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

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"