdges,faces,indices,
|
||||
&sepAxis,&dmin);
|
||||
|
||||
if (!sepEE)
|
||||
{
|
||||
hasSeparatingAxis = 0;
|
||||
} else
|
||||
{
|
||||
hasSeparatingAxis = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (hasSeparatingAxis)
|
||||
{
|
||||
sepAxis.w = dmin;
|
||||
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
|
||||
} else
|
||||
{
|
||||
//mark this pair as in-active
|
||||
concavePairs[pairIdx].w = 0;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//mark this pair as in-active
|
||||
concavePairs[pairIdx].w = 0;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user