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,