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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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162
opencl/gpu_narrowphase/host/b3ConvexHullContact.cpp
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@@ -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);
}