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allow multiple concave meshes, each with their own bvh

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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
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73
opencl/gpu_rigidbody/host/b3GpuNarrowPhase.cpp
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@@ -10,6 +10,7 @@
#include "../../gpu_narrowphase/host/b3OptimizedBvh.h"
#include "../../gpu_narrowphase/host/b3TriangleIndexVertexArray.h"
#include "Bullet3Geometry/b3AabbUtil.h"
#include "../../gpu_narrowphase/host/b3BvhInfo.h"
struct btGpuNarrowPhaseInternalData
{
@@ -64,6 +65,13 @@ struct btGpuNarrowPhaseInternalData
b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
b3AlignedObjectArray<btQuantizedBvhNode> m_treeNodesCPU;
b3AlignedObjectArray<btBvhSubtreeInfo> m_subTreesCPU;
b3AlignedObjectArray<b3BvhInfo> m_bvhInfoCPU;
btOpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
btOpenCLArray<btQuantizedBvhNode>* m_treeNodesGPU;
btOpenCLArray<btBvhSubtreeInfo>* m_subTreesGPU;
@@ -141,9 +149,10 @@ m_queue(queue)
m_data->m_numAcceleratedShapes = 0;
m_data->m_numAcceleratedRigidBodies = 0;
m_data->m_treeNodesGPU = 0;
m_data->m_subTreesGPU = 0;
m_data->m_subTreesGPU = new btOpenCLArray<btBvhSubtreeInfo>(this->m_context,this->m_queue);
m_data->m_treeNodesGPU = new btOpenCLArray<btQuantizedBvhNode>(this->m_context,this->m_queue);
m_data->m_bvhInfoGPU = new btOpenCLArray<b3BvhInfo>(this->m_context,this->m_queue);
//m_data->m_contactCGPU = new btOpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_frictionCGPU = new btOpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
@@ -178,8 +187,11 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
delete m_data->m_worldVertsA1GPU;
delete m_data->m_worldVertsB2GPU;
delete m_data->m_bvhInfoGPU;
delete m_data->m_treeNodesGPU;
delete m_data->m_subTreesGPU;
delete m_data->m_convexData;
delete m_data;
@@ -487,14 +499,7 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<btGpuChildShap
int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling1)
{
//right now we only support one single mesh, it is on the todo to merge all mesh data etc
btAssert(m_data->m_treeNodesGPU ==0);
btAssert(m_data->m_subTreesGPU ==0);
if (m_data->m_treeNodesGPU)
{
printf("error, only 1 single concave mesh supported at the moment\n");
exit (0);
}
b3Vector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
@@ -503,8 +508,8 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
col.m_shapeIndex = registerConcaveMeshShape(vertices,indices,col,scaling);
col.m_bvhIndex = m_data->m_bvhInfoCPU.size();
b3SapAabb aabb;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
@@ -546,15 +551,42 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
bvh->build(meshInterface, useQuantizedAabbCompression, (b3Vector3&)aabb.m_min, (b3Vector3&)aabb.m_max);
m_data->m_bvhData.push_back(bvh);
int numNodes = bvh->getQuantizedNodeArray().size();
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU = new btOpenCLArray<btQuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
treeNodesGPU->copyFromHost(bvh->getQuantizedNodeArray());
//btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU = new btOpenCLArray<btQuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
//treeNodesGPU->copyFromHost(bvh->getQuantizedNodeArray());
int numSubTrees = bvh->getSubtreeInfoArray().size();
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU = new btOpenCLArray<btBvhSubtreeInfo>(this->m_context,this->m_queue,numSubTrees);
subTreesGPU->copyFromHost(bvh->getSubtreeInfoArray());
m_data->m_treeNodesGPU = treeNodesGPU;
m_data->m_subTreesGPU = subTreesGPU;
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();
m_data->m_bvhInfoCPU.push_back(bvhInfo);
m_data->m_bvhInfoGPU->copyFromHost(m_data->m_bvhInfoCPU);
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]);
}
//btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU = new btOpenCLArray<btBvhSubtreeInfo>(this->m_context,this->m_queue,numSubTrees);
//subTreesGPU->copyFromHost(bvh->getSubtreeInfoArray());
m_data->m_treeNodesGPU->copyFromHost(m_data->m_treeNodesCPU);
m_data->m_subTreesGPU->copyFromHost(m_data->m_subTreesCPU);
return collidableIndex;
@@ -739,6 +771,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_bvhData,
m_data->m_treeNodesGPU,
m_data->m_subTreesGPU,
m_data->m_bvhInfoGPU,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,