859 lines
28 KiB
C++
859 lines
28 KiB
C++
#include "btGpuNarrowPhase.h"
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#include "parallel_primitives/host/btOpenCLArray.h"
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#include "../../gpu_sat/host/btConvexPolyhedronCL.h"
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#include "../../gpu_sat/host/ConvexHullContact.h"
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#include "../../gpu_broadphase/host/btSapAabb.h"
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#include <string.h>
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#include "btConfig.h"
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#include "../../gpu_sat/host/btOptimizedBvh.h"
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#include "../../gpu_sat/host/btTriangleIndexVertexArray.h"
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#include "BulletGeometry/btAabbUtil2.h"
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struct btGpuNarrowPhaseInternalData
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{
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btAlignedObjectArray<btConvexUtility*>* m_convexData;
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btAlignedObjectArray<btConvexPolyhedronCL> m_convexPolyhedra;
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btAlignedObjectArray<btVector3> m_uniqueEdges;
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btAlignedObjectArray<btVector3> m_convexVertices;
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btAlignedObjectArray<int> m_convexIndices;
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btOpenCLArray<btConvexPolyhedronCL>* m_convexPolyhedraGPU;
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btOpenCLArray<btVector3>* m_uniqueEdgesGPU;
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btOpenCLArray<btVector3>* m_convexVerticesGPU;
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btOpenCLArray<int>* m_convexIndicesGPU;
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btOpenCLArray<btVector3>* m_worldVertsB1GPU;
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btOpenCLArray<btInt4>* m_clippingFacesOutGPU;
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btOpenCLArray<btVector3>* m_worldNormalsAGPU;
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btOpenCLArray<btVector3>* m_worldVertsA1GPU;
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btOpenCLArray<btVector3>* m_worldVertsB2GPU;
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btAlignedObjectArray<btGpuChildShape> m_cpuChildShapes;
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btOpenCLArray<btGpuChildShape>* m_gpuChildShapes;
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btAlignedObjectArray<btGpuFace> m_convexFaces;
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btOpenCLArray<btGpuFace>* m_convexFacesGPU;
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GpuSatCollision* m_gpuSatCollision;
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btAlignedObjectArray<btInt2>* m_pBufPairsCPU;
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btOpenCLArray<btInt2>* m_convexPairsOutGPU;
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btOpenCLArray<btInt2>* m_planePairs;
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btOpenCLArray<btContact4>* m_pBufContactOutGPU;
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btAlignedObjectArray<btContact4>* m_pBufContactOutCPU;
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btAlignedObjectArray<btRigidBodyCL>* m_bodyBufferCPU;
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btOpenCLArray<btRigidBodyCL>* m_bodyBufferGPU;
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btAlignedObjectArray<btInertiaCL>* m_inertiaBufferCPU;
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btOpenCLArray<btInertiaCL>* m_inertiaBufferGPU;
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int m_numAcceleratedShapes;
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int m_numAcceleratedRigidBodies;
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btAlignedObjectArray<btCollidable> m_collidablesCPU;
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btOpenCLArray<btCollidable>* m_collidablesGPU;
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btOpenCLArray<btSapAabb>* m_localShapeAABBGPU;
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btAlignedObjectArray<btSapAabb>* m_localShapeAABBCPU;
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btAlignedObjectArray<class btOptimizedBvh*> m_bvhData;
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btOpenCLArray<btQuantizedBvhNode>* m_treeNodesGPU;
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btOpenCLArray<btBvhSubtreeInfo>* m_subTreesGPU;
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btConfig m_config;
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};
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btGpuNarrowPhase::btGpuNarrowPhase(cl_context ctx, cl_device_id device, cl_command_queue queue, const btConfig& config)
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:m_data(0) ,m_planeBodyIndex(-1),m_static0Index(-1),
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m_context(ctx),
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m_device(device),
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m_queue(queue)
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{
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m_data = new btGpuNarrowPhaseInternalData();
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memset(m_data,0,sizeof(btGpuNarrowPhaseInternalData));
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m_data->m_config = config;
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m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
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m_data->m_pBufPairsCPU = new btAlignedObjectArray<btInt2>;
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m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
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m_data->m_convexPairsOutGPU = new btOpenCLArray<btInt2>(ctx,queue,config.m_maxBroadphasePairs,false);
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m_data->m_planePairs = new btOpenCLArray<btInt2>(ctx,queue,config.m_maxBroadphasePairs,false);
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m_data->m_pBufContactOutCPU = new btAlignedObjectArray<btContact4>();
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m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
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m_data->m_bodyBufferCPU = new btAlignedObjectArray<btRigidBodyCL>();
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m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies);
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m_data->m_inertiaBufferCPU = new btAlignedObjectArray<btInertiaCL>();
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m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
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m_data->m_pBufContactOutGPU = new btOpenCLArray<btContact4>(ctx,queue, config.m_maxBroadphasePairs,true);
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btContact4 test = m_data->m_pBufContactOutGPU->forcedAt(0);
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m_data->m_inertiaBufferGPU = new btOpenCLArray<btInertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
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m_data->m_collidablesGPU = new btOpenCLArray<btCollidable>(ctx,queue,config.m_maxConvexShapes);
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m_data->m_localShapeAABBCPU = new btAlignedObjectArray<btSapAabb>;
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m_data->m_localShapeAABBGPU = new btOpenCLArray<btSapAabb>(ctx,queue,config.m_maxConvexShapes);
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//m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false);
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m_data->m_bodyBufferGPU = new btOpenCLArray<btRigidBodyCL>(ctx,queue, config.m_maxConvexBodies,false);
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m_data->m_convexFacesGPU = new btOpenCLArray<btGpuFace>(ctx,queue,config.m_maxConvexShapes*config.m_maxFacesPerShape,false);
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m_data->m_gpuChildShapes = new btOpenCLArray<btGpuChildShape>(ctx,queue,config.m_maxCompoundChildShapes,false);
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m_data->m_convexPolyhedraGPU = new btOpenCLArray<btConvexPolyhedronCL>(ctx,queue,config.m_maxConvexShapes,false);
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m_data->m_uniqueEdgesGPU = new btOpenCLArray<btVector3>(ctx,queue,config.m_maxConvexUniqueEdges,true);
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m_data->m_convexVerticesGPU = new btOpenCLArray<btVector3>(ctx,queue,config.m_maxConvexVertices,true);
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m_data->m_convexIndicesGPU = new btOpenCLArray<int>(ctx,queue,config.m_maxConvexIndices,true);
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m_data->m_worldVertsB1GPU = new btOpenCLArray<btVector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
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m_data->m_clippingFacesOutGPU = new btOpenCLArray<btInt4>(ctx,queue,config.m_maxConvexBodies);
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m_data->m_worldNormalsAGPU = new btOpenCLArray<btVector3>(ctx,queue,config.m_maxConvexBodies);
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m_data->m_worldVertsA1GPU = new btOpenCLArray<btVector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
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m_data->m_worldVertsB2GPU = new btOpenCLArray<btVector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
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m_data->m_convexData = new btAlignedObjectArray<btConvexUtility* >();
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m_data->m_convexData->resize(config.m_maxConvexShapes);
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m_data->m_convexPolyhedra.resize(config.m_maxConvexShapes);
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m_data->m_numAcceleratedShapes = 0;
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m_data->m_numAcceleratedRigidBodies = 0;
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m_data->m_treeNodesGPU = 0;
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m_data->m_subTreesGPU = 0;
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//m_data->m_contactCGPU = new btOpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
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//m_data->m_frictionCGPU = new btOpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
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}
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btGpuNarrowPhase::~btGpuNarrowPhase()
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{
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delete m_data->m_gpuSatCollision;
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delete m_data->m_pBufPairsCPU;
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delete m_data->m_convexPairsOutGPU;
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delete m_data->m_planePairs;
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delete m_data->m_pBufContactOutCPU;
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delete m_data->m_bodyBufferCPU;
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delete m_data->m_inertiaBufferCPU;
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delete m_data->m_pBufContactOutGPU;
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delete m_data->m_inertiaBufferGPU;
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delete m_data->m_collidablesGPU;
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delete m_data->m_localShapeAABBCPU;
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delete m_data->m_localShapeAABBGPU;
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delete m_data->m_bodyBufferGPU;
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delete m_data->m_convexFacesGPU;
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delete m_data->m_gpuChildShapes;
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delete m_data->m_convexPolyhedraGPU;
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delete m_data->m_uniqueEdgesGPU;
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delete m_data->m_convexVerticesGPU;
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delete m_data->m_convexIndicesGPU;
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delete m_data->m_worldVertsB1GPU;
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delete m_data->m_clippingFacesOutGPU;
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delete m_data->m_worldNormalsAGPU;
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delete m_data->m_worldVertsA1GPU;
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delete m_data->m_worldVertsB2GPU;
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delete m_data->m_treeNodesGPU;
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delete m_data->m_subTreesGPU;
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delete m_data->m_convexData;
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delete m_data;
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}
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int btGpuNarrowPhase::allocateCollidable()
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{
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int curSize = m_data->m_collidablesCPU.size();
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m_data->m_collidablesCPU.expand();
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return curSize;
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}
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int btGpuNarrowPhase::registerSphereShape(float radius)
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{
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int collidableIndex = allocateCollidable();
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btCollidable& col = getCollidableCpu(collidableIndex);
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col.m_shapeType = SHAPE_SPHERE;
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col.m_shapeIndex = 0;
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col.m_radius = radius;
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if (col.m_shapeIndex>=0)
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{
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btSapAabb aabb;
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btVector3 myAabbMin(-radius,-radius,-radius);
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btVector3 myAabbMax(radius,radius,radius);
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aabb.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
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aabb.m_min[1] = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
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aabb.m_min[2] = myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
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aabb.m_minIndices[3] = 0;
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aabb.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
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aabb.m_max[1] = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
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aabb.m_max[2] = myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
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aabb.m_signedMaxIndices[3] = 0;
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m_data->m_localShapeAABBCPU->push_back(aabb);
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m_data->m_localShapeAABBGPU->push_back(aabb);
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clFinish(m_queue);
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}
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return collidableIndex;
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}
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int btGpuNarrowPhase::registerFace(const btVector3& faceNormal, float faceConstant)
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{
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int faceOffset = m_data->m_convexFaces.size();
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btGpuFace& face = m_data->m_convexFaces.expand();
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face.m_plane[0] = faceNormal.getX();
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face.m_plane[1] = faceNormal.getY();
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face.m_plane[2] = faceNormal.getZ();
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face.m_plane[3] = faceConstant;
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m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
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return faceOffset;
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}
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int btGpuNarrowPhase::registerPlaneShape(const btVector3& planeNormal, float planeConstant)
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{
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int collidableIndex = allocateCollidable();
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btCollidable& col = getCollidableCpu(collidableIndex);
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col.m_shapeType = SHAPE_PLANE;
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col.m_shapeIndex = registerFace(planeNormal,planeConstant);
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col.m_radius = planeConstant;
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if (col.m_shapeIndex>=0)
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{
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btSapAabb aabb;
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aabb.m_min[0] = -1e30f;
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aabb.m_min[1] = -1e30f;
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aabb.m_min[2] = -1e30f;
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aabb.m_minIndices[3] = 0;
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aabb.m_max[0] = 1e30f;
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aabb.m_max[1] = 1e30f;
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aabb.m_max[2] = 1e30f;
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aabb.m_signedMaxIndices[3] = 0;
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m_data->m_localShapeAABBCPU->push_back(aabb);
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m_data->m_localShapeAABBGPU->push_back(aabb);
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clFinish(m_queue);
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}
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return collidableIndex;
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}
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int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* convexPtr,btCollidable& col)
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{
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m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
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m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
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btConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
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convex.mC = convexPtr->mC;
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convex.mE = convexPtr->mE;
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convex.m_extents= convexPtr->m_extents;
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convex.m_localCenter = convexPtr->m_localCenter;
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convex.m_radius = convexPtr->m_radius;
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convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
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int edgeOffset = m_data->m_uniqueEdges.size();
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convex.m_uniqueEdgesOffset = edgeOffset;
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m_data->m_uniqueEdges.resize(edgeOffset+convex.m_numUniqueEdges);
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//convex data here
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int i;
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for ( i=0;i<convexPtr->m_uniqueEdges.size();i++)
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{
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m_data->m_uniqueEdges[edgeOffset+i] = convexPtr->m_uniqueEdges[i];
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}
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int faceOffset = m_data->m_convexFaces.size();
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convex.m_faceOffset = faceOffset;
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convex.m_numFaces = convexPtr->m_faces.size();
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m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
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for (i=0;i<convexPtr->m_faces.size();i++)
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{
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m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = convexPtr->m_faces[i].m_plane[0];
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m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = convexPtr->m_faces[i].m_plane[1];
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m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = convexPtr->m_faces[i].m_plane[2];
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m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = convexPtr->m_faces[i].m_plane[3];
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int indexOffset = m_data->m_convexIndices.size();
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int numIndices = convexPtr->m_faces[i].m_indices.size();
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m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
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m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
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m_data->m_convexIndices.resize(indexOffset+numIndices);
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for (int p=0;p<numIndices;p++)
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{
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m_data->m_convexIndices[indexOffset+p] = convexPtr->m_faces[i].m_indices[p];
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}
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}
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convex.m_numVertices = convexPtr->m_vertices.size();
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int vertexOffset = m_data->m_convexVertices.size();
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convex.m_vertexOffset =vertexOffset;
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m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
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for (int i=0;i<convexPtr->m_vertices.size();i++)
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{
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m_data->m_convexVertices[vertexOffset+i] = convexPtr->m_vertices[i];
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}
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(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
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m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
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m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
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m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges);
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m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices);
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m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices);
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return m_data->m_numAcceleratedShapes++;
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}
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int btGpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
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{
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btAlignedObjectArray<btVector3> verts;
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unsigned char* vts = (unsigned char*) vertices;
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for (int i=0;i<numVertices;i++)
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{
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float* vertex = (float*) &vts[i*strideInBytes];
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verts.push_back(btVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
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}
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btConvexUtility* utilPtr = new btConvexUtility();
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bool merge = true;
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if (numVertices)
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{
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utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
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}
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int collidableIndex = registerConvexHullShape(utilPtr);
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return collidableIndex;
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}
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int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* utilPtr)
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{
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int collidableIndex = allocateCollidable();
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btCollidable& col = getCollidableCpu(collidableIndex);
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col.m_shapeType = SHAPE_CONVEX_HULL;
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col.m_shapeIndex = -1;
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{
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btVector3 localCenter(0,0,0);
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for (int i=0;i<utilPtr->m_vertices.size();i++)
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localCenter+=utilPtr->m_vertices[i];
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localCenter*= (1.f/utilPtr->m_vertices.size());
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utilPtr->m_localCenter = localCenter;
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col.m_shapeIndex = registerConvexHullShape(utilPtr,col);
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}
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if (col.m_shapeIndex>=0)
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{
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btSapAabb aabb;
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btVector3 myAabbMin(1e30f,1e30f,1e30f);
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btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
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for (int i=0;i<utilPtr->m_vertices.size();i++)
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{
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myAabbMin.setMin(utilPtr->m_vertices[i]);
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myAabbMax.setMax(utilPtr->m_vertices[i]);
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}
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aabb.m_min[0] = myAabbMin[0];
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aabb.m_min[1] = myAabbMin[1];
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aabb.m_min[2] = myAabbMin[2];
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aabb.m_minIndices[3] = 0;
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aabb.m_max[0] = myAabbMax[0];
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aabb.m_max[1] = myAabbMax[1];
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aabb.m_max[2] = myAabbMax[2];
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aabb.m_signedMaxIndices[3] = 0;
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m_data->m_localShapeAABBCPU->push_back(aabb);
|
|
m_data->m_localShapeAABBGPU->push_back(aabb);
|
|
}
|
|
|
|
return collidableIndex;
|
|
|
|
}
|
|
|
|
int btGpuNarrowPhase::registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes)
|
|
{
|
|
|
|
int collidableIndex = allocateCollidable();
|
|
btCollidable& col = getCollidableCpu(collidableIndex);
|
|
col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
|
|
|
|
col.m_shapeIndex = m_data->m_cpuChildShapes.size();
|
|
{
|
|
btAssert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
|
|
for (int i=0;i<childShapes->size();i++)
|
|
{
|
|
m_data->m_cpuChildShapes.push_back(childShapes->at(i));
|
|
}
|
|
//if writing the data directly is too slow, we can delay it and do it all at once in
|
|
m_data->m_gpuChildShapes->copyFromHost(m_data->m_cpuChildShapes);
|
|
}
|
|
|
|
|
|
|
|
col.m_numChildShapes = childShapes->size();
|
|
|
|
|
|
btSapAabb aabbWS;
|
|
btVector3 myAabbMin(1e30f,1e30f,1e30f);
|
|
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
|
|
|
|
//compute local AABB of the compound of all children
|
|
for (int i=0;i<childShapes->size();i++)
|
|
{
|
|
int childColIndex = childShapes->at(i).m_shapeIndex;
|
|
btCollidable& childCol = getCollidableCpu(childColIndex);
|
|
btSapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
|
|
|
|
btVector3 childLocalAabbMin(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
|
|
btVector3 childLocalAabbMax(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
|
|
btVector3 aMin,aMax;
|
|
btScalar margin(0.f);
|
|
btTransform childTr;
|
|
childTr.setIdentity();
|
|
|
|
childTr.setOrigin(btVector3(childShapes->at(i).m_childPosition[0],
|
|
childShapes->at(i).m_childPosition[1],
|
|
childShapes->at(i).m_childPosition[2]));
|
|
childTr.setRotation(btQuaternion(childShapes->at(i).m_childOrientation[0],
|
|
childShapes->at(i).m_childOrientation[1],
|
|
childShapes->at(i).m_childOrientation[2],
|
|
childShapes->at(i).m_childOrientation[3]));
|
|
btTransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
|
|
myAabbMin.setMin(aMin);
|
|
myAabbMax.setMax(aMax);
|
|
}
|
|
|
|
aabbWS.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
|
|
aabbWS.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
|
|
aabbWS.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
|
|
aabbWS.m_minIndices[3] = 0;
|
|
|
|
aabbWS.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
|
|
aabbWS.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
|
|
aabbWS.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
|
|
aabbWS.m_signedMaxIndices[3] = 0;
|
|
|
|
m_data->m_localShapeAABBCPU->push_back(aabbWS);
|
|
m_data->m_localShapeAABBGPU->push_back(aabbWS);
|
|
clFinish(m_queue);
|
|
return collidableIndex;
|
|
|
|
}
|
|
|
|
|
|
int btGpuNarrowPhase::registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<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);
|
|
}
|
|
|
|
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
|
|
|
|
int collidableIndex = allocateCollidable();
|
|
btCollidable& col = getCollidableCpu(collidableIndex);
|
|
|
|
col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
|
|
col.m_shapeIndex = registerConcaveMeshShape(vertices,indices,col,scaling);
|
|
|
|
|
|
|
|
btSapAabb aabb;
|
|
btVector3 myAabbMin(1e30f,1e30f,1e30f);
|
|
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
|
|
|
|
for (int i=0;i<vertices->size();i++)
|
|
{
|
|
btVector3 vtx(vertices->at(i)*scaling);
|
|
myAabbMin.setMin(vtx);
|
|
myAabbMax.setMax(vtx);
|
|
}
|
|
aabb.m_min[0] = myAabbMin[0];
|
|
aabb.m_min[1] = myAabbMin[1];
|
|
aabb.m_min[2] = myAabbMin[2];
|
|
aabb.m_minIndices[3] = 0;
|
|
|
|
aabb.m_max[0] = myAabbMax[0];
|
|
aabb.m_max[1]= myAabbMax[1];
|
|
aabb.m_max[2]= myAabbMax[2];
|
|
aabb.m_signedMaxIndices[3]= 0;
|
|
|
|
m_data->m_localShapeAABBCPU->push_back(aabb);
|
|
m_data->m_localShapeAABBGPU->push_back(aabb);
|
|
|
|
btOptimizedBvh* bvh = new btOptimizedBvh();
|
|
//void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
|
|
|
|
bool useQuantizedAabbCompression = true;
|
|
btTriangleIndexVertexArray* meshInterface=new btTriangleIndexVertexArray();
|
|
btIndexedMesh mesh;
|
|
mesh.m_numTriangles = indices->size()/3;
|
|
mesh.m_numVertices = vertices->size();
|
|
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).getX();
|
|
mesh.m_vertexStride = sizeof(btVector3);
|
|
mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
|
|
mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
|
|
|
|
meshInterface->addIndexedMesh(mesh);
|
|
bvh->build(meshInterface, useQuantizedAabbCompression, (btVector3&)aabb.m_min, (btVector3&)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());
|
|
|
|
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;
|
|
|
|
|
|
return collidableIndex;
|
|
}
|
|
|
|
int btGpuNarrowPhase::registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,btCollidable& col, const float* scaling1)
|
|
{
|
|
|
|
|
|
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
|
|
|
|
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
|
|
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
|
|
|
|
|
|
btConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
|
|
convex.mC = btVector3(0,0,0);
|
|
convex.mE = btVector3(0,0,0);
|
|
convex.m_extents= btVector3(0,0,0);
|
|
convex.m_localCenter = btVector3(0,0,0);
|
|
convex.m_radius = 0.f;
|
|
|
|
convex.m_numUniqueEdges = 0;
|
|
int edgeOffset = m_data->m_uniqueEdges.size();
|
|
convex.m_uniqueEdgesOffset = edgeOffset;
|
|
|
|
int faceOffset = m_data->m_convexFaces.size();
|
|
convex.m_faceOffset = faceOffset;
|
|
|
|
convex.m_numFaces = indices->size()/3;
|
|
m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
|
|
m_data->m_convexIndices.reserve(convex.m_numFaces*3);
|
|
for (int i=0;i<convex.m_numFaces;i++)
|
|
{
|
|
if (i%256==0)
|
|
{
|
|
//printf("i=%d out of %d", i,convex.m_numFaces);
|
|
}
|
|
btVector3 vert0(vertices->at(indices->at(i*3))*scaling);
|
|
btVector3 vert1(vertices->at(indices->at(i*3+1))*scaling);
|
|
btVector3 vert2(vertices->at(indices->at(i*3+2))*scaling);
|
|
|
|
btVector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
|
|
btScalar c = -(normal.dot(vert0));
|
|
|
|
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.x();
|
|
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.y();
|
|
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.z();
|
|
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
|
|
int indexOffset = m_data->m_convexIndices.size();
|
|
int numIndices = 3;
|
|
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
|
|
m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
|
|
m_data->m_convexIndices.resize(indexOffset+numIndices);
|
|
for (int p=0;p<numIndices;p++)
|
|
{
|
|
int vi = indices->at(i*3+p);
|
|
m_data->m_convexIndices[indexOffset+p] = vi;//convexPtr->m_faces[i].m_indices[p];
|
|
}
|
|
}
|
|
|
|
convex.m_numVertices = vertices->size();
|
|
int vertexOffset = m_data->m_convexVertices.size();
|
|
convex.m_vertexOffset =vertexOffset;
|
|
m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
|
|
for (int i=0;i<vertices->size();i++)
|
|
{
|
|
m_data->m_convexVertices[vertexOffset+i] = vertices->at(i)*scaling;
|
|
}
|
|
|
|
(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0;
|
|
|
|
m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
|
|
|
|
m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
|
|
m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges);
|
|
m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices);
|
|
m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices);
|
|
|
|
return m_data->m_numAcceleratedShapes++;
|
|
}
|
|
|
|
|
|
|
|
cl_mem btGpuNarrowPhase::getBodiesGpu()
|
|
{
|
|
return (cl_mem)m_data->m_bodyBufferGPU->getBufferCL();
|
|
}
|
|
|
|
|
|
int btGpuNarrowPhase::getNumBodiesGpu() const
|
|
{
|
|
return m_data->m_bodyBufferGPU->size();
|
|
}
|
|
|
|
cl_mem btGpuNarrowPhase::getBodyInertiasGpu()
|
|
{
|
|
return (cl_mem)m_data->m_inertiaBufferGPU->getBufferCL();
|
|
}
|
|
|
|
int btGpuNarrowPhase::getNumBodyInertiasGpu() const
|
|
{
|
|
return m_data->m_inertiaBufferGPU->size();
|
|
}
|
|
|
|
|
|
btCollidable& btGpuNarrowPhase::getCollidableCpu(int collidableIndex)
|
|
{
|
|
return m_data->m_collidablesCPU[collidableIndex];
|
|
}
|
|
|
|
const btCollidable& btGpuNarrowPhase::getCollidableCpu(int collidableIndex) const
|
|
{
|
|
return m_data->m_collidablesCPU[collidableIndex];
|
|
}
|
|
|
|
cl_mem btGpuNarrowPhase::getCollidablesGpu()
|
|
{
|
|
return m_data->m_collidablesGPU->getBufferCL();
|
|
}
|
|
|
|
cl_mem btGpuNarrowPhase::getAabbBufferGpu()
|
|
{
|
|
return m_data->m_localShapeAABBGPU->getBufferCL();
|
|
}
|
|
int btGpuNarrowPhase::getNumCollidablesGpu() const
|
|
{
|
|
return m_data->m_collidablesGPU->size();
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
int btGpuNarrowPhase::getNumContactsGpu() const
|
|
{
|
|
return m_data->m_pBufContactOutGPU->size();
|
|
}
|
|
cl_mem btGpuNarrowPhase::getContactsGpu()
|
|
{
|
|
return m_data->m_pBufContactOutGPU->getBufferCL();
|
|
}
|
|
|
|
|
|
void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWS, int numObjects)
|
|
{
|
|
int nContactOut = 0;
|
|
|
|
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
|
|
btOpenCLArray<btInt4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
|
|
int numTriConvexPairsOut=0;
|
|
|
|
btOpenCLArray<btInt2> broadphasePairsGPU(m_context,m_queue);
|
|
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
|
|
btOpenCLArray<btYetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
|
|
clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);
|
|
|
|
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
|
|
&broadphasePairsGPU, numBroadphasePairs,
|
|
m_data->m_bodyBufferGPU,
|
|
m_data->m_pBufContactOutGPU,
|
|
nContactOut,
|
|
*m_data->m_convexPolyhedraGPU,
|
|
*m_data->m_convexVerticesGPU,
|
|
*m_data->m_uniqueEdgesGPU,
|
|
*m_data->m_convexFacesGPU,
|
|
*m_data->m_convexIndicesGPU,
|
|
*m_data->m_collidablesGPU,
|
|
*m_data->m_gpuChildShapes,
|
|
clAabbArray,
|
|
*m_data->m_worldVertsB1GPU,
|
|
*m_data->m_clippingFacesOutGPU,
|
|
*m_data->m_worldNormalsAGPU,
|
|
*m_data->m_worldVertsA1GPU,
|
|
*m_data->m_worldVertsB2GPU,
|
|
m_data->m_bvhData,
|
|
m_data->m_treeNodesGPU,
|
|
m_data->m_subTreesGPU,
|
|
numObjects,
|
|
maxTriConvexPairCapacity,
|
|
triangleConvexPairs,
|
|
numTriConvexPairsOut
|
|
);
|
|
|
|
}
|
|
|
|
const btSapAabb& btGpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
|
|
{
|
|
return m_data->m_localShapeAABBCPU->at(collidableIndex);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
int btGpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation , const float* aabbMinPtr, const float* aabbMaxPtr,bool writeToGpu)
|
|
{
|
|
btVector3 aabbMin(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
|
|
btVector3 aabbMax (aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
|
|
|
|
btAssert(m_data->m_numAcceleratedRigidBodies< (m_data->m_config.m_maxConvexBodies-1));
|
|
|
|
m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies+1);
|
|
|
|
btRigidBodyCL& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
|
|
|
|
float friction = 1.f;
|
|
float restitution = 0.f;
|
|
|
|
body.m_frictionCoeff = friction;
|
|
body.m_restituitionCoeff = restitution;
|
|
body.m_angVel.setZero();
|
|
body.m_linVel.setValue(0,0,0);//.setZero();
|
|
body.m_pos.setValue(position[0],position[1],position[2]);
|
|
body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
|
|
body.m_collidableIdx = collidableIndex;
|
|
if (collidableIndex>=0)
|
|
{
|
|
// body.m_shapeType = m_data->m_collidablesCPU.at(collidableIndex).m_shapeType;
|
|
} else
|
|
{
|
|
// body.m_shapeType = CollisionShape::SHAPE_PLANE;
|
|
m_planeBodyIndex = m_data->m_numAcceleratedRigidBodies;
|
|
}
|
|
//body.m_shapeType = shapeType;
|
|
|
|
|
|
body.m_invMass = mass? 1.f/mass : 0.f;
|
|
|
|
if (writeToGpu)
|
|
{
|
|
m_data->m_bodyBufferGPU->copyFromHostPointer(&body,1,m_data->m_numAcceleratedRigidBodies);
|
|
}
|
|
|
|
btInertiaCL& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
|
|
|
|
if (mass==0.f)
|
|
{
|
|
if (m_data->m_numAcceleratedRigidBodies==0)
|
|
m_static0Index = 0;
|
|
|
|
shapeInfo.m_initInvInertia.setValue(0,0,0,0,0,0,0,0,0);
|
|
shapeInfo.m_invInertiaWorld.setValue(0,0,0,0,0,0,0,0,0);
|
|
} else
|
|
{
|
|
|
|
assert(body.m_collidableIdx>=0);
|
|
|
|
//approximate using the aabb of the shape
|
|
|
|
//Aabb aabb = (*m_data->m_shapePointers)[shapeIndex]->m_aabb;
|
|
btVector3 halfExtents = (aabbMax-aabbMin);//*0.5f;//fake larger inertia makes demos more stable ;-)
|
|
|
|
btVector3 localInertia;
|
|
|
|
float lx=2.f*halfExtents[0];
|
|
float ly=2.f*halfExtents[1];
|
|
float lz=2.f*halfExtents[2];
|
|
|
|
localInertia.setValue( (mass/12.0f) * (ly*ly + lz*lz),
|
|
(mass/12.0f) * (lx*lx + lz*lz),
|
|
(mass/12.0f) * (lx*lx + ly*ly));
|
|
|
|
btVector3 invLocalInertia;
|
|
invLocalInertia[0] = 1.f/localInertia[0];
|
|
invLocalInertia[1] = 1.f/localInertia[1];
|
|
invLocalInertia[2] = 1.f/localInertia[2];
|
|
invLocalInertia[3] = 0.f;
|
|
|
|
shapeInfo.m_initInvInertia.setValue(
|
|
invLocalInertia[0], 0, 0,
|
|
0, invLocalInertia[1], 0,
|
|
0, 0, invLocalInertia[2]);
|
|
|
|
btMatrix3x3 m (body.m_quat);
|
|
|
|
shapeInfo.m_invInertiaWorld = m.scaled(invLocalInertia) * m.transpose();
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}
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if (writeToGpu)
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m_data->m_inertiaBufferGPU->copyFromHostPointer(&shapeInfo,1,m_data->m_numAcceleratedRigidBodies);
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return m_data->m_numAcceleratedRigidBodies++;
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}
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void btGpuNarrowPhase::writeAllBodiesToGpu()
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{
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m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
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m_data->m_inertiaBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
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m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
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m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
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m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
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}
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