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add support for compound hulls against concave triangle mesh

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This commit is contained in:
erwin coumans
2013-04-05 18:29:58 -07:00
parent 358f4f97a2
commit c8fcf779bb
12 changed files with 361 additions and 82 deletions
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75
opencl/gpu_sat/kernels/sat.cl
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@@ -886,7 +886,8 @@ __kernel void findCompoundPairsKernel( __global const int2* pairs,
}//for (int b=0;b<numChildrenB;b++)
return;
}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)
&& (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
{
int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
for (int b=0;b<numChildrenB;b++)
@@ -1059,9 +1060,8 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
__global const float4* uniqueEdges,
__global const btGpuFace* faces,
__global const int* indices,
__global const btGpuChildShape* gpuChildShapes,
__global btAabbCL* aabbs,
__global volatile float4* separatingNormals,
__global volatile int* hasSeparatingAxis,
__global float4* concaveSeparatingNormalsOut,
int numConcavePairs
)
@@ -1081,9 +1081,10 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL)
if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
concavePairs[pairIdx].w = 0;
concavePairs[pairIdx].w = -1;
return;
}
@@ -1229,36 +1230,60 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
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);
///////////////////
///compound shape support
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
int compoundChild = concavePairs[pairIdx].w;
int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
float4 newPosB = transform(&childPosB,&posB,&ornB);
float4 newOrnB = qtMul(ornB,childOrnB);
posB = newPosB;
ornB = newOrnB;
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
}
//////////////////
bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
posA,ornA,
posB,ornB,
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);
bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,
posB,ornB,
posA,ornA,
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);
bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
posA,ornA,
posB,ornB,
DeltaC2,
verticesA,uniqueEdgesA,facesA,indicesA,
vertices,uniqueEdges,faces,indices,
&sepAxis,&dmin);
if (!sepEE)
{
@@ -1277,12 +1302,12 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
} else
{
//mark this pair as in-active
concavePairs[pairIdx].w = 0;
concavePairs[pairIdx].w = -1;
}
}
else
{
//mark this pair as in-active
concavePairs[pairIdx].w = 0;
concavePairs[pairIdx].w = -1;
}
}