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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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6
opencl/gpu_narrowphase/host/b3Contact4.h
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@@ -1,15 +1,15 @@
#ifndef BT_CONTACT4_H
#define BT_CONTACT4_H
#include "BulletCommon/btVector3.h"
#include "BulletCommon/b3Vector3.h"
ATTRIBUTE_ALIGNED16(struct) b3Contact4
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_worldPos[4];
btVector3 m_worldNormal;
b3Vector3 m_worldPos[4];
b3Vector3 m_worldNormal;
// float m_restituitionCoeff;
// float m_frictionCoeff;
unsigned short m_restituitionCoeffCmp;

162
opencl/gpu_narrowphase/host/b3ConvexHullContact.cpp
View File

@@ -25,8 +25,8 @@ subject to the following restrictions:
#include "b3ConvexPolyhedronCL.h"
typedef btAlignedObjectArray<btVector3> btVertexArray;
#include "BulletCommon/btQuickprof.h"
typedef b3AlignedObjectArray<b3Vector3> btVertexArray;
#include "BulletCommon/b3Quickprof.h"
#include <float.h> //for FLT_MAX
#include "basic_initialize/b3OpenCLUtils.h"
@@ -219,7 +219,7 @@ struct MyTriangleCallback : public btNodeOverlapCallback
};
#define float4 btVector3
#define float4 b3Vector3
#define make_float4(x,y,z,w) btVector4(x,y,z,w)
float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn, float4* closestPointOnFace)
@@ -234,14 +234,14 @@ float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn
#define cross3(a,b) (a.cross(b))
btVector3 transform(btVector3* v, const btVector3* pos, const btVector3* orn)
b3Vector3 transform(b3Vector3* v, const b3Vector3* pos, const b3Vector3* orn)
{
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(*pos);
btQuaternion* o = (btQuaternion*) orn;
b3Quaternion* o = (b3Quaternion*) orn;
tr.setRotation(*o);
btVector3 res = tr(*v);
b3Vector3 res = tr(*v);
return res;
}
@@ -411,7 +411,7 @@ void computeContactPlaneConvex(int pairIndex,
const b3RigidBodyCL* rigidBodies,
const b3Collidable* collidables,
const b3ConvexPolyhedronCL* convexShapes,
const btVector3* convexVertices,
const b3Vector3* convexVertices,
const int* convexIndices,
const btGpuFace* faces,
b3Contact4* globalContactsOut,
@@ -422,40 +422,40 @@ void computeContactPlaneConvex(int pairIndex,
int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
const b3ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
btVector3 posB = rigidBodies[bodyIndexB].m_pos;
btQuaternion ornB = rigidBodies[bodyIndexB].m_quat;
btVector3 posA = rigidBodies[bodyIndexA].m_pos;
btQuaternion ornA = rigidBodies[bodyIndexA].m_quat;
b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
int numContactsOut = 0;
int numWorldVertsB1= 0;
btVector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
btVector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
btVector3 planeNormalWorld = quatRotate(ornA,planeNormal);
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
b3Vector3 planeNormalWorld = quatRotate(ornA,planeNormal);
float planeConstant = planeEq.w;
btTransform convexWorldTransform;
b3Transform convexWorldTransform;
convexWorldTransform.setIdentity();
convexWorldTransform.setOrigin(posB);
convexWorldTransform.setRotation(ornB);
btTransform planeTransform;
b3Transform planeTransform;
planeTransform.setIdentity();
planeTransform.setOrigin(posA);
planeTransform.setRotation(ornA);
btTransform planeInConvex;
b3Transform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeTransform;
btTransform convexInPlane;
b3Transform convexInPlane;
convexInPlane = planeTransform.inverse() * convexWorldTransform;
btVector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
b3Vector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
float maxDot = -1e30;
int hitVertex=-1;
btVector3 hitVtx;
b3Vector3 hitVtx;
#define MAX_PLANE_CONVEX_POINTS 64
btVector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
int numPoints = 0;
btInt4 contactIdx;
@@ -466,7 +466,7 @@ void computeContactPlaneConvex(int pairIndex,
for (int i=0;i<hullB->m_numVertices;i++)
{
btVector3 vtx = convexVertices[hullB->m_vertexOffset+i];
b3Vector3 vtx = convexVertices[hullB->m_vertexOffset+i];
float curDot = vtx.dot(planeNormalInConvex);
@@ -482,8 +482,8 @@ void computeContactPlaneConvex(int pairIndex,
if (numPoints<MAX_PLANE_CONVEX_POINTS)
{
btVector3 vtxWorld = convexWorldTransform*vtx;
btVector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
b3Vector3 vtxWorld = convexWorldTransform*vtx;
b3Vector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
float dist = planeNormal.dot(vtxInPlane)-planeConstant;
if (dist<0.f)
{
@@ -523,7 +523,7 @@ void computeContactPlaneConvex(int pairIndex,
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
for (int i=0;i<numReducedPoints;i++)
{
btVector3 pOnB1 = contactPoints[contactIdx.s[i]];
b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
c->m_worldPos[i] = pOnB1;
}
c->m_worldNormal[3] = numReducedPoints;
@@ -544,7 +544,7 @@ void computeContactPlaneCompound(int pairIndex,
const b3RigidBodyCL* rigidBodies,
const b3Collidable* collidables,
const b3ConvexPolyhedronCL* convexShapes,
const btVector3* convexVertices,
const b3Vector3* convexVertices,
const int* convexIndices,
const btGpuFace* faces,
b3Contact4* globalContactsOut,
@@ -560,40 +560,40 @@ void computeContactPlaneCompound(int pairIndex,
int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
const b3ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
btVector3 posB = rigidBodies[bodyIndexB].m_pos;
btQuaternion ornB = rigidBodies[bodyIndexB].m_quat;
btVector3 posA = rigidBodies[bodyIndexA].m_pos;
btQuaternion ornA = rigidBodies[bodyIndexA].m_quat;
b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
int numContactsOut = 0;
int numWorldVertsB1= 0;
btVector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
btVector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
btVector3 planeNormalWorld = quatRotate(ornA,planeNormal);
b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
b3Vector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
b3Vector3 planeNormalWorld = quatRotate(ornA,planeNormal);
float planeConstant = planeEq.w;
btTransform convexWorldTransform;
b3Transform convexWorldTransform;
convexWorldTransform.setIdentity();
convexWorldTransform.setOrigin(posB);
convexWorldTransform.setRotation(ornB);
btTransform planeTransform;
b3Transform planeTransform;
planeTransform.setIdentity();
planeTransform.setOrigin(posA);
planeTransform.setRotation(ornA);
btTransform planeInConvex;
b3Transform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeTransform;
btTransform convexInPlane;
b3Transform convexInPlane;
convexInPlane = planeTransform.inverse() * convexWorldTransform;
btVector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
b3Vector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
float maxDot = -1e30;
int hitVertex=-1;
btVector3 hitVtx;
b3Vector3 hitVtx;
#define MAX_PLANE_CONVEX_POINTS 64
btVector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
int numPoints = 0;
btInt4 contactIdx;
@@ -604,7 +604,7 @@ void computeContactPlaneCompound(int pairIndex,
for (int i=0;i<hullB->m_numVertices;i++)
{
btVector3 vtx = convexVertices[hullB->m_vertexOffset+i];
b3Vector3 vtx = convexVertices[hullB->m_vertexOffset+i];
float curDot = vtx.dot(planeNormalInConvex);
@@ -620,8 +620,8 @@ void computeContactPlaneCompound(int pairIndex,
if (numPoints<MAX_PLANE_CONVEX_POINTS)
{
btVector3 vtxWorld = convexWorldTransform*vtx;
btVector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
b3Vector3 vtxWorld = convexWorldTransform*vtx;
b3Vector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
float dist = planeNormal.dot(vtxInPlane)-planeConstant;
if (dist<0.f)
{
@@ -661,7 +661,7 @@ void computeContactPlaneCompound(int pairIndex,
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
for (int i=0;i<numReducedPoints;i++)
{
btVector3 pOnB1 = contactPoints[contactIdx.s[i]];
b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
c->m_worldPos[i] = pOnB1;
}
c->m_worldNormal[3] = numReducedPoints;
@@ -683,7 +683,7 @@ void computeContactSphereConvex(int pairIndex,
const b3RigidBodyCL* rigidBodies,
const b3Collidable* collidables,
const b3ConvexPolyhedronCL* convexShapes,
const btVector3* convexVertices,
const b3Vector3* convexVertices,
const int* convexIndices,
const btGpuFace* faces,
b3Contact4* globalContactsOut,
@@ -693,20 +693,20 @@ void computeContactSphereConvex(int pairIndex,
float radius = collidables[collidableIndexA].m_radius;
float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
btQuaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
float4 pos = rigidBodies[bodyIndexB].m_pos;
btQuaternion quat = rigidBodies[bodyIndexB].m_quat;
b3Quaternion quat = rigidBodies[bodyIndexB].m_quat;
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(quat);
btTransform trInv = tr.inverse();
b3Transform trInv = tr.inverse();
float4 spherePos = trInv(spherePos1);
@@ -740,7 +740,7 @@ void computeContactSphereConvex(int pairIndex,
if ( dist > 0 )
{
//might hit an edge or vertex
btVector3 out;
b3Vector3 out;
bool isInPoly = IsPointInPolygon(spherePos,
&face,
@@ -758,8 +758,8 @@ void computeContactSphereConvex(int pairIndex,
}
} else
{
btVector3 tmp = spherePos-out;
btScalar l2 = tmp.length2();
b3Vector3 tmp = spherePos-out;
b3Scalar l2 = tmp.length2();
if (l2<radius*radius)
{
dist = btSqrt(l2);
@@ -837,20 +837,20 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btOpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
const btOpenCLArray<b3ConvexPolyhedronCL>& convexData,
const btOpenCLArray<btVector3>& gpuVertices,
const btOpenCLArray<btVector3>& gpuUniqueEdges,
const btOpenCLArray<b3Vector3>& gpuVertices,
const btOpenCLArray<b3Vector3>& gpuUniqueEdges,
const btOpenCLArray<btGpuFace>& gpuFaces,
const btOpenCLArray<int>& gpuIndices,
const btOpenCLArray<b3Collidable>& gpuCollidables,
const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
const btOpenCLArray<btYetAnotherAabb>& clAabbsWS,
btOpenCLArray<btVector3>& worldVertsB1GPU,
btOpenCLArray<b3Vector3>& worldVertsB1GPU,
btOpenCLArray<btInt4>& clippingFacesOutGPU,
btOpenCLArray<btVector3>& worldNormalsAGPU,
btOpenCLArray<btVector3>& worldVertsA1GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btAlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<b3Vector3>& worldNormalsAGPU,
btOpenCLArray<b3Vector3>& worldVertsA1GPU,
btOpenCLArray<b3Vector3>& worldVertsB2GPU,
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
int numObjects,
@@ -865,38 +865,38 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
//#define CHECK_ON_HOST
#ifdef CHECK_ON_HOST
btAlignedObjectArray<btYetAnotherAabb> hostAabbs;
b3AlignedObjectArray<btYetAnotherAabb> hostAabbs;
clAabbsWS.copyToHost(hostAabbs);
btAlignedObjectArray<btInt2> hostPairs;
b3AlignedObjectArray<btInt2> hostPairs;
pairs->copyToHost(hostPairs);
btAlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
bodyBuf->copyToHost(hostBodyBuf);
btAlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
convexData.copyToHost(hostConvexData);
btAlignedObjectArray<btVector3> hostVertices;
b3AlignedObjectArray<b3Vector3> hostVertices;
gpuVertices.copyToHost(hostVertices);
btAlignedObjectArray<btVector3> hostUniqueEdges;
b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
gpuUniqueEdges.copyToHost(hostUniqueEdges);
btAlignedObjectArray<btGpuFace> hostFaces;
b3AlignedObjectArray<btGpuFace> hostFaces;
gpuFaces.copyToHost(hostFaces);
btAlignedObjectArray<int> hostIndices;
b3AlignedObjectArray<int> hostIndices;
gpuIndices.copyToHost(hostIndices);
btAlignedObjectArray<b3Collidable> hostCollidables;
b3AlignedObjectArray<b3Collidable> hostCollidables;
gpuCollidables.copyToHost(hostCollidables);
btAlignedObjectArray<btGpuChildShape> cpuChildShapes;
b3AlignedObjectArray<btGpuChildShape> cpuChildShapes;
gpuChildShapes.copyToHost(cpuChildShapes);
btAlignedObjectArray<btInt4> hostTriangleConvexPairs;
b3AlignedObjectArray<btInt4> hostTriangleConvexPairs;
btAlignedObjectArray<b3Contact4> hostContacts;
b3AlignedObjectArray<b3Contact4> hostContacts;
if (nContacts)
{
contactOut->copyToHost(hostContacts);
@@ -1013,13 +1013,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
BT_PROFILE("computeConvexConvexContactsGPUSAT");
// printf("nContacts = %d\n",nContacts);
btOpenCLArray<btVector3> sepNormals(m_context,m_queue);
btOpenCLArray<b3Vector3> sepNormals(m_context,m_queue);
sepNormals.resize(nPairs);
btOpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
hasSeparatingNormals.resize(nPairs);
int concaveCapacity=maxTriConvexPairCapacity;
btOpenCLArray<btVector3> concaveSepNormals(m_context,m_queue);
btOpenCLArray<b3Vector3> concaveSepNormals(m_context,m_queue);
concaveSepNormals.resize(concaveCapacity);
btOpenCLArray<int> numConcavePairsOut(m_context,m_queue);
@@ -1029,7 +1029,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btOpenCLArray<btCompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
gpuCompoundPairs.resize(compoundPairCapacity);
btOpenCLArray<btVector3> gpuCompoundSepNormals(m_context,m_queue);
btOpenCLArray<b3Vector3> gpuCompoundSepNormals(m_context,m_queue);
gpuCompoundSepNormals.resize(compoundPairCapacity);
@@ -1081,9 +1081,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (numNodes)
{
int numSubTrees = subTreesGPU->size();
btVector3 bvhAabbMin = bvhData[0]->m_bvhAabbMin;
btVector3 bvhAabbMax = bvhData[0]->m_bvhAabbMax;
btVector3 bvhQuantization = bvhData[0]->m_bvhQuantization;
b3Vector3 bvhAabbMin = bvhData[0]->m_bvhAabbMin;
b3Vector3 bvhAabbMax = bvhData[0]->m_bvhAabbMax;
b3Vector3 bvhQuantization = bvhData[0]->m_bvhQuantization;
{
BT_PROFILE("m_bvhTraversalKernel");
numConcavePairs = numConcavePairsOut.at(0);
@@ -1142,9 +1142,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.launch1D( num);
clFinish(m_queue);
// btAlignedObjectArray<btVector3> cpuCompoundSepNormals;
// b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
// concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// btAlignedObjectArray<btInt4> cpuConcavePairs;
// b3AlignedObjectArray<btInt4> cpuConcavePairs;
// triangleConvexPairsOut.copyToHost(cpuConcavePairs);
@@ -1355,7 +1355,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts);
btAlignedObjectArray<b3Contact4> cpuContacts;
b3AlignedObjectArray<b3Contact4> cpuContacts;
contactOut->copyToHost(cpuContacts);
// printf("nContacts after = %d\n", nContacts);
}

16
opencl/gpu_narrowphase/host/b3ConvexHullContact.h
View File

@@ -4,7 +4,7 @@
#include "parallel_primitives/host/btOpenCLArray.h"
#include "b3RigidBodyCL.h"
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/b3AlignedObjectArray.h"
#include "b3ConvexUtility.h"
#include "b3ConvexPolyhedronCL.h"
#include "b3Collidable.h"
@@ -69,20 +69,20 @@ struct GpuSatCollision
btOpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
const btOpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
const btOpenCLArray<btVector3>& vertices,
const btOpenCLArray<btVector3>& uniqueEdges,
const btOpenCLArray<b3Vector3>& vertices,
const btOpenCLArray<b3Vector3>& uniqueEdges,
const btOpenCLArray<btGpuFace>& faces,
const btOpenCLArray<int>& indices,
const btOpenCLArray<b3Collidable>& gpuCollidables,
const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
const btOpenCLArray<btYetAnotherAabb>& clAabbs,
btOpenCLArray<btVector3>& worldVertsB1GPU,
btOpenCLArray<b3Vector3>& worldVertsB1GPU,
btOpenCLArray<btInt4>& clippingFacesOutGPU,
btOpenCLArray<btVector3>& worldNormalsAGPU,
btOpenCLArray<btVector3>& worldVertsA1GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btAlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<b3Vector3>& worldNormalsAGPU,
btOpenCLArray<b3Vector3>& worldVertsA1GPU,
btOpenCLArray<b3Vector3>& worldVertsB2GPU,
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
int numObjects,

28
opencl/gpu_narrowphase/host/b3ConvexPolyhedronCL.h
View File

@@ -1,7 +1,7 @@
#ifndef CONVEX_POLYHEDRON_CL
#define CONVEX_POLYHEDRON_CL
#include "BulletCommon/btTransform.h"
#include "BulletCommon/b3Transform.h"
struct btGpuFace
{
@@ -12,12 +12,12 @@ struct btGpuFace
ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
{
btVector3 m_localCenter;
btVector3 m_extents;
btVector3 mC;
btVector3 mE;
b3Vector3 m_localCenter;
b3Vector3 m_extents;
b3Vector3 mC;
b3Vector3 mE;
btScalar m_radius;
b3Scalar m_radius;
int m_faceOffset;
int m_numFaces;
int m_numVertices;
@@ -29,29 +29,29 @@ ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
inline void project(const btTransform& trans, const btVector3& dir, const btAlignedObjectArray<btVector3>& vertices, btScalar& min, btScalar& max) const
inline void project(const b3Transform& trans, const b3Vector3& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = m_numVertices;
const btVector3 localDir = trans.getBasis().transpose()*dir;
const btVector3 localDi2 = quatRotate(trans.getRotation().inverse(),dir);
const b3Vector3 localDir = trans.getBasis().transpose()*dir;
const b3Vector3 localDi2 = quatRotate(trans.getRotation().inverse(),dir);
btScalar offset = trans.getOrigin().dot(dir);
b3Scalar offset = trans.getOrigin().dot(dir);
for(int i=0;i<numVerts;i++)
{
//btVector3 pt = trans * vertices[m_vertexOffset+i];
//btScalar dp = pt.dot(dir);
btScalar dp = vertices[m_vertexOffset+i].dot(localDir);
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Scalar dp = vertices[m_vertexOffset+i].dot(localDir);
//btAssert(dp==dpL);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
btScalar tmp = min;
b3Scalar tmp = min;
min = max;
max = tmp;
}

116
opencl/gpu_narrowphase/host/b3ConvexUtility.cpp
View File

@@ -17,8 +17,8 @@ subject to the following restrictions:
#include "b3ConvexUtility.h"
#include "BulletGeometry/btConvexHullComputer.h"
#include "BulletGeometry/btGrahamScan2dConvexHull.h"
#include "BulletCommon/btQuaternion.h"
#include "BulletCommon/btHashMap.h"
#include "BulletCommon/b3Quaternion.h"
#include "BulletCommon/b3HashMap.h"
#include "b3ConvexPolyhedronCL.h"
@@ -28,21 +28,21 @@ b3ConvexUtility::~b3ConvexUtility()
{
}
bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
{
btConvexHullComputer conv;
conv.compute(&orgVertices[0].getX(), sizeof(btVector3),numPoints,0.f,0.f);
conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3),numPoints,0.f,0.f);
btAlignedObjectArray<btVector3> faceNormals;
b3AlignedObjectArray<b3Vector3> faceNormals;
int numFaces = conv.faces.size();
faceNormals.resize(numFaces);
btConvexHullComputer* convexUtil = &conv;
btAlignedObjectArray<btMyFace> tmpFaces;
b3AlignedObjectArray<btMyFace> tmpFaces;
tmpFaces.resize(numFaces);
int numVertices = convexUtil->vertices.size();
@@ -60,7 +60,7 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
const btConvexHullComputer::Edge* edge = firstEdge;
btVector3 edges[3];
b3Vector3 edges[3];
int numEdges = 0;
//compute face normals
@@ -70,10 +70,10 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
int src = edge->getSourceVertex();
tmpFaces[i].m_indices.push_back(src);
int targ = edge->getTargetVertex();
btVector3 wa = convexUtil->vertices[src];
b3Vector3 wa = convexUtil->vertices[src];
btVector3 wb = convexUtil->vertices[targ];
btVector3 newEdge = wb-wa;
b3Vector3 wb = convexUtil->vertices[targ];
b3Vector3 newEdge = wb-wa;
newEdge.normalize();
if (numEdges<2)
edges[numEdges++] = newEdge;
@@ -81,7 +81,7 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
btScalar planeEq = 1e30f;
b3Scalar planeEq = 1e30f;
if (numEdges==2)
@@ -102,7 +102,7 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
for (int v=0;v<tmpFaces[i].m_indices.size();v++)
{
btScalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
b3Scalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
if (planeEq>eq)
{
planeEq=eq;
@@ -113,26 +113,26 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
//merge coplanar faces and copy them to m_polyhedron
btScalar faceWeldThreshold= 0.999f;
btAlignedObjectArray<int> todoFaces;
b3Scalar faceWeldThreshold= 0.999f;
b3AlignedObjectArray<int> todoFaces;
for (int i=0;i<tmpFaces.size();i++)
todoFaces.push_back(i);
while (todoFaces.size())
{
btAlignedObjectArray<int> coplanarFaceGroup;
b3AlignedObjectArray<int> coplanarFaceGroup;
int refFace = todoFaces[todoFaces.size()-1];
coplanarFaceGroup.push_back(refFace);
btMyFace& faceA = tmpFaces[refFace];
todoFaces.pop_back();
btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
b3Vector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
for (int j=todoFaces.size()-1;j>=0;j--)
{
int i = todoFaces[j];
btMyFace& faceB = tmpFaces[i];
btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
b3Vector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
{
coplanarFaceGroup.push_back(i);
@@ -146,20 +146,20 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
{
//do the merge: use Graham Scan 2d convex hull
btAlignedObjectArray<GrahamVector3> orgpoints;
btVector3 averageFaceNormal(0,0,0);
b3AlignedObjectArray<GrahamVector3> orgpoints;
b3Vector3 averageFaceNormal(0,0,0);
for (int i=0;i<coplanarFaceGroup.size();i++)
{
// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
btMyFace& face = tmpFaces[coplanarFaceGroup[i]];
btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
b3Vector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
averageFaceNormal+=faceNormal;
for (int f=0;f<face.m_indices.size();f++)
{
int orgIndex = face.m_indices[f];
btVector3 pt = m_vertices[orgIndex];
b3Vector3 pt = m_vertices[orgIndex];
bool found = false;
@@ -183,7 +183,7 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
for (int i=0;i<4;i++)
combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
btAlignedObjectArray<GrahamVector3> hull;
b3AlignedObjectArray<GrahamVector3> hull;
averageFaceNormal.normalize();
GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
@@ -269,7 +269,7 @@ bool b3ConvexUtility::initializePolyhedralFeatures(const btVector3* orgVertices,
inline bool IsAlmostZero(const btVector3& v)
inline bool IsAlmostZero(const b3Vector3& v)
{
if(fabsf(v.getX())>1e-6 || fabsf(v.getY())>1e-6 || fabsf(v.getZ())>1e-6) return false;
return true;
@@ -314,20 +314,20 @@ bool b3ConvexUtility::testContainment() const
{
for(int p=0;p<8;p++)
{
btVector3 LocalPt;
if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
b3Vector3 LocalPt;
if(p==0) LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==1) LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==2) LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==3) LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]);
else if(p==5) LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if(p==6) LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if(p==7) LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]);
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const b3Scalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
if(d>0.0f)
return false;
}
@@ -339,9 +339,9 @@ bool b3ConvexUtility::testContainment() const
void b3ConvexUtility::initialize()
{
btHashMap<btInternalVertexPair,btInternalEdge> edges;
b3HashMap<btInternalVertexPair,btInternalEdge> edges;
btScalar TotalArea = 0.0f;
b3Scalar TotalArea = 0.0f;
m_localCenter.setValue(0, 0, 0);
for(int i=0;i<m_faces.size();i++)
@@ -353,11 +353,11 @@ void b3ConvexUtility::initialize()
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
b3Vector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
edge.normalize();
bool found = false;
btVector3 diff,diff2;
b3Vector3 diff,diff2;
for (int p=0;p<m_uniqueEdges.size();p++)
{
@@ -421,14 +421,14 @@ void b3ConvexUtility::initialize()
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices-2;
const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
const b3Vector3& p0 = m_vertices[m_faces[i].m_indices[0]];
for(int j=1;j<=NbTris;j++)
{
int k = (j+1)%numVertices;
const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btVector3 Center = (p0+p1+p2)/3.0f;
const b3Vector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const b3Vector3& p2 = m_vertices[m_faces[i].m_indices[k]];
b3Scalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
b3Vector3 Center = (p0+p1+p2)/3.0f;
m_localCenter += Area * Center;
TotalArea += Area;
}
@@ -444,22 +444,22 @@ void b3ConvexUtility::initialize()
m_radius = FLT_MAX;
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const b3Scalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
if(dist<m_radius)
m_radius = dist;
}
btScalar MinX = FLT_MAX;
btScalar MinY = FLT_MAX;
btScalar MinZ = FLT_MAX;
btScalar MaxX = -FLT_MAX;
btScalar MaxY = -FLT_MAX;
btScalar MaxZ = -FLT_MAX;
b3Scalar MinX = FLT_MAX;
b3Scalar MinY = FLT_MAX;
b3Scalar MinZ = FLT_MAX;
b3Scalar MaxX = -FLT_MAX;
b3Scalar MaxY = -FLT_MAX;
b3Scalar MaxZ = -FLT_MAX;
for(int i=0; i<m_vertices.size(); i++)
{
const btVector3& pt = m_vertices[i];
const b3Vector3& pt = m_vertices[i];
if(pt.getX()<MinX) MinX = pt.getX();
if(pt.getX()>MaxX) MaxX = pt.getX();
if(pt.getY()<MinY) MinY = pt.getY();
@@ -472,10 +472,10 @@ void b3ConvexUtility::initialize()
// const btScalar r = m_radius / sqrtf(2.0f);
const btScalar r = m_radius / sqrtf(3.0f);
// const b3Scalar r = m_radius / sqrtf(2.0f);
const b3Scalar r = m_radius / sqrtf(3.0f);
const int LargestExtent = mE.maxAxis();
const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
const b3Scalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
bool FoundBox = false;
@@ -496,14 +496,14 @@ void b3ConvexUtility::initialize()
else
{
// Refine the box
const btScalar Step = (m_radius - r)/1024.0f;
const b3Scalar Step = (m_radius - r)/1024.0f;
const int e0 = (1<<LargestExtent) & 3;
const int e1 = (1<<e0) & 3;
for(int j=0;j<1024;j++)
{
const btScalar Saved0 = m_extents[e0];
const btScalar Saved1 = m_extents[e1];
const b3Scalar Saved0 = m_extents[e0];
const b3Scalar Saved1 = m_extents[e1];
m_extents[e0] += Step;
m_extents[e1] += Step;

26
opencl/gpu_narrowphase/host/b3ConvexUtility.h
View File

@@ -17,16 +17,16 @@ subject to the following restrictions:
#ifndef _BT_CONVEX_UTILITY_H
#define _BT_CONVEX_UTILITY_H
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/btTransform.h"
#include "BulletCommon/b3AlignedObjectArray.h"
#include "BulletCommon/b3Transform.h"
#include "b3ConvexPolyhedronCL.h"
struct btMyFace
{
btAlignedObjectArray<int> m_indices;
btScalar m_plane[4];
b3AlignedObjectArray<int> m_indices;
b3Scalar m_plane[4];
};
ATTRIBUTE_ALIGNED16(class) b3ConvexUtility
@@ -34,15 +34,15 @@ ATTRIBUTE_ALIGNED16(class) b3ConvexUtility
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_localCenter;
btVector3 m_extents;
btVector3 mC;
btVector3 mE;
btScalar m_radius;
b3Vector3 m_localCenter;
b3Vector3 m_extents;
b3Vector3 mC;
b3Vector3 mE;
b3Scalar m_radius;
btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<btMyFace> m_faces;
btAlignedObjectArray<btVector3> m_uniqueEdges;
b3AlignedObjectArray<b3Vector3> m_vertices;
b3AlignedObjectArray<btMyFace> m_faces;
b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
b3ConvexUtility()
@@ -50,7 +50,7 @@ ATTRIBUTE_ALIGNED16(class) b3ConvexUtility
}
virtual ~b3ConvexUtility();
bool initializePolyhedralFeatures(const btVector3* orgVertices, int numVertices, bool mergeCoplanarTriangles=true);
bool initializePolyhedralFeatures(const b3Vector3* orgVertices, int numVertices, bool mergeCoplanarTriangles=true);
void initialize();
bool testContainment() const;

45
opencl/gpu_narrowphase/host/b3OptimizedBvh.cpp
View File

@@ -17,7 +17,6 @@ subject to the following restrictions:
#include "b3OptimizedBvh.h"
#include "b3StridingMeshInterface.h"
#include "BulletGeometry/btAabbUtil2.h"
#include "BulletCommon/btIDebugDraw.h"
b3OptimizedBvh::b3OptimizedBvh()
@@ -29,7 +28,7 @@ b3OptimizedBvh::~b3OptimizedBvh()
}
void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
{
m_useQuantization = useQuantizedAabbCompression;
@@ -52,12 +51,12 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
btOptimizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
b3Vector3 aabbMin,aabbMax;
aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -94,7 +93,7 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
// The partId and triangle index must fit in the same (positive) integer
btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
@@ -103,9 +102,9 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
btAssert(triangleIndex>=0);
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
b3Vector3 aabbMin,aabbMax;
aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -114,8 +113,8 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
aabbMax.setMax(triangle[2]);
//PCK: add these checks for zero dimensions of aabb
const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
const b3Scalar MIN_AABB_DIMENSION = b3Scalar(0.002);
const b3Scalar MIN_AABB_HALF_DIMENSION = b3Scalar(0.001);
if (aabbMax.getX() - aabbMin.getX() < MIN_AABB_DIMENSION)
{
aabbMax.setX(aabbMax.getX() + MIN_AABB_HALF_DIMENSION);
@@ -168,8 +167,8 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
NodeTriangleCallback callback(m_leafNodes);
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
b3Vector3 aabbMin(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
b3Vector3 aabbMax(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@@ -203,7 +202,7 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
{
if (m_useQuantization)
{
@@ -230,7 +229,7 @@ void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const btVector
void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
{
//incrementally initialize quantization values
btAssert(m_useQuantization);
@@ -287,9 +286,9 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
btVector3 triangleVerts[3];
btVector3 aabbMin,aabbMax;
const btVector3& meshScaling = meshInterface->getScaling();
b3Vector3 triangleVerts[3];
b3Vector3 aabbMin,aabbMax;
const b3Vector3& meshScaling = meshInterface->getScaling();
int i;
for (i=endNode-1;i>=firstNode;i--)
@@ -323,7 +322,7 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
triangleVerts[j] = b3Vector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
@@ -331,14 +330,14 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
triangleVerts[j] = b3Vector3( b3Scalar(graphicsbase[0]*meshScaling.getX()), b3Scalar(graphicsbase[1]*meshScaling.getY()), b3Scalar(graphicsbase[2]*meshScaling.getZ()));
}
}
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);

6
opencl/gpu_narrowphase/host/b3OptimizedBvh.h
View File

@@ -38,11 +38,11 @@ public:
virtual ~b3OptimizedBvh();
void build(b3StridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
void build(b3StridingMeshInterface* triangles,bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax);
void refit(b3StridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
void refit(b3StridingMeshInterface* triangles,const b3Vector3& aabbMin,const b3Vector3& aabbMax);
void refitPartial(b3StridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
void refitPartial(b3StridingMeshInterface* triangles,const b3Vector3& aabbMin, const b3Vector3& aabbMax);
void updateBvhNodes(b3StridingMeshInterface* meshInterface,int firstNode,int endNode,int index);

119
opencl/gpu_narrowphase/host/b3QuantizedBvh.cpp
View File

@@ -16,7 +16,6 @@ subject to the following restrictions:
#include "b3QuantizedBvh.h"
#include "BulletGeometry/btAabbUtil2.h"
#include "BulletCommon/btIDebugDraw.h"
#define RAYAABB2
@@ -77,25 +76,25 @@ void b3QuantizedBvh::buildInternal()
///just for debugging, to visualize the individual patches/subtrees
#ifdef DEBUG_PATCH_COLORS
btVector3 color[4]=
b3Vector3 color[4]=
{
btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1),
btVector3(0,1,1)
b3Vector3(1,0,0),
b3Vector3(0,1,0),
b3Vector3(0,0,1),
b3Vector3(0,1,1)
};
#endif //DEBUG_PATCH_COLORS
void b3QuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin)
void b3QuantizedBvh::setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin)
{
//enlarge the AABB to avoid division by zero when initializing the quantization values
btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
b3Vector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
m_bvhAabbMin = bvhAabbMin - clampValue;
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
b3Vector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = b3Vector3(b3Scalar(65533.0),b3Scalar(65533.0),b3Scalar(65533.0)) / aabbSize;
m_useQuantization = true;
}
@@ -147,8 +146,8 @@ void b3QuantizedBvh::buildTree (int startIndex,int endIndex)
//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use b3Vector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use b3Vector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
for (i=startIndex;i<endIndex;i++)
@@ -232,22 +231,22 @@ int b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
int i;
int splitIndex =startIndex;
int numIndices = endIndex - startIndex;
btScalar splitValue;
b3Scalar splitValue;
btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
b3Vector3 means(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
means+=center;
}
means *= (btScalar(1.)/(btScalar)numIndices);
means *= (b3Scalar(1.)/(b3Scalar)numIndices);
splitValue = means[splitAxis];
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
if (center[splitAxis] > splitValue)
{
//swap
@@ -285,32 +284,32 @@ int b3QuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
{
int i;
btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
b3Vector3 means(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 variance(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
int numIndices = endIndex-startIndex;
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
means+=center;
}
means *= (btScalar(1.)/(btScalar)numIndices);
means *= (b3Scalar(1.)/(b3Scalar)numIndices);
for (i=startIndex;i<endIndex;i++)
{
btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
btVector3 diff2 = center-means;
b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
b3Vector3 diff2 = center-means;
diff2 = diff2 * diff2;
variance += diff2;
}
variance *= (btScalar(1.)/ ((btScalar)numIndices-1) );
variance *= (b3Scalar(1.)/ ((b3Scalar)numIndices-1) );
return variance.maxAxis();
}
void b3QuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
void b3QuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
{
//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
@@ -350,7 +349,7 @@ void b3QuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
int maxIterations = 0;
void b3QuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
void b3QuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
{
btAssert(!m_useQuantization);
@@ -395,7 +394,7 @@ void b3QuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
/*
///this was the original recursive traversal, before we optimized towards stackless traversal
void b3QuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
void b3QuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
{
bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
if (aabbOverlap)
@@ -446,7 +445,7 @@ void b3QuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantize
void b3QuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
void b3QuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const
{
btAssert(!m_useQuantization);
@@ -457,11 +456,11 @@ void b3QuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
//PCK: unsigned instead of bool
unsigned aabbOverlap=0;
unsigned rayBoxOverlap=0;
btScalar lambda_max = 1.0;
b3Scalar lambda_max = 1.0;
/* Quick pruning by quantized box */
btVector3 rayAabbMin = raySource;
btVector3 rayAabbMax = raySource;
b3Vector3 rayAabbMin = raySource;
b3Vector3 rayAabbMax = raySource;
rayAabbMin.setMin(rayTarget);
rayAabbMax.setMax(rayTarget);
@@ -470,22 +469,22 @@ void b3QuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
rayAabbMax += aabbMax;
#ifdef RAYAABB2
btVector3 rayDir = (rayTarget-raySource);
b3Vector3 rayDir = (rayTarget-raySource);
rayDir.normalize ();
lambda_max = rayDir.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
b3Vector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == b3Scalar(0.0) ? b3Scalar(BT_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == b3Scalar(0.0) ? b3Scalar(BT_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == b3Scalar(0.0) ? b3Scalar(BT_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[2];
unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
#endif
btVector3 bounds[2];
b3Vector3 bounds[2];
while (curIndex < m_curNodeIndex)
{
btScalar param = 1.0;
b3Scalar param = 1.0;
//catch bugs in tree data
btAssert (walkIterations < m_curNodeIndex);
@@ -507,7 +506,7 @@ void b3QuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
rayBoxOverlap = aabbOverlap ? btRayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
#else
btVector3 normal;
b3Vector3 normal;
rayBoxOverlap = btRayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal);
#endif
@@ -538,7 +537,7 @@ void b3QuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const
{
btAssert(m_useQuantization);
@@ -555,22 +554,22 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
unsigned boxBoxOverlap = 0;
unsigned rayBoxOverlap = 0;
btScalar lambda_max = 1.0;
b3Scalar lambda_max = 1.0;
#ifdef RAYAABB2
btVector3 rayDirection = (rayTarget-raySource);
b3Vector3 rayDirection = (rayTarget-raySource);
rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
rayDirection[0] = rayDirection[0] == b3Scalar(0.0) ? b3Scalar(BT_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == b3Scalar(0.0) ? b3Scalar(BT_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == b3Scalar(0.0) ? b3Scalar(BT_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[2];
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif
/* Quick pruning by quantized box */
btVector3 rayAabbMin = raySource;
btVector3 rayAabbMax = raySource;
b3Vector3 rayAabbMin = raySource;
b3Vector3 rayAabbMax = raySource;
rayAabbMin.setMin(rayTarget);
rayAabbMax.setMax(rayTarget);
@@ -594,10 +593,10 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
extern btIDebugDraw* debugDrawerPtr;
if (curIndex==drawPatch)
{
btVector3 aabbMin,aabbMax;
b3Vector3 aabbMin,aabbMax;
aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
btVector3 color(1,0,0);
b3Vector3 color(1,0,0);
debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
}
#endif//VISUALLY_ANALYZE_BVH
@@ -608,19 +607,19 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
walkIterations++;
//PCK: unsigned instead of bool
// only interested if this is closer than any previous hit
btScalar param = 1.0;
b3Scalar param = 1.0;
rayBoxOverlap = 0;
boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
isLeafNode = rootNode->isLeafNode();
if (boxBoxOverlap)
{
btVector3 bounds[2];
b3Vector3 bounds[2];
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
btVector3 normal;
b3Vector3 normal;
#if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
bool ra = btRayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
@@ -691,10 +690,10 @@ void b3QuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
extern btIDebugDraw* debugDrawerPtr;
if (curIndex==drawPatch)
{
btVector3 aabbMin,aabbMax;
b3Vector3 aabbMin,aabbMax;
aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
btVector3 color(1,0,0);
b3Vector3 color(1,0,0);
debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
}
#endif//VISUALLY_ANALYZE_BVH
@@ -753,13 +752,13 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallba
}
void b3QuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
void b3QuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const
{
reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,btVector3(0,0,0),btVector3(0,0,0));
reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,b3Vector3(0,0,0),b3Vector3(0,0,0));
}
void b3QuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
void b3QuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
{
//always use stackless
@@ -774,8 +773,8 @@ void b3QuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCa
/*
{
//recursive traversal
btVector3 qaabbMin = raySource;
btVector3 qaabbMax = raySource;
b3Vector3 qaabbMin = raySource;
b3Vector3 qaabbMax = raySource;
qaabbMin.setMin(rayTarget);
qaabbMax.setMax(rayTarget);
qaabbMin += aabbMin;
@@ -1134,7 +1133,7 @@ b3QuantizedBvh *b3QuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
return bvh;
}
// Constructor that prevents btVector3's default constructor from being called
// Constructor that prevents b3Vector3's default constructor from being called
b3QuantizedBvh::b3QuantizedBvh(b3QuantizedBvh &self, bool /* ownsMemory */) :
m_bvhAabbMin(self.m_bvhAabbMin),
m_bvhAabbMax(self.m_bvhAabbMax),

78
opencl/gpu_narrowphase/host/b3QuantizedBvh.h
View File

@@ -28,8 +28,8 @@ class btSerializer;
#include <stdlib.h>
#endif //DEBUG_CHECK_DEQUANTIZATION
#include "BulletCommon/btVector3.h"
#include "BulletCommon/btAlignedAllocator.h"
#include "BulletCommon/b3Vector3.h"
#include "BulletCommon/b3AlignedAllocator.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btQuantizedBvhData btQuantizedBvhDoubleData
@@ -99,8 +99,8 @@ ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
BT_DECLARE_ALIGNED_ALLOCATOR();
//32 bytes
btVector3 m_aabbMinOrg;
btVector3 m_aabbMaxOrg;
b3Vector3 m_aabbMinOrg;
b3Vector3 m_aabbMaxOrg;
//4
int m_escapeIndex;
@@ -157,15 +157,15 @@ public:
virtual void processNode(int subPart, int triangleIndex) = 0;
};
#include "BulletCommon/btAlignedAllocator.h"
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/b3AlignedAllocator.h"
#include "BulletCommon/b3AlignedObjectArray.h"
///for code readability:
typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
typedef b3AlignedObjectArray<btOptimizedBvhNode> NodeArray;
typedef b3AlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
typedef b3AlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
@@ -184,9 +184,9 @@ public:
btVector3 m_bvhAabbMin;
btVector3 m_bvhAabbMax;
btVector3 m_bvhQuantization;
b3Vector3 m_bvhAabbMin;
b3Vector3 m_bvhAabbMax;
b3Vector3 m_bvhQuantization;
protected:
int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess.
@@ -205,7 +205,7 @@ protected:
btTraversalMode m_traversalMode;
BvhSubtreeInfoArray m_SubtreeHeaders;
//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
//This is only used for serialization so we don't have to add serialization directly to b3AlignedObjectArray
mutable int m_subtreeHeaderCount;
@@ -214,7 +214,7 @@ protected:
///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
///this might be refactored into a virtual, it is usually not calculated at run-time
void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
void setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin)
{
if (m_useQuantization)
{
@@ -225,7 +225,7 @@ protected:
}
}
void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
void setInternalNodeAabbMax(int nodeIndex,const b3Vector3& aabbMax)
{
if (m_useQuantization)
{
@@ -236,7 +236,7 @@ protected:
}
}
btVector3 getAabbMin(int nodeIndex) const
b3Vector3 getAabbMin(int nodeIndex) const
{
if (m_useQuantization)
{
@@ -246,7 +246,7 @@ protected:
return m_leafNodes[nodeIndex].m_aabbMinOrg;
}
btVector3 getAabbMax(int nodeIndex) const
b3Vector3 getAabbMax(int nodeIndex) const
{
if (m_useQuantization)
{
@@ -271,7 +271,7 @@ protected:
}
void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax)
void mergeInternalNodeAabb(int nodeIndex,const b3Vector3& newAabbMin,const b3Vector3& newAabbMax)
{
if (m_useQuantization)
{
@@ -310,11 +310,11 @@ protected:
int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
void walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
void walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
///tree traversal designed for small-memory processors like PS3 SPU
void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
@@ -340,17 +340,17 @@ public:
///***************************************** expert/internal use only *************************
void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
void setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin=b3Scalar(1.0));
QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
void buildInternal();
///***************************************** expert/internal use only *************************
void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
SIMD_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point,int isMax) const
{
btAssert(m_useQuantization);
@@ -363,15 +363,15 @@ public:
btAssert(point.getY() >= m_bvhAabbMin.getY());
btAssert(point.getZ() >= m_bvhAabbMin.getZ());
btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
b3Vector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
///@todo: double-check this
if (isMax)
{
out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
out[0] = (unsigned short) (((unsigned short)(v.getX()+b3Scalar(1.)) | 1));
out[1] = (unsigned short) (((unsigned short)(v.getY()+b3Scalar(1.)) | 1));
out[2] = (unsigned short) (((unsigned short)(v.getZ()+b3Scalar(1.)) | 1));
} else
{
out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
@@ -381,7 +381,7 @@ public:
#ifdef DEBUG_CHECK_DEQUANTIZATION
btVector3 newPoint = unQuantize(out);
b3Vector3 newPoint = unQuantize(out);
if (isMax)
{
if (newPoint.getX() < point.getX())
@@ -417,12 +417,12 @@ public:
}
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2,int isMax) const
{
btAssert(m_useQuantization);
btVector3 clampedPoint(point2);
b3Vector3 clampedPoint(point2);
clampedPoint.setMax(m_bvhAabbMin);
clampedPoint.setMin(m_bvhAabbMax);
@@ -430,13 +430,13 @@ public:
}
SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
SIMD_FORCE_INLINE b3Vector3 unQuantize(const unsigned short* vecIn) const
{
btVector3 vecOut;
b3Vector3 vecOut;
vecOut.setValue(
(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
(b3Scalar)(vecIn[0]) / (m_bvhQuantization.getX()),
(b3Scalar)(vecIn[1]) / (m_bvhQuantization.getY()),
(b3Scalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
vecOut += m_bvhAabbMin;
return vecOut;
}
@@ -493,7 +493,7 @@ public:
private:
// Special "copy" constructor that allows for in-place deserialization
// Prevents btVector3's default constructor from being called, but doesn't inialize much else
// Prevents b3Vector3's default constructor from being called, but doesn't inialize much else
// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
b3QuantizedBvh(b3QuantizedBvh &other, bool ownsMemory);

16
opencl/gpu_narrowphase/host/b3RigidBodyCL.h
View File

@@ -1,17 +1,17 @@
#ifndef BT_RIGID_BODY_CL
#define BT_RIGID_BODY_CL
#include "BulletCommon/btScalar.h"
#include "BulletCommon/btMatrix3x3.h"
#include "BulletCommon/b3Scalar.h"
#include "BulletCommon/b3Matrix3x3.h"
ATTRIBUTE_ALIGNED16(struct) b3RigidBodyCL
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_pos;
btQuaternion m_quat;
btVector3 m_linVel;
btVector3 m_angVel;
b3Vector3 m_pos;
b3Quaternion m_quat;
b3Vector3 m_linVel;
b3Vector3 m_angVel;
int m_collidableIdx;
float m_invMass;
@@ -27,8 +27,8 @@ ATTRIBUTE_ALIGNED16(struct) b3RigidBodyCL
struct btInertiaCL
{
btMatrix3x3 m_invInertiaWorld;
btMatrix3x3 m_initInvInertia;
b3Matrix3x3 m_invInertiaWorld;
b3Matrix3x3 m_initInvInertia;
};

40
opencl/gpu_narrowphase/host/b3StridingMeshInterface.cpp
View File

@@ -22,7 +22,7 @@ b3StridingMeshInterface::~b3StridingMeshInterface()
}
void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
{
(void)aabbMin;
(void)aabbMax;
@@ -35,9 +35,9 @@ void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
PHY_ScalarType gfxindextype;
int stride,numverts,numtriangles;
int gfxindex;
btVector3 triangle[3];
b3Vector3 triangle[3];
btVector3 meshScaling = getScaling();
b3Vector3 meshScaling = getScaling();
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
for (part=0;part<graphicssubparts ;part++)
@@ -121,11 +121,11 @@ void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
@@ -136,11 +136,11 @@ void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
@@ -151,11 +151,11 @@ void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
{
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
@@ -173,21 +173,21 @@ void b3StridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
}
}
void b3StridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
{
struct AabbCalculationCallback : public btInternalTriangleIndexCallback
{
btVector3 m_aabbMin;
btVector3 m_aabbMax;
b3Vector3 m_aabbMin;
b3Vector3 m_aabbMax;
AabbCalculationCallback()
{
m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
m_aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
m_aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
(void)partId;
(void)triangleIndex;
@@ -203,8 +203,8 @@ void b3StridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMin.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;

18
opencl/gpu_narrowphase/host/b3StridingMeshInterface.h
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef BT_STRIDING_MESHINTERFACE_H
#define BT_STRIDING_MESHINTERFACE_H
#include "BulletCommon/btVector3.h"
#include "BulletCommon/b3Vector3.h"
#include "b3TriangleCallback.h"
//#include "btConcaveShape.h"
@@ -34,12 +34,12 @@ ATTRIBUTE_ALIGNED16(class ) b3StridingMeshInterface
{
protected:
btVector3 m_scaling;
b3Vector3 m_scaling;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
b3StridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
b3StridingMeshInterface() :m_scaling(b3Scalar(1.),b3Scalar(1.),b3Scalar(1.))
{
}
@@ -48,10 +48,10 @@ ATTRIBUTE_ALIGNED16(class ) b3StridingMeshInterface
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
///brute force method to calculate aabb
void calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax);
void calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax);
/// get read and write access to a subpart of a triangle mesh
/// this subpart has a continuous array of vertices and indices
@@ -77,21 +77,21 @@ ATTRIBUTE_ALIGNED16(class ) b3StridingMeshInterface
virtual void preallocateIndices(int numindices)=0;
virtual bool hasPremadeAabb() const { return false; }
virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
virtual void setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax ) const
{
(void) aabbMin;
(void) aabbMax;
}
virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
virtual void getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax ) const
{
(void) aabbMin;
(void) aabbMax;
}
const btVector3& getScaling() const {
const b3Vector3& getScaling() const {
return m_scaling;
}
void setScaling(const btVector3& scaling)
void setScaling(const b3Vector3& scaling)
{
m_scaling = scaling;
}

6
opencl/gpu_narrowphase/host/b3TriangleCallback.h
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef BT_TRIANGLE_CALLBACK_H
#define BT_TRIANGLE_CALLBACK_H
#include "BulletCommon/btVector3.h"
#include "BulletCommon/b3Vector3.h"
///The b3TriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
@@ -26,7 +26,7 @@ class b3TriangleCallback
public:
virtual ~b3TriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0;
virtual void processTriangle(b3Vector3* triangle, int partId, int triangleIndex) = 0;
};
class btInternalTriangleIndexCallback
@@ -34,7 +34,7 @@ class btInternalTriangleIndexCallback
public:
virtual ~btInternalTriangleIndexCallback();
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) = 0;
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex) = 0;
};

6
opencl/gpu_narrowphase/host/b3TriangleIndexVertexArray.cpp
View File

@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "b3TriangleIndexVertexArray.h"
b3TriangleIndexVertexArray::b3TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride)
b3TriangleIndexVertexArray::b3TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,b3Scalar* vertexBase,int vertexStride)
: m_hasAabb(0)
{
btIndexedMesh mesh;
@@ -79,14 +79,14 @@ bool b3TriangleIndexVertexArray::hasPremadeAabb() const
}
void b3TriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
void b3TriangleIndexVertexArray::setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax ) const
{
m_aabbMin = aabbMin;
m_aabbMax = aabbMax;
m_hasAabb = 1; // this is intentionally an int see notes in header
}
void b3TriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
void b3TriangleIndexVertexArray::getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax ) const
{
*aabbMin = m_aabbMin;
*aabbMax = m_aabbMax;

16
opencl/gpu_narrowphase/host/b3TriangleIndexVertexArray.h
View File

@@ -17,8 +17,8 @@ subject to the following restrictions:
#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#include "b3StridingMeshInterface.h"
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/btScalar.h"
#include "BulletCommon/b3AlignedObjectArray.h"
#include "BulletCommon/b3Scalar.h"
///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a b3TriangleIndexVertexArray using addIndexedMesh.
@@ -59,7 +59,7 @@ ATTRIBUTE_ALIGNED16( struct) btIndexedMesh
;
typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray;
typedef b3AlignedObjectArray<btIndexedMesh> IndexedMeshArray;
///The b3TriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
///Additional meshes can be added using addIndexedMesh
@@ -71,8 +71,8 @@ protected:
IndexedMeshArray m_indexedMeshes;
int m_pad[2];
mutable int m_hasAabb; // using int instead of bool to maintain alignment
mutable btVector3 m_aabbMin;
mutable btVector3 m_aabbMax;
mutable b3Vector3 m_aabbMin;
mutable b3Vector3 m_aabbMax;
public:
@@ -85,7 +85,7 @@ public:
virtual ~b3TriangleIndexVertexArray();
//just to be backwards compatible
b3TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
b3TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,b3Scalar* vertexBase,int vertexStride);
void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
{
@@ -124,8 +124,8 @@ public:
virtual void preallocateIndices(int numindices){(void) numindices;}
virtual bool hasPremadeAabb() const;
virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
virtual void setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax ) const;
virtual void getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax ) const;
}
;

8
opencl/gpu_narrowphase/test/main.cpp
View File

@@ -17,15 +17,15 @@ subject to the following restrictions:
#include "../basic_initialize/b3OpenCLUtils.h"
#include "../host/b3ConvexHullContact.h"
#include "BulletCommon/btVector3.h"
#include "BulletCommon/b3Vector3.h"
#include "parallel_primitives/host/btFillCL.h"
#include "parallel_primitives/host/btBoundSearchCL.h"
#include "parallel_primitives/host/btRadixSort32CL.h"
#include "parallel_primitives/host/btPrefixScanCL.h"
#include "BulletCommon/CommandLineArgs.h"
#include "BulletCommon/b3CommandLineArgs.h"
#include "../host/b3ConvexHullContact.h"
#include "BulletCommon/btMinMax.h"
#include "BulletCommon/b3MinMax.h"
int g_nPassed = 0;
int g_nFailed = 0;
bool g_testFailed = 0;
@@ -88,7 +88,7 @@ int main(int argc, char** argv)
{
int preferredDeviceIndex = -1; int preferredPlatformIndex = -1;
CommandLineArgs args(argc, argv);
b3CommandLineArgs args(argc, argv);
args.GetCmdLineArgument("deviceId", preferredDeviceIndex);
args.GetCmdLineArgument("platformId", preferredPlatformIndex);

10
opencl/gpu_narrowphase/test/premake4.lua
View File

@@ -29,11 +29,11 @@ function createProject(vendor)
"../../parallel_primitives/host/btPrefixScanCL.h",
"../../parallel_primitives/host/btRadixSort32CL.cpp",
"../../parallel_primitives/host/btRadixSort32CL.h",
"../../../src/BulletCommon/btAlignedAllocator.cpp",
"../../../src/BulletCommon/btAlignedAllocator.h",
"../../../src/BulletCommon/btAlignedObjectArray.h",
"../../../src/BulletCommon/btQuickprof.cpp",
"../../../src/BulletCommon/btQuickprof.h",
"../../../src/BulletCommon/b3AlignedAllocator.cpp",
"../../../src/BulletCommon/b3AlignedAllocator.h",
"../../../src/BulletCommon/b3AlignedObjectArray.h",
"../../../src/BulletCommon/b3Quickprof.cpp",
"../../../src/BulletCommon/b3Quickprof.h",
"../../../src/BulletGeometry/**.cpp",
"../../../src/BulletGeometry/**.h",