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enable the GPU ray test in BasicGpuDemo, only for spheres at the moment

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This commit is contained in:
erwin coumans
2013-06-19 00:12:06 -07:00
parent 481d54967f
commit f10eb86f55
3 changed files with 139 additions and 53 deletions
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95
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
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@@ -1,4 +1,11 @@
#define SHAPE_CONVEX_HULL 3
#define SHAPE_PLANE 4
#define SHAPE_CONCAVE_TRIMESH 5
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
#define SHAPE_SPHERE 7
typedef struct
{
float4 m_from;
@@ -30,67 +37,103 @@ typedef struct
typedef struct Collidable
{
int m_unused1;
int m_unused2;
union {
int m_numChildShapes;
int m_bvhIndex;
};
float m_radius;
int m_shapeType;
int m_shapeIndex;
} Collidable;
bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo)
bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)
{
// rs = ray.org - sphere.center
float4 rs = rayFrom - spherePos;
rs.w = 0.f;
float4 rayDir = (rayTo-rayFrom);
float4 rs = rayFrom - spherePos;
rs.w = 0.f;
float4 rayDir = rayTo-rayFrom;
rayDir.w = 0.f;
rayDir = normalize(rayDir);
float A = dot(rayDir,rayDir);
float B = dot(rs, rayDir);
float C = dot(rs, rs) - (radius * radius);
float D = B * B - A*C;
float B = dot(rs, rayDir);
float C = dot(rs, rs) - (radius * radius);
float D = B * B - C;
if (D > 0.0)
{
float t = (-B - sqrt(D))/A;
if (D > 0.0)
{
float t = -B - sqrt(D);
if ( (t > 0.0))// && (t < isect.t) )
if ( (t >= 0.0f) && (t < (*hitFraction)) )
{
return true;//isect.t = t;
}
*hitFraction = t;
return true;
}
}
return false;
}
float4 setInterpolate3(float4 from, float4 to, float t)
{
float s = 1.0f - t;
float4 result;
result = s * from + t * to;
result.w = 0.f;
return result;
}
__kernel void rayCastKernel(
int numRays,
const __global b3RayInfo* rays,
__global b3RayHit* hits,
__global b3RayHit* hitResults,
const int numBodies,
__global Body* bodies,
__global Collidable* collidables)
{
bool hit=false;
int i = get_global_id(0);
if (i<numRays)
{
hits[i].m_hitFraction = 1.f;
hitResults[i].m_hitFraction = 1.f;
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
float hitFraction = 1.f;
int hitBodyIndex= -1;
int cachedCollidableIndex = -1;
Collidable cachedCollidable;
for (int b=0;b<numBodies;b++)
{
float4 pos = bodies[b].m_pos;
// float4 orn = bodies[b].m_quat;
if (cachedCollidableIndex !=bodies[b].m_collidableIdx)
{
cachedCollidableIndex = bodies[b].m_collidableIdx;
cachedCollidable = collidables[cachedCollidableIndex];
}
float radius = 1.f;
if (sphere_intersect(pos, radius, rayFrom, rayTo))
hit = true;
if (cachedCollidable.m_shapeType == SHAPE_SPHERE)
{
float radius = cachedCollidable.m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
}
}
}
if (hitBodyIndex>=0)
{
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
float4 hitNormal = (float4) (hitResults[i].m_hitPoint-bodies[hitBodyIndex].m_pos);
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
}
if (hit)
hits[i].m_hitFraction = 0.f;
}
}