move parts of collision pipeline to shared header files (work-in-progress)
This commit is contained in:
erwin coumans
@@ -13,6 +13,10 @@ subject to the following restrictions:
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
bool findSeparatingAxisOnGpu = true;
|
||||
|
||||
bool bvhTraversalKernelGPU = true;
|
||||
bool findConcaveSeparatingAxisKernelGPU = false;//true;
|
||||
|
||||
///This file was written by Erwin Coumans
|
||||
///Separating axis rest based on work from Pierre Terdiman, see
|
||||
@@ -20,7 +24,7 @@ subject to the following restrictions:
|
||||
|
||||
//#define B3_DEBUG_SAT_FACE
|
||||
|
||||
//#define CHECK_ON_HOST
|
||||
#define CHECK_ON_HOST
|
||||
|
||||
#ifdef CHECK_ON_HOST
|
||||
//#define PERSISTENT_CONTACTS_HOST
|
||||
@@ -65,6 +69,11 @@ typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
|
||||
#endif
|
||||
|
||||
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h"
|
||||
|
||||
|
||||
|
||||
#define dot3F4 b3Dot
|
||||
|
||||
GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q )
|
||||
@@ -1197,7 +1206,7 @@ int clipHullHullSingle(
|
||||
int numPoints = 0;
|
||||
|
||||
{
|
||||
B3_PROFILE("extractManifold");
|
||||
// B3_PROFILE("extractManifold");
|
||||
numPoints = extractManifold(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
|
||||
}
|
||||
|
||||
@@ -2723,6 +2732,9 @@ int computeContactConvexConvex2(
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs,
|
||||
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
|
||||
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
|
||||
@@ -2898,15 +2910,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
||||
{
|
||||
//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
|
||||
int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
|
||||
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
|
||||
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
|
||||
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
|
||||
// oldHostContacts);
|
||||
int contactIndex = 0;//computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
|
||||
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
|
||||
|
||||
|
||||
if (contactIndex>=0)
|
||||
{
|
||||
// printf("convex convex contactIndex = %d\n",contactIndex);
|
||||
hostPairs[i].z = contactIndex;
|
||||
}
|
||||
// printf("plane-convex\n");
|
||||
@@ -2932,7 +2942,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
contactOut->resize(0);
|
||||
}
|
||||
|
||||
return;
|
||||
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
|
||||
|
||||
#else
|
||||
|
||||
{
|
||||
@@ -2996,7 +3007,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
|
||||
int numCompoundPairs = 0;
|
||||
|
||||
bool findSeparatingAxisOnGpu = true;//false;
|
||||
int numConcavePairs =0;
|
||||
|
||||
{
|
||||
@@ -3038,65 +3048,172 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
|
||||
if (treeNodesGPU->size() && treeNodesGPU->size())
|
||||
{
|
||||
B3_PROFILE("m_bvhTraversalKernel");
|
||||
if (bvhTraversalKernelGPU)
|
||||
{
|
||||
|
||||
B3_PROFILE("m_bvhTraversalKernel");
|
||||
|
||||
|
||||
numConcavePairs = m_numConcavePairsOut.at(0);
|
||||
numConcavePairs = m_numConcavePairsOut.at(0);
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel,"m_bvhTraversalKernel");
|
||||
launcher.setBuffer( pairs->getBufferCL());
|
||||
launcher.setBuffer( bodyBuf->getBufferCL());
|
||||
launcher.setBuffer( gpuCollidables.getBufferCL());
|
||||
launcher.setBuffer( clAabbsWorldSpace.getBufferCL());
|
||||
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
|
||||
launcher.setBuffer( m_numConcavePairsOut.getBufferCL());
|
||||
launcher.setBuffer( subTreesGPU->getBufferCL());
|
||||
launcher.setBuffer( treeNodesGPU->getBufferCL());
|
||||
launcher.setBuffer( bvhInfo->getBufferCL());
|
||||
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel,"m_bvhTraversalKernel");
|
||||
launcher.setBuffer( pairs->getBufferCL());
|
||||
launcher.setBuffer( bodyBuf->getBufferCL());
|
||||
launcher.setBuffer( gpuCollidables.getBufferCL());
|
||||
launcher.setBuffer( clAabbsWorldSpace.getBufferCL());
|
||||
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
|
||||
launcher.setBuffer( m_numConcavePairsOut.getBufferCL());
|
||||
launcher.setBuffer( subTreesGPU->getBufferCL());
|
||||
launcher.setBuffer( treeNodesGPU->getBufferCL());
|
||||
launcher.setBuffer( bvhInfo->getBufferCL());
|
||||
|
||||
launcher.setConst( nPairs );
|
||||
launcher.setConst( maxTriConvexPairCapacity);
|
||||
int num = nPairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
numConcavePairs = m_numConcavePairsOut.at(0);
|
||||
//printf("numConcavePairs=%d (max = %d\n",numConcavePairs,maxTriConvexPairCapacity);
|
||||
launcher.setConst( nPairs );
|
||||
launcher.setConst( maxTriConvexPairCapacity);
|
||||
int num = nPairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
numConcavePairs = m_numConcavePairsOut.at(0);
|
||||
} else
|
||||
{
|
||||
b3AlignedObjectArray<b3Int4> hostPairs;
|
||||
pairs->copyToHost(hostPairs);
|
||||
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
|
||||
bodyBuf->copyToHost(hostBodyBuf);
|
||||
b3AlignedObjectArray<b3Collidable> hostCollidables;
|
||||
gpuCollidables.copyToHost(hostCollidables);
|
||||
b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
|
||||
clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
|
||||
|
||||
//int maxTriConvexPairCapacity,
|
||||
b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
|
||||
triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
|
||||
|
||||
int numTriConvexPairsOutHost=0;
|
||||
numConcavePairs = 0;
|
||||
//m_numConcavePairsOut
|
||||
|
||||
b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
|
||||
treeNodesGPU->copyToHost(treeNodesCPU);
|
||||
b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
|
||||
subTreesGPU->copyToHost(subTreesCPU);
|
||||
b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
|
||||
bvhInfo->copyToHost(bvhInfoCPU);
|
||||
//compute it...
|
||||
|
||||
volatile int hostNumConcavePairsOut=0;
|
||||
|
||||
//
|
||||
for (int i=0;i<nPairs;i++)
|
||||
{
|
||||
b3BvhTraversal( &hostPairs.at(0),
|
||||
&hostBodyBuf.at(0),
|
||||
&hostCollidables.at(0),
|
||||
&hostAabbsWorldSpace.at(0),
|
||||
&triangleConvexPairsOutHost.at(0),
|
||||
&hostNumConcavePairsOut,
|
||||
&subTreesCPU.at(0),
|
||||
&treeNodesCPU.at(0),
|
||||
&bvhInfoCPU.at(0),
|
||||
nPairs,
|
||||
maxTriConvexPairCapacity,
|
||||
i);
|
||||
}
|
||||
numConcavePairs = hostNumConcavePairsOut;
|
||||
|
||||
if (hostNumConcavePairsOut)
|
||||
{
|
||||
triangleConvexPairsOutHost.resize(hostNumConcavePairsOut);
|
||||
triangleConvexPairsOut.copyFromHost(triangleConvexPairsOutHost);
|
||||
}
|
||||
//
|
||||
|
||||
m_numConcavePairsOut.resize(0);
|
||||
m_numConcavePairsOut.push_back(numConcavePairs);
|
||||
}
|
||||
|
||||
//printf("numConcavePairs=%d (max = %d\n",numConcavePairs,maxTriConvexPairCapacity);
|
||||
|
||||
if (numConcavePairs > maxTriConvexPairCapacity)
|
||||
{
|
||||
static int exceeded_maxTriConvexPairCapacity_count = 0;
|
||||
b3Error("Rxceeded %d times the maxTriConvexPairCapacity (found %d but max is %d)\n", exceeded_maxTriConvexPairCapacity_count++,
|
||||
numConcavePairs,maxTriConvexPairCapacity);
|
||||
b3Error("Exceeded the maxTriConvexPairCapacity (found %d but max is %d, it happened %d times)\n",
|
||||
numConcavePairs,maxTriConvexPairCapacity,exceeded_maxTriConvexPairCapacity_count++);
|
||||
numConcavePairs = maxTriConvexPairCapacity;
|
||||
}
|
||||
triangleConvexPairsOut.resize(numConcavePairs);
|
||||
if (numConcavePairs)
|
||||
{
|
||||
//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())
|
||||
};
|
||||
if (findConcaveSeparatingAxisKernelGPU)
|
||||
{
|
||||
//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())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
|
||||
launcher.setConst( numConcavePairs );
|
||||
launcher.setConst( numConcavePairs );
|
||||
|
||||
int num = numConcavePairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
int num = numConcavePairs;
|
||||
launcher.launch1D( num);
|
||||
clFinish(m_queue);
|
||||
} else
|
||||
{
|
||||
|
||||
b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
|
||||
triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
|
||||
//triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
|
||||
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
|
||||
bodyBuf->copyToHost(hostBodyBuf);
|
||||
b3AlignedObjectArray<b3Collidable> hostCollidables;
|
||||
gpuCollidables.copyToHost(hostCollidables);
|
||||
b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
|
||||
clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
|
||||
|
||||
b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
|
||||
convexData.copyToHost(hostConvexData);
|
||||
|
||||
b3AlignedObjectArray<b3Vector3> hostVertices;
|
||||
gpuVertices.copyToHost(hostVertices);
|
||||
|
||||
b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
|
||||
gpuUniqueEdges.copyToHost(hostUniqueEdges);
|
||||
b3AlignedObjectArray<b3GpuFace> hostFaces;
|
||||
gpuFaces.copyToHost(hostFaces);
|
||||
b3AlignedObjectArray<int> hostIndices;
|
||||
gpuIndices.copyToHost(hostIndices);
|
||||
b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
|
||||
gpuChildShapes.copyToHost(cpuChildShapes);
|
||||
|
||||
|
||||
//numConcavePairs
|
||||
//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())
|
||||
|
||||
b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
|
||||
m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
|
||||
}
|
||||
// b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
|
||||
// m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
|
||||
// b3AlignedObjectArray<b3Int4> cpuConcavePairs;
|
||||
|
||||
Reference in New Issue
Block a user