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implement compound versus compound BVH acceleration (quantized tree-versus-tree, using subtrees and quantization) on host

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This commit is contained in:
erwin coumans
2013-08-16 08:58:52 -07:00
parent b32ae0c75c
commit ef224370ab
4 changed files with 340 additions and 18 deletions
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118
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -13,6 +13,8 @@
#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
#include "b3GpuNarrowPhaseInternalData.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
@@ -417,8 +419,9 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
col.m_shapeIndex = m_data->m_cpuChildShapes.size();
col.m_compoundBvhIndex = m_data->m_bvhInfoCPU.size();
{
b3Assert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
for (int i=0;i<childShapes->size();i++)
@@ -432,10 +435,13 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
col.m_numChildShapes = childShapes->size();
b3SapAabb aabbWS;
b3SapAabb aabbLocalSpace;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3AlignedObjectArray<b3Aabb> childLocalAabbs;
childLocalAabbs.resize(childShapes->size());
//compute local AABB of the compound of all children
for (int i=0;i<childShapes->size();i++)
{
@@ -460,19 +466,109 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
childLocalAabbs[i].m_min[0] = aMin[0];
childLocalAabbs[i].m_min[1] = aMin[1];
childLocalAabbs[i].m_min[2] = aMin[2];
childLocalAabbs[i].m_min[3] = 0;
childLocalAabbs[i].m_max[0] = aMax[0];
childLocalAabbs[i].m_max[1] = aMax[1];
childLocalAabbs[i].m_max[2] = aMax[2];
childLocalAabbs[i].m_max[3] = 0;
}
aabbWS.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbWS.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbWS.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbWS.m_minIndices[3] = 0;
aabbLocalSpace.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbLocalSpace.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbLocalSpace.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbLocalSpace.m_minIndices[3] = 0;
aabbWS.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbWS.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbWS.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbWS.m_signedMaxIndices[3] = 0;
aabbLocalSpace.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbLocalSpace.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbLocalSpace.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbLocalSpace.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabbWS);
m_data->m_localShapeAABBCPU->push_back(aabbLocalSpace);
b3QuantizedBvh* bvh = new b3QuantizedBvh;
bvh->setQuantizationValues(myAabbMin,myAabbMax);
QuantizedNodeArray& nodes = bvh->getLeafNodeArray();
int numNodes = childShapes->size();
for (int i=0;i<numNodes;i++)
{
b3QuantizedBvhNode node;
b3Vector3 aabbMin,aabbMax;
aabbMin = (b3Vector3&) childLocalAabbs[i].m_min;
aabbMax = (b3Vector3&) childLocalAabbs[i].m_max;
bvh->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
bvh->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
int partId = 0;
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
nodes.push_back(node);
}
bvh->buildInternal();
int numSubTrees = bvh->getSubtreeInfoArray().size();
//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();
b3BvhInfo bvhInfo;
bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
bvhInfo.m_quantization = bvh->m_bvhQuantization;
bvhInfo.m_numNodes = numNodes;
bvhInfo.m_numSubTrees = numSubTrees;
bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size();
bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size();
int numNewNodes = bvh->getQuantizedNodeArray().size();
for (int i=0;i<numNewNodes-1;i++)
{
if (bvh->getQuantizedNodeArray()[i].isLeafNode())
{
int orgIndex = bvh->getQuantizedNodeArray()[i].getTriangleIndex();
b3Vector3 nodeMinVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMin);
b3Vector3 nodeMaxVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMax);
for (int c=0;c<3;c++)
{
if (childLocalAabbs[orgIndex].m_min[c] < nodeMinVec[c])
{
printf("min org (%f) and new (%f) ? at i:%d,c:%d\n",childLocalAabbs[i].m_min[c],nodeMinVec[c],i,c);
}
if (childLocalAabbs[orgIndex].m_max[c] > nodeMaxVec[c])
{
printf("max org (%f) and new (%f) ? at i:%d,c:%d\n",childLocalAabbs[i].m_max[c],nodeMaxVec[c],i,c);
}
}
}
}
m_data->m_bvhInfoCPU.push_back(bvhInfo);
int numNewSubtrees = bvh->getSubtreeInfoArray().size();
m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size()+numNewSubtrees);
for (int i=0;i<numNewSubtrees;i++)
{
m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
}
int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
for (int i=0;i<numNewTreeNodes;i++)
{
m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
}
// m_data->m_localShapeAABBGPU->push_back(aabbWS);
clFinish(m_queue);
return collidableIndex;