Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

allow multiple concave meshes, each with their own bvh

Browse Source
This commit is contained in:
erwin coumans
2013-04-19 23:30:29 -07:00
parent dd315d164d
commit fbd192f360
10 changed files with 161 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
opencl/gpu_narrowphase/host/b3BvhInfo.h Normal file
View File

@@ -0,0 +1,18 @@
#ifndef B3_BVH_INFO_H
#define B3_BVH_INFO_H
#include "Bullet3Common/b3Vector3.h"
struct b3BvhInfo
{
b3Vector3 m_aabbMin;
b3Vector3 m_aabbMax;
b3Vector3 m_quantization;
int m_numNodes;
int m_numSubTrees;
int m_nodeOffset;
int m_subTreeOffset;
};
#endif //B3_BVH_INFO_H

5
opencl/gpu_narrowphase/host/b3Collidable.h
View File

@@ -16,7 +16,10 @@ enum btShapeTypes
struct b3Collidable
{
int m_numChildShapes;
union {
int m_numChildShapes;
int m_bvhIndex;
};
float m_radius;
int m_shapeType;
int m_shapeIndex;

19
opencl/gpu_narrowphase/host/b3ConvexHullContact.cpp
View File

@@ -38,6 +38,7 @@ typedef b3AlignedObjectArray<b3Vector3> btVertexArray;
#include "../kernels/bvhTraversal.h"
#include "../kernels/primitiveContacts.h"
#include "Bullet3Geometry/b3AabbUtil.h"
@@ -853,6 +854,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
btOpenCLArray<b3BvhInfo>* bvhInfo,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairsOut,
@@ -1077,13 +1080,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
//now perform the tree query on GPU
{
int numNodes = bvhData.size()? bvhData[0]->getQuantizedNodeArray().size() : 0;
if (numNodes)
{
int numSubTrees = subTreesGPU->size();
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);
@@ -1096,10 +1097,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setBuffer( subTreesGPU->getBufferCL());
launcher.setBuffer( treeNodesGPU->getBufferCL());
launcher.setConst( bvhAabbMin);
launcher.setConst( bvhAabbMax);
launcher.setConst( bvhQuantization);
launcher.setConst(numSubTrees);
launcher.setBuffer( bvhInfo->getBufferCL());
launcher.setConst( nPairs );
launcher.setConst( maxTriConvexPairCapacity);
int num = nPairs;

2
opencl/gpu_narrowphase/host/b3ConvexHullContact.h
View File

@@ -12,6 +12,7 @@
#include "parallel_primitives/host/btInt2.h"
#include "parallel_primitives/host/btInt4.h"
#include "b3OptimizedBvh.h"
#include "b3BvhInfo.h"
//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
@@ -85,6 +86,7 @@ struct GpuSatCollision
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
btOpenCLArray<b3BvhInfo>* bvhInfo,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairs,

31
opencl/gpu_narrowphase/kernels/bvhTraversal.cl
View File

@@ -21,6 +21,19 @@ typedef struct
//4 bytes
int m_escapeIndexOrTriangleIndex;
} btQuantizedBvhNode;
typedef struct
{
float4 m_aabbMin;
float4 m_aabbMax;
float4 m_quantization;
int m_numNodes;
int m_numSubTrees;
int m_nodeOffset;
int m_subTreeOffset;
} b3BvhInfo;
/*
bool isLeafNode() const
{
@@ -185,12 +198,9 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
__global btAabbCL* aabbs,
__global int4* concavePairsOut,
__global volatile int* numConcavePairsOut,
__global const btBvhSubtreeInfo* subtreeHeaders,
__global const btQuantizedBvhNode* quantizedNodes,
float4 bvhAabbMin,
float4 bvhAabbMax,
float4 bvhQuantization,
int numSubtreeHeaders,
__global const btBvhSubtreeInfo* subtreeHeadersRoot,
__global const btQuantizedBvhNode* quantizedNodesRoot,
__global const b3BvhInfo* bvhInfos,
int numPairs,
int maxNumConcavePairsCapacity)
{
@@ -220,7 +230,16 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
)
return;
b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
float4 bvhAabbMin = bvhInfo.m_aabbMin;
float4 bvhAabbMax = bvhInfo.m_aabbMax;
float4 bvhQuantization = bvhInfo.m_quantization;
int numSubtreeHeaders = bvhInfo.m_numSubTrees;
__global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
__global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);

31
opencl/gpu_narrowphase/kernels/bvhTraversal.h
View File

@@ -23,6 +23,19 @@ static const char* bvhTraversalKernelCL= \
" //4 bytes\n"
" int m_escapeIndexOrTriangleIndex;\n"
"} btQuantizedBvhNode;\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_aabbMin;\n"
" float4 m_aabbMax;\n"
" float4 m_quantization;\n"
" int m_numNodes;\n"
" int m_numSubTrees;\n"
" int m_nodeOffset;\n"
" int m_subTreeOffset;\n"
"\n"
"} b3BvhInfo;\n"
"\n"
"/*\n"
" bool isLeafNode() const\n"
" {\n"
@@ -187,12 +200,9 @@ static const char* bvhTraversalKernelCL= \
" __global btAabbCL* aabbs,\n"
" __global int4* concavePairsOut,\n"
" __global volatile int* numConcavePairsOut,\n"
" __global const btBvhSubtreeInfo* subtreeHeaders,\n"
" __global const btQuantizedBvhNode* quantizedNodes,\n"
" float4 bvhAabbMin,\n"
" float4 bvhAabbMax,\n"
" float4 bvhQuantization,\n"
" int numSubtreeHeaders,\n"
" __global const btBvhSubtreeInfo* subtreeHeadersRoot,\n"
" __global const btQuantizedBvhNode* quantizedNodesRoot,\n"
" __global const b3BvhInfo* bvhInfos,\n"
" int numPairs,\n"
" int maxNumConcavePairsCapacity)\n"
"{\n"
@@ -222,7 +232,16 @@ static const char* bvhTraversalKernelCL= \
" )\n"
" return;\n"
"\n"
" b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];\n"
"\n"
" float4 bvhAabbMin = bvhInfo.m_aabbMin;\n"
" float4 bvhAabbMax = bvhInfo.m_aabbMax;\n"
" float4 bvhQuantization = bvhInfo.m_quantization;\n"
" int numSubtreeHeaders = bvhInfo.m_numSubTrees;\n"
" __global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];\n"
" __global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];\n"
" \n"
"\n"
" unsigned short int quantizedQueryAabbMin[3];\n"
" unsigned short int quantizedQueryAabbMax[3];\n"
" quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"