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extend Wavefront obj loader to recognize objects (for compound shape creation)

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add reproduction of a bug in compound versus concave trimesh
This commit is contained in:
erwin coumans
2013-04-12 10:25:11 -07:00
parent 467a68293b
commit ec0d2ed523
13 changed files with 386 additions and 21 deletions
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25
opencl/gpu_sat/host/ConvexHullContact.cpp
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@@ -905,14 +905,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
}
if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
hostCollidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
{
computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
//printf("convex-sphere\n");
}
@@ -921,7 +921,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
{
computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
// printf("convex-plane\n");
}
@@ -930,7 +930,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
// printf("plane-convex\n");
}
@@ -940,7 +940,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
{
computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
// printf("convex-plane\n");
}
@@ -949,7 +949,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
// printf("plane-convex\n");
}
@@ -1131,6 +1131,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
int num = numConcavePairs;
launcher.launch1D( num);
clFinish(m_queue);
btAlignedObjectArray<btVector3> cpuCompoundSepNormals;
concaveSepNormals.copyToHost(cpuCompoundSepNormals);
btAlignedObjectArray<btInt4> cpuConcavePairs;
triangleConvexPairsOut.copyToHost(cpuConcavePairs);
printf("!\n");
}
}
}
@@ -1238,6 +1246,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
int num = numCompoundPairs;
launcher.launch1D( num);
clFinish(m_queue);
}
@@ -1261,7 +1270,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (numConcavePairs)
{
BT_PROFILE("findConcaveSphereContactsKernel");
nContacts = m_totalContactsOut.at(0);
btBufferInfoCL bInfo[] = {
btBufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
@@ -1541,6 +1550,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btLauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
launcher.setConst( nCompoundsPairs );
launcher.setConst(maxContactCapacity);
int num = nCompoundsPairs;
launcher.launch1D( num);
clFinish(m_queue);

4
opencl/gpu_sat/kernels/satClipHullContacts.cl
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@@ -1062,7 +1062,7 @@ __kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPai
__global const int* gpuHasCompoundSepNormalsOut,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
int numCompoundPairs)
int numCompoundPairs, int maxContactCapacity)
{
int i = get_global_id(0);
@@ -1155,7 +1155,7 @@ __kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPai
int dstIdx;
AppendInc( nGlobalContactsOut, dstIdx );
//if ((dstIdx+nReducedContacts) < capacity)
if ((dstIdx+nReducedContacts) < maxContactCapacity)
{
__global Contact4* c = globalContactsOut+ dstIdx;
c->m_worldNormal = normal;

4
opencl/gpu_sat/kernels/satClipHullContacts.h
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@@ -1064,7 +1064,7 @@ static const char* satClipKernelsCL= \
" __global const int* gpuHasCompoundSepNormalsOut,\n"
" __global Contact4* restrict globalContactsOut,\n"
" counter32_t nGlobalContactsOut,\n"
" int numCompoundPairs)\n"
" int numCompoundPairs, int maxContactCapacity)\n"
"{\n"
"\n"
" int i = get_global_id(0);\n"
@@ -1157,7 +1157,7 @@ static const char* satClipKernelsCL= \
" \n"
" int dstIdx;\n"
" AppendInc( nGlobalContactsOut, dstIdx );\n"
" //if ((dstIdx+nReducedContacts) < capacity)\n"
" if ((dstIdx+nReducedContacts) < maxContactCapacity)\n"
" {\n"
" __global Contact4* c = globalContactsOut+ dstIdx;\n"
" c->m_worldNormal = normal;\n"