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fix many warnings

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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
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83
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -105,21 +105,29 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
:m_context(ctx),
m_device(device),
m_queue(q),
m_findSeparatingAxisKernel(0),
m_findSeparatingAxisVertexFaceKernel(0),
m_findSeparatingAxisEdgeEdgeKernel(0),
m_unitSphereDirections(m_context,m_queue),
m_totalContactsOut(m_context, m_queue),
m_sepNormals(m_context, m_queue),
m_dmins(m_context,m_queue),
m_hasSeparatingNormals(m_context, m_queue),
m_concaveSepNormals(m_context, m_queue),
m_concaveHasSeparatingNormals(m_context,m_queue),
m_numConcavePairsOut(m_context, m_queue),
m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue),
m_dmins(m_context,m_queue),
m_unitSphereDirections(m_context,m_queue)
m_numCompoundPairsOut(m_context, m_queue)
{
m_totalContactsOut.push_back(0);
@@ -553,7 +561,7 @@ inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, cons
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
//b3Assert(dp==dpL);
if(dp < min) min = dp;
@@ -764,7 +772,7 @@ bool findSeparatingAxisEdgeEdge( __global const b3ConvexPolyhedronData* hullA, _
float4 posB = posB1;
posB.w = 0.f;
int curPlaneTests=0;
//int curPlaneTests=0;
int curEdgeEdge = 0;
// Test edges
@@ -927,7 +935,7 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = numWorldVertsB1;
// int numContacts = numWorldVertsB1;
int numVerticesA = polyA.m_numIndices;
for(int e0=0;e0<numVerticesA;e0++)
{
@@ -1008,7 +1016,7 @@ static int clipHullAgainstHull(const float4& separatingNormal,
B3_PROFILE("clipHullAgainstHull");
float curMaxDist=maxDist;
// float curMaxDist=maxDist;
int closestFaceB=-1;
float dmax = -FLT_MAX;
@@ -1318,7 +1326,7 @@ int clipHullHullSingle(
contact.m_frictionCoeffCmp = 45874;
contact.m_restituitionCoeffCmp = 0;
float distance = 0.f;
// float distance = 0.f;
for (int p=0;p<numPoints;p++)
{
contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
@@ -1362,8 +1370,8 @@ void computeContactPlaneConvex(int pairIndex,
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
int numContactsOut = 0;
int numWorldVertsB1= 0;
// int numContactsOut = 0;
// int numWorldVertsB1= 0;
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
@@ -1518,7 +1526,7 @@ __kernel void findCompoundPairsKernel(
{
numAabbChecks=0;
maxNumAabbChecks=0;
int i = pairIndex;
// int i = pairIndex;
{
@@ -1590,10 +1598,10 @@ __kernel void findCompoundPairsKernel(
{
int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfoCPU[bvhA].m_nodeOffset;
int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
// int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfoCPU[bvhB].m_nodeOffset;
int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
// int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
b3AlignedObjectArray<b3Int2> nodeStack;
b3Int2 node0;
@@ -1790,19 +1798,21 @@ __kernel void findCompoundPairsKernel(
{
if (1)
{
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// float dmin = FLT_MAX;
float4 posA = newPosA;
posA.w = 0.f;
float4 posB = rigidBodies[bodyIndexB].m_pos;
posB.w = 0.f;
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
b3Quat ornA = newOrnA;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c0;
c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
float4 c1;
c1 = transform(&c1local,&posB,&ornB);
// const float4 DeltaC2 = c0 - c1;
{
int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
@@ -1838,19 +1848,21 @@ __kernel void findCompoundPairsKernel(
if (1)
{
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// float dmin = FLT_MAX;
float4 posA = rigidBodies[bodyIndexA].m_pos;
posA.w = 0.f;
float4 posB = newPosB;
posB.w = 0.f;
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c0;
c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
b3Quat ornB =newOrnB;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
float4 c1;
c1 = transform(&c1local,&posB,&ornB);
// const float4 DeltaC2 = c0 - c1;
{//
int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
if (compoundPairIdx<maxNumCompoundPairsCapacity)
@@ -1948,7 +1960,7 @@ __kernel void processCompoundPairsKernel( __global const b3Int4* gpuCompoundPa
int hasSeparatingAxis = 5;
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
// int numFacesA = convexShapes[shapeIndexA].m_numFaces;
float dmin = FLT_MAX;
posA.w = 0.f;
posB.w = 0.f;
@@ -2326,8 +2338,8 @@ void computeContactPlaneCompound(int pairIndex,
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
int numContactsOut = 0;
int numWorldVertsB1= 0;
// int numContactsOut = 0;
// int numWorldVertsB1= 0;
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
@@ -2475,7 +2487,7 @@ void computeContactSphereConvex(int pairIndex,
int shapeIndex = collidables[collidableIndex].m_shapeIndex;
int numFaces = convexShapes[shapeIndex].m_numFaces;
float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
// float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
float minDist = -1000000.f; // TODO: What is the largest/smallest float?
bool bCollide = true;
int region = -1;
@@ -2641,7 +2653,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
int sz = sizeof(b3Contact4);
//int sz = sizeof(b3Contact4);
bool result2 = getClosestPoints(&gjkDetector, transA, transB,
convexShapes[shapeIndexA], convexShapes[shapeIndexB],
@@ -2709,8 +2721,8 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
{
resultPointOnBWorld.w = distance2;
newContact.m_worldPosB[p] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
#ifdef PERSISTENT_CONTACTS_HOST
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
#endif
@@ -2774,8 +2786,8 @@ int computeContactConvexConvex2(
hullB = convexShapes[colB.m_shapeIndex];
//printf("numvertsB = %d\n",hullB.m_numVertices);
int contactCapacity = MAX_VERTS;
int numContactsOut=0;
// int contactCapacity = MAX_VERTS;
//int numContactsOut=0;
#ifdef _WIN32
@@ -3488,7 +3500,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
//add contact point
int contactIndex = nGlobalContactsOut;
//int contactIndex = nGlobalContactsOut;
b3Contact4& newContact = hostContacts.at(nGlobalContactsOut);
nGlobalContactsOut++;
newContact.m_batchIdx = 0;//i;
@@ -3511,7 +3523,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
resultPointOnBWorld.w = -depth;
newContact.m_worldPosB[0] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
//b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
newContact.m_worldNormalOnB = sepAxis2;
newContact.m_worldNormalOnB.w = (b3Scalar)1;
} else
@@ -3527,7 +3539,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int result = computeContactConvexConvex( hostPairs,
int result;
result = computeContactConvexConvex( hostPairs,
pairIndex,
bodyIndexA, bodyIndexB,
collidableIndexA, collidableIndexB,
@@ -3893,7 +3906,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
int numTriConvexPairsOutHost=0;
//int numTriConvexPairsOutHost=0;
numConcavePairs = 0;
//m_numConcavePairsOut

12
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
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@@ -97,7 +97,7 @@ inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, cons
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
//b3Assert(dp==dpL);
if(dp < min) min = dp;
@@ -113,7 +113,7 @@ inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, cons
max += offset;
}
#if 0
static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
const float4& posA,const b3Quaternion& ornA,
const float4& posB,const b3Quaternion& ornB,
@@ -143,7 +143,7 @@ static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyh
return true;
}
#endif
bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA, const b3Transform& transB,
const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
@@ -198,11 +198,11 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA,
{
b3Scalar squaredDistance = B3_LARGE_FLOAT;
b3Scalar delta = -1e30f;//b3Scalar(0.);
b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
// b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
b3Scalar margin = marginA + marginB;
b3Scalar bestDeltaN = -1e30f;
b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
// b3Scalar bestDeltaN = -1e30f;
// b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);

2
src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
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@@ -157,7 +157,7 @@ typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray;
///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
///It is used by the b3BvhTriangleMeshShape as midphase, and by the b3MultiSapBroadphase.
///It is used by the b3BvhTriangleMeshShape as midphase
///It is recommended to use quantization for better performance and lower memory requirements.
B3_ATTRIBUTE_ALIGNED16(class) b3QuantizedBvh
{