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fixes in ray-convex for GPU

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This commit is contained in:
erwincoumans
2013-06-20 16:27:36 -07:00
parent 47403c7e6f
commit d935eb2520
5 changed files with 133 additions and 139 deletions
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4
src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
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@@ -610,7 +610,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
int fileUpToDate = 0;
int binaryFileValid=0;
if (clFileNameForCaching)
if (!disableBinaryCaching && clFileNameForCaching)
{
clGetDeviceInfo(device, CL_DEVICE_NAME, 256, &deviceName, NULL);
clGetDeviceInfo(device, CL_DRIVER_VERSION, 256, &driverVersion, NULL);
@@ -918,7 +918,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
}
if( clFileNameForCaching )
if( !disableBinaryCaching && clFileNameForCaching )
{ // write to binary
cl_uint numAssociatedDevices;

2
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
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@@ -209,6 +209,8 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3Align
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);
B3_PROFILE("castRaysGPU");
b3OpenCLArray<b3RayInfo> gpuRays(m_data->m_context,m_data->m_q);

242
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
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@@ -14,12 +14,12 @@ typedef struct
typedef struct
{
float m_hitFraction;
int m_hitResult0;
int m_hitResult1;
int m_hitResult2;
float4 m_hitPoint;
float4 m_hitNormal;
float m_hitFraction;
int m_hitResult0;
int m_hitResult1;
int m_hitResult2;
float4 m_hitPoint;
float4 m_hitNormal;
} b3RayHit;
typedef struct
@@ -53,12 +53,12 @@ typedef struct
float4 m_extents;
float4 mC;
float4 mE;
float m_radius;
int m_faceOffset;
int m_numFaces;
int m_numVertices;
int m_vertexOffset;
int m_uniqueEdgesOffset;
int m_numUniqueEdges;
@@ -82,20 +82,18 @@ typedef struct
typedef float4 Quaternion;
__inline
Quaternion qtMul(Quaternion a, Quaternion b);
Quaternion qtMul(Quaternion a, Quaternion b);
__inline
Quaternion qtNormalize(Quaternion in);
__inline
float4 qtRotate(Quaternion q, float4 vec);
__inline
Quaternion qtInvert(Quaternion q);
Quaternion qtNormalize(Quaternion in);
__inline
float dot3F4(float4 a, float4 b)
Quaternion qtInvert(Quaternion q);
__inline
float dot3F4(float4 a, float4 b)
{
float4 a1 = (float4)(a.xyz,0.f);
float4 b1 = (float4)(b.xyz,0.f);
@@ -104,65 +102,56 @@ float dot3F4(float4 a, float4 b)
__inline
Quaternion qtMul(Quaternion a, Quaternion b)
Quaternion qtMul(Quaternion a, Quaternion b)
{
Quaternion ans;
ans = cross( a, b );
ans += a.w*b+b.w*a;
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
ans.w = a.w*b.w - dot3F4(a, b);
return ans;
}
__inline
Quaternion qtNormalize(Quaternion in)
Quaternion qtNormalize(Quaternion in)
{
return fast_normalize(in);
// in /= length( in );
// return in;
// in /= length( in );
// return in;
}
__inline
float4 qtRotate(Quaternion q, float4 vec)
float4 qtRotate(Quaternion q, float4 vec)
{
Quaternion qInv = qtInvert( q );
float4 vcpy = vec;
vcpy.w = 0.f;
float4 out = qtMul(qtMul(q,vcpy),qInv);
float4 out = qtMul(q,vcpy);
out = qtMul(out,qInv);
return out;
}
__inline
Quaternion qtInvert(Quaternion q)
Quaternion qtInvert(Quaternion q)
{
return (Quaternion)(-q.xyz, q.w);
}
__inline
float4 qtInvRotate(const Quaternion q, float4 vec)
float4 qtInvRotate(const Quaternion q, float4 vec)
{
return qtRotate( qtInvert( q ), vec );
}
__inline
float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
{
return qtRotate( *orientation, *p ) + (*translation);
}
void trInverse(float4 translationIn, Quaternion orientationIn,
float4* translationOut, Quaternion* orientationOut)
float4* translationOut, Quaternion* orientationOut)
{
*orientationOut = qtInvert(orientationIn);
*translationOut = qtRotate(*orientationOut, -translationIn);
}
void trMul(float4 translationA, Quaternion orientationA,
float4 translationB, Quaternion orientationB,
float4* translationOut, Quaternion* orientationOut)
{
*orientationOut = qtMul(orientationA,orientationB);
*translationOut = transform(&translationB,&translationA,&orientationA);
}
@@ -171,10 +160,10 @@ bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOff
{
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
bool result = true;
float exitFraction = *hitFraction;
float enterFraction = -0.1f;
bool result = true;
float exitFraction = hitFraction[0];
float enterFraction = -0.3f;
float4 curHitNormal = (float4)(0,0,0,0);
for (int i=0;i<numFaces && result;i++)
{
@@ -210,13 +199,16 @@ bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOff
if (exitFraction <= enterFraction)
result = false;
}
result = result && (enterFraction < 0.f);
if (enterFraction < 0.f)
{
result = false;
}
if (result)
{
*hitFraction = enterFraction;
*hitNormal = curHitNormal;
hitFraction[0] = enterFraction;
hitNormal[0] = curHitNormal;
}
return result;
}
@@ -235,29 +227,29 @@ bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 ra
float A = dot(rayDir,rayDir);
float B = dot(rs, rayDir);
float C = dot(rs, rs) - (radius * radius);
float D = B * B - A*C;
if (D > 0.0)
{
float t = (-B - sqrt(D))/A;
if (D > 0.0f)
{
float t = (-B - sqrt(D))/A;
if ( (t >= 0.0f) && (t < (*hitFraction)) )
{
*hitFraction = t;
return true;
}
if ( (t >= 0.0f) && (t < (*hitFraction)) )
{
*hitFraction = t;
return true;
}
}
return false;
}
float4 setInterpolate3(float4 from, float4 to, float t)
{
float s = 1.0f - t;
float4 result;
result = s * from + t * to;
result.w = 0.f;
return result;
float s = 1.0f - t;
float4 result;
result = s * from + t * to;
result.w = 0.f;
return result;
}
__kernel void rayCastKernel(
@@ -272,72 +264,74 @@ __kernel void rayCastKernel(
{
int i = get_global_id(0);
if (i<numRays)
{
hitResults[i].m_hitFraction = 1.f;
if (i>=numRays)
return;
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
float hitFraction = 1.f;
float4 hitPoint;
float4 hitNormal;
int hitBodyIndex= -1;
int cachedCollidableIndex = -1;
Collidable cachedCollidable;
for (int b=0;b<numBodies;b++)
hitResults[i].m_hitFraction = 1.f;
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
float hitFraction = 1.f;
float4 hitPoint;
float4 hitNormal;
int hitBodyIndex= -1;
int cachedCollidableIndex = -1;
Collidable cachedCollidable;
for (int b=0;b<numBodies;b++)
{
Body body = bodies[b];
float4 pos = body.m_pos;
float4 orn = body.m_quat;
if (cachedCollidableIndex != body.m_collidableIdx)
{
float4 pos = bodies[b].m_pos;
float4 orn = bodies[b].m_quat;
if (cachedCollidableIndex !=bodies[b].m_collidableIdx)
{
cachedCollidableIndex = bodies[b].m_collidableIdx;
cachedCollidable = collidables[cachedCollidableIndex];
}
if (cachedCollidable.m_shapeType == SHAPE_SPHERE)
{
float radius = cachedCollidable.m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
hitNormal = (float4) (hitPoint-bodies[b].m_pos);
}
}
if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)
{
float4 invPos = (float4)(0,0,0,0);
float4 invOrn = (float4)(0,0,0,0);
float4 rayFromLocal = (float4)(0,0,0,0);
float4 rayToLocal = (float4)(0,0,0,0);
trInverse(pos,orn, &invPos, &invOrn);
rayFromLocal = transform(&rayFrom, &invPos, &invOrn);
rayToLocal = transform(&rayTo, &invPos, &invOrn);
int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;
int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;
if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
{
hitBodyIndex = b;
}
}
cachedCollidableIndex = body.m_collidableIdx;
cachedCollidable = collidables[cachedCollidableIndex];
}
if (hitBodyIndex>=0)
if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)
{
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = hitPoint;
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
float4 invPos = (float4)(0,0,0,0);
float4 invOrn = (float4)(0,0,0,0);
float4 rayFromLocal = (float4)(0,0,0,0);
float4 rayToLocal = (float4)(0,0,0,0);
invOrn = qtInvert(orn);
invPos = qtRotate(invOrn, -pos);
rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;
rayToLocal = qtRotate( invOrn, rayTo) + invPos;
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;
int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;
if (numFaces)
{
if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
{
hitBodyIndex = b;
}
}
}
if (cachedCollidable.m_shapeType == SHAPE_SPHERE)
{
float radius = cachedCollidable.m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
hitNormal = (float4) (hitPoint-bodies[b].m_pos);
}
}
}
if (hitBodyIndex>=0)
{
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = hitPoint;
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
}
}

14
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
View File

@@ -176,7 +176,7 @@ static const char* rayCastKernelCL= \
" bool result = true;\n"
" \n"
" float exitFraction = *hitFraction;\n"
" float enterFraction = -0.1f;\n"
" float enterFraction = -0.3f;\n"
" float4 curHitNormal = (float4)(0,0,0,0);\n"
" for (int i=0;i<numFaces && result;i++)\n"
" {\n"
@@ -285,19 +285,17 @@ static const char* rayCastKernelCL= \
" float4 hitNormal;\n"
" int hitBodyIndex= -1;\n"
" \n"
" int cachedCollidableIndex = -1; \n"
" Collidable cachedCollidable;\n"
" \n"
" \n"
" \n"
" for (int b=0;b<numBodies;b++)\n"
" {\n"
" \n"
" float4 pos = bodies[b].m_pos;\n"
" float4 orn = bodies[b].m_quat;\n"
" if (cachedCollidableIndex !=bodies[b].m_collidableIdx)\n"
" {\n"
" cachedCollidableIndex = bodies[b].m_collidableIdx;\n"
" cachedCollidable = collidables[cachedCollidableIndex];\n"
" }\n"
" \n"
" int cachedCollidableIndex = bodies[b].m_collidableIdx; \n"
" Collidable cachedCollidable = collidables[cachedCollidableIndex];\n"
" \n"
" if (cachedCollidable.m_shapeType == SHAPE_SPHERE)\n"
" {\n"