358f4f97a2
introduce and use maxContactCapacity (needs to be fixed in various other contact kernels) implement sphere versus trimesh disable new/sequential GPU batching (only uses 1 thread in a warp, slow but works on NVIDIA/Apple OpenCL)
1289 lines
34 KiB
Common Lisp
1289 lines
34 KiB
Common Lisp
//keep this enum in sync with the CPU version (in btCollidable.h)
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//written by Erwin Coumans
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#define SHAPE_CONVEX_HULL 3
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#define SHAPE_CONCAVE_TRIMESH 5
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#define TRIANGLE_NUM_CONVEX_FACES 5
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#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
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typedef unsigned int u32;
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///keep this in sync with btCollidable.h
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typedef struct
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{
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int m_numChildShapes;
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int blaat2;
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int m_shapeType;
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int m_shapeIndex;
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} btCollidableGpu;
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typedef struct
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{
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float4 m_childPosition;
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float4 m_childOrientation;
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int m_shapeIndex;
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int m_unused0;
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int m_unused1;
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int m_unused2;
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} btGpuChildShape;
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typedef struct
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{
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float4 m_pos;
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float4 m_quat;
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float4 m_linVel;
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float4 m_angVel;
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u32 m_collidableIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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} BodyData;
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typedef struct
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{
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float4 m_localCenter;
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float4 m_extents;
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float4 mC;
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float4 mE;
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float m_radius;
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int m_faceOffset;
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int m_numFaces;
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int m_numVertices;
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int m_vertexOffset;
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int m_uniqueEdgesOffset;
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int m_numUniqueEdges;
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int m_unused;
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} ConvexPolyhedronCL;
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typedef struct
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{
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union
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{
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float4 m_min;
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float m_minElems[4];
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int m_minIndices[4];
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};
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union
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{
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float4 m_max;
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float m_maxElems[4];
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int m_maxIndices[4];
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};
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} btAabbCL;
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typedef struct
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{
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float4 m_plane;
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int m_indexOffset;
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int m_numIndices;
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} btGpuFace;
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#define make_float4 (float4)
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__inline
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float4 cross3(float4 a, float4 b)
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{
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return cross(a,b);
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// float4 a1 = make_float4(a.xyz,0.f);
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// float4 b1 = make_float4(b.xyz,0.f);
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// return cross(a1,b1);
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//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);
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// float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);
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//return c;
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}
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__inline
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float dot3F4(float4 a, float4 b)
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{
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float4 a1 = make_float4(a.xyz,0.f);
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float4 b1 = make_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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__inline
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float4 fastNormalize4(float4 v)
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{
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v = make_float4(v.xyz,0.f);
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return fast_normalize(v);
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}
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///////////////////////////////////////
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// Quaternion
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///////////////////////////////////////
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typedef float4 Quaternion;
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b);
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__inline
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Quaternion qtNormalize(Quaternion in);
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__inline
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float4 qtRotate(Quaternion q, float4 vec);
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__inline
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Quaternion qtInvert(Quaternion q);
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b)
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{
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Quaternion ans;
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ans = cross3( a, b );
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ans += a.w*b+b.w*a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w*b.w - dot3F4(a, b);
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return ans;
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}
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__inline
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Quaternion qtNormalize(Quaternion in)
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{
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return fastNormalize4(in);
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// in /= length( in );
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// return in;
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}
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__inline
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float4 qtRotate(Quaternion q, float4 vec)
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{
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Quaternion qInv = qtInvert( q );
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = qtMul(qtMul(q,vcpy),qInv);
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return out;
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}
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__inline
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Quaternion qtInvert(Quaternion q)
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{
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return (Quaternion)(-q.xyz, q.w);
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}
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__inline
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float4 qtInvRotate(const Quaternion q, float4 vec)
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{
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return qtRotate( qtInvert( q ), vec );
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}
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__inline
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float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
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{
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return qtRotate( *orientation, *p ) + (*translation);
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}
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__inline
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float4 normalize3(const float4 a)
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{
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float4 n = make_float4(a.x, a.y, a.z, 0.f);
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return fastNormalize4( n );
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}
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inline void projectLocal(const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn,
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const float4* dir, const float4* vertices, float* min, float* max)
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{
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min[0] = FLT_MAX;
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max[0] = -FLT_MAX;
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int numVerts = hull->m_numVertices;
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const float4 localDir = qtInvRotate(orn,*dir);
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float offset = dot(pos,*dir);
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for(int i=0;i<numVerts;i++)
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{
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float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
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if(dp < min[0])
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min[0] = dp;
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if(dp > max[0])
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max[0] = dp;
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}
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if(min[0]>max[0])
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{
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float tmp = min[0];
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min[0] = max[0];
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max[0] = tmp;
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}
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min[0] += offset;
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max[0] += offset;
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}
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inline void project(__global const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn,
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const float4* dir, __global const float4* vertices, float* min, float* max)
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{
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min[0] = FLT_MAX;
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max[0] = -FLT_MAX;
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int numVerts = hull->m_numVertices;
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const float4 localDir = qtInvRotate(orn,*dir);
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float offset = dot(pos,*dir);
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for(int i=0;i<numVerts;i++)
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{
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float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
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if(dp < min[0])
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min[0] = dp;
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if(dp > max[0])
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max[0] = dp;
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}
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if(min[0]>max[0])
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{
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float tmp = min[0];
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min[0] = max[0];
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max[0] = tmp;
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}
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min[0] += offset;
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max[0] += offset;
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}
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inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
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const float4 posA,const float4 ornA,
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const float4 posB,const float4 ornB,
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float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)
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{
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float Min0,Max0;
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float Min1,Max1;
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projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
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project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);
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if(Max0<Min1 || Max1<Min0)
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return false;
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float d0 = Max0 - Min1;
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float d1 = Max1 - Min0;
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*depth = d0<d1 ? d0:d1;
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return true;
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}
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inline bool IsAlmostZero(const float4 v)
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{
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if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)
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return false;
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return true;
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}
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bool findSeparatingAxisLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
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const float4 posA1,
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const float4 ornA,
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const float4 posB1,
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const float4 ornB,
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const float4 DeltaC2,
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const float4* verticesA,
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const float4* uniqueEdgesA,
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const btGpuFace* facesA,
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const int* indicesA,
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__global const float4* verticesB,
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__global const float4* uniqueEdgesB,
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__global const btGpuFace* facesB,
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__global const int* indicesB,
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float4* sep,
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float* dmin)
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{
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int i = get_global_id(0);
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float4 posA = posA1;
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posA.w = 0.f;
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float4 posB = posB1;
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posB.w = 0.f;
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int curPlaneTests=0;
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{
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int numFacesA = hullA->m_numFaces;
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// Test normals from hullA
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for(int i=0;i<numFacesA;i++)
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{
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const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
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float4 faceANormalWS = qtRotate(ornA,normal);
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if (dot3F4(DeltaC2,faceANormalWS)<0)
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faceANormalWS*=-1.f;
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curPlaneTests++;
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float d;
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if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
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return false;
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if(d<*dmin)
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{
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*dmin = d;
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*sep = faceANormalWS;
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}
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}
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}
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if((dot3F4(-DeltaC2,*sep))>0.0f)
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{
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*sep = -(*sep);
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}
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return true;
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}
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bool findSeparatingAxisLocalB( __global const ConvexPolyhedronCL* hullA, const ConvexPolyhedronCL* hullB,
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const float4 posA1,
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const float4 ornA,
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const float4 posB1,
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const float4 ornB,
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const float4 DeltaC2,
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__global const float4* verticesA,
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__global const float4* uniqueEdgesA,
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__global const btGpuFace* facesA,
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__global const int* indicesA,
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const float4* verticesB,
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const float4* uniqueEdgesB,
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const btGpuFace* facesB,
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const int* indicesB,
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float4* sep,
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float* dmin)
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{
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int i = get_global_id(0);
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float4 posA = posA1;
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posA.w = 0.f;
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float4 posB = posB1;
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posB.w = 0.f;
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int curPlaneTests=0;
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{
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int numFacesA = hullA->m_numFaces;
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// Test normals from hullA
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for(int i=0;i<numFacesA;i++)
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{
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const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
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float4 faceANormalWS = qtRotate(ornA,normal);
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if (dot3F4(DeltaC2,faceANormalWS)<0)
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faceANormalWS *= -1.f;
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curPlaneTests++;
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float d;
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if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))
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return false;
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if(d<*dmin)
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{
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*dmin = d;
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*sep = faceANormalWS;
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}
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}
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}
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if((dot3F4(-DeltaC2,*sep))>0.0f)
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{
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*sep = -(*sep);
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}
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return true;
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}
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bool findSeparatingAxisEdgeEdgeLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
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const float4 posA1,
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const float4 ornA,
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const float4 posB1,
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const float4 ornB,
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const float4 DeltaC2,
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const float4* verticesA,
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const float4* uniqueEdgesA,
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const btGpuFace* facesA,
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const int* indicesA,
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__global const float4* verticesB,
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__global const float4* uniqueEdgesB,
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__global const btGpuFace* facesB,
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__global const int* indicesB,
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float4* sep,
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float* dmin)
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{
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int i = get_global_id(0);
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float4 posA = posA1;
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posA.w = 0.f;
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float4 posB = posB1;
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posB.w = 0.f;
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int curPlaneTests=0;
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int curEdgeEdge = 0;
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// Test edges
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for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
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{
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const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
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float4 edge0World = qtRotate(ornA,edge0);
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for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
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{
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const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
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float4 edge1World = qtRotate(ornB,edge1);
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float4 crossje = cross3(edge0World,edge1World);
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curEdgeEdge++;
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if(!IsAlmostZero(crossje))
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{
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crossje = normalize3(crossje);
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if (dot3F4(DeltaC2,crossje)<0)
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crossje *= -1.f;
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float dist;
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bool result = true;
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{
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float Min0,Max0;
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float Min1,Max1;
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projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
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project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
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if(Max0<Min1 || Max1<Min0)
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result = false;
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float d0 = Max0 - Min1;
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float d1 = Max1 - Min0;
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dist = d0<d1 ? d0:d1;
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result = true;
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}
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if(dist<*dmin)
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{
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*dmin = dist;
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*sep = crossje;
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}
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}
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}
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}
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if((dot3F4(-DeltaC2,*sep))>0.0f)
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{
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*sep = -(*sep);
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}
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return true;
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}
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inline bool TestSepAxis(__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
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const float4 posA,const float4 ornA,
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const float4 posB,const float4 ornB,
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float4* sep_axis, __global const float4* vertices,float* depth)
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{
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float Min0,Max0;
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float Min1,Max1;
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project(hullA,posA,ornA,sep_axis,vertices, &Min0, &Max0);
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project(hullB,posB,ornB, sep_axis,vertices, &Min1, &Max1);
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if(Max0<Min1 || Max1<Min0)
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return false;
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float d0 = Max0 - Min1;
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float d1 = Max1 - Min0;
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*depth = d0<d1 ? d0:d1;
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return true;
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}
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bool findSeparatingAxis( __global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
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const float4 posA1,
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const float4 ornA,
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const float4 posB1,
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const float4 ornB,
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const float4 DeltaC2,
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__global const float4* vertices,
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__global const float4* uniqueEdges,
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__global const btGpuFace* faces,
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__global const int* indices,
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float4* sep,
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float* dmin)
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{
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int i = get_global_id(0);
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float4 posA = posA1;
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posA.w = 0.f;
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float4 posB = posB1;
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posB.w = 0.f;
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int curPlaneTests=0;
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{
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int numFacesA = hullA->m_numFaces;
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// Test normals from hullA
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for(int i=0;i<numFacesA;i++)
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{
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const float4 normal = faces[hullA->m_faceOffset+i].m_plane;
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float4 faceANormalWS = qtRotate(ornA,normal);
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if (dot3F4(DeltaC2,faceANormalWS)<0)
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faceANormalWS*=-1.f;
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curPlaneTests++;
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|
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float d;
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if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, vertices,&d))
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return false;
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if(d<*dmin)
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{
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*dmin = d;
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*sep = faceANormalWS;
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}
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}
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}
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if((dot3F4(-DeltaC2,*sep))>0.0f)
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|
{
|
|
*sep = -(*sep);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
|
|
bool findSeparatingAxisEdgeEdge( __global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
|
|
const float4 posA1,
|
|
const float4 ornA,
|
|
const float4 posB1,
|
|
const float4 ornB,
|
|
const float4 DeltaC2,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
float4* sep,
|
|
float* dmin)
|
|
{
|
|
int i = get_global_id(0);
|
|
|
|
float4 posA = posA1;
|
|
posA.w = 0.f;
|
|
float4 posB = posB1;
|
|
posB.w = 0.f;
|
|
|
|
int curPlaneTests=0;
|
|
|
|
int curEdgeEdge = 0;
|
|
// Test edges
|
|
for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
|
|
{
|
|
const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];
|
|
float4 edge0World = qtRotate(ornA,edge0);
|
|
|
|
for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
|
|
{
|
|
const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];
|
|
float4 edge1World = qtRotate(ornB,edge1);
|
|
|
|
|
|
float4 crossje = cross3(edge0World,edge1World);
|
|
|
|
curEdgeEdge++;
|
|
if(!IsAlmostZero(crossje))
|
|
{
|
|
crossje = normalize3(crossje);
|
|
if (dot3F4(DeltaC2,crossje)<0)
|
|
crossje*=-1.f;
|
|
|
|
float dist;
|
|
bool result = true;
|
|
{
|
|
float Min0,Max0;
|
|
float Min1,Max1;
|
|
project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);
|
|
project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);
|
|
|
|
if(Max0<Min1 || Max1<Min0)
|
|
result = false;
|
|
|
|
float d0 = Max0 - Min1;
|
|
float d1 = Max1 - Min0;
|
|
dist = d0<d1 ? d0:d1;
|
|
result = true;
|
|
|
|
}
|
|
|
|
|
|
if(dist<*dmin)
|
|
{
|
|
*dmin = dist;
|
|
*sep = crossje;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
if((dot3F4(-DeltaC2,*sep))>0.0f)
|
|
{
|
|
*sep = -(*sep);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
// work-in-progress
|
|
__kernel void processCompoundPairsKernel( __global const int4* gpuCompoundPairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global btAabbCL* aabbs,
|
|
__global const btGpuChildShape* gpuChildShapes,
|
|
__global volatile float4* gpuCompoundSepNormalsOut,
|
|
__global volatile int* gpuHasCompoundSepNormalsOut,
|
|
int numCompoundPairs
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
if (i<numCompoundPairs)
|
|
{
|
|
int bodyIndexA = gpuCompoundPairs[i].x;
|
|
int bodyIndexB = gpuCompoundPairs[i].y;
|
|
|
|
int childShapeIndexA = gpuCompoundPairs[i].z;
|
|
int childShapeIndexB = gpuCompoundPairs[i].w;
|
|
|
|
int collidableIndexA = -1;
|
|
int collidableIndexB = -1;
|
|
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
|
|
float4 ornB = rigidBodies[bodyIndexB].m_quat;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
|
|
if (childShapeIndexA >= 0)
|
|
{
|
|
collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
|
|
float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
|
|
float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
|
|
float4 newPosA = qtRotate(ornA,childPosA)+posA;
|
|
float4 newOrnA = qtMul(ornA,childOrnA);
|
|
posA = newPosA;
|
|
ornA = newOrnA;
|
|
} else
|
|
{
|
|
collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
}
|
|
|
|
if (childShapeIndexB>=0)
|
|
{
|
|
collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
|
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
|
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
|
float4 newOrnB = qtMul(ornB,childOrnB);
|
|
posB = newPosB;
|
|
ornB = newOrnB;
|
|
} else
|
|
{
|
|
collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
}
|
|
|
|
gpuHasCompoundSepNormalsOut[i] = 0;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
int shapeTypeA = collidables[collidableIndexA].m_shapeType;
|
|
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
|
|
|
|
|
|
if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))
|
|
{
|
|
return;
|
|
}
|
|
|
|
int hasSeparatingAxis = 5;
|
|
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
float dmin = FLT_MAX;
|
|
posA.w = 0.f;
|
|
posB.w = 0.f;
|
|
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
float4 sepNormal = make_float4(1,0,0,0);
|
|
bool sepA = findSeparatingAxis( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
|
|
hasSeparatingAxis = 4;
|
|
if (!sepA)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
bool sepB = findSeparatingAxis( &convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,posA,ornA,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
|
|
|
|
if (!sepB)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else//(!sepB)
|
|
{
|
|
bool sepEE = findSeparatingAxisEdgeEdge( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
|
|
if (sepEE)
|
|
{
|
|
gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);
|
|
gpuHasCompoundSepNormalsOut[i] = 1;
|
|
}//sepEE
|
|
}//(!sepB)
|
|
}//(!sepA)
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
// work-in-progress
|
|
__kernel void findCompoundPairsKernel( __global const int2* pairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global btAabbCL* aabbs,
|
|
__global const btGpuChildShape* gpuChildShapes,
|
|
__global volatile int4* gpuCompoundPairsOut,
|
|
__global volatile int* numCompoundPairsOut,
|
|
int numPairs,
|
|
int maxNumCompoundPairsCapacity
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
|
|
if (i<numPairs)
|
|
{
|
|
int bodyIndexA = pairs[i].x;
|
|
int bodyIndexB = pairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
|
|
//once the broadphase avoids static-static pairs, we can remove this test
|
|
if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
|
|
{
|
|
return;
|
|
}
|
|
|
|
if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
|
|
{
|
|
|
|
if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
|
|
int numChildrenA = collidables[collidableIndexA].m_numChildShapes;
|
|
for (int c=0;c<numChildrenA;c++)
|
|
{
|
|
int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;
|
|
int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
|
|
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
|
|
float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
|
|
float4 newPosA = qtRotate(ornA,childPosA)+posA;
|
|
float4 newOrnA = qtMul(ornA,childOrnA);
|
|
|
|
int shapeIndexA = collidables[childColIndexA].m_shapeIndex;
|
|
|
|
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
|
|
for (int b=0;b<numChildrenB;b++)
|
|
{
|
|
int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
|
|
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
float4 ornB = rigidBodies[bodyIndexB].m_quat;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
|
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
|
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
|
float4 newOrnB = qtMul(ornB,childOrnB);
|
|
|
|
int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
|
|
|
|
if (1)
|
|
{
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
float dmin = FLT_MAX;
|
|
float4 posA = newPosA;
|
|
posA.w = 0.f;
|
|
float4 posB = newPosB;
|
|
posB.w = 0.f;
|
|
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
|
|
float4 ornA = newOrnA;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 ornB =newOrnB;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
|
|
{//
|
|
int compoundPairIdx = atomic_inc(numCompoundPairsOut);
|
|
if (compoundPairIdx<maxNumCompoundPairsCapacity)
|
|
{
|
|
gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);
|
|
}
|
|
}//
|
|
}//fi(1)
|
|
} //for (int b=0
|
|
}//if (collidables[collidableIndexB].
|
|
else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
if (1)
|
|
{
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
float dmin = FLT_MAX;
|
|
float4 posA = newPosA;
|
|
posA.w = 0.f;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
posB.w = 0.f;
|
|
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
|
|
float4 ornA = newOrnA;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 ornB = rigidBodies[bodyIndexB].m_quat;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
|
|
{
|
|
int compoundPairIdx = atomic_inc(numCompoundPairsOut);
|
|
if (compoundPairIdx<maxNumCompoundPairsCapacity)
|
|
{
|
|
gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,-1);
|
|
}//if (compoundPairIdx<maxNumCompoundPairsCapacity)
|
|
}//
|
|
}//fi (1)
|
|
}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
}//for (int b=0;b<numChildrenB;b++)
|
|
return;
|
|
}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
|
|
for (int b=0;b<numChildrenB;b++)
|
|
{
|
|
int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
|
|
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
float4 ornB = rigidBodies[bodyIndexB].m_quat;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
|
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
|
float4 newPosB = qtRotate(ornB,childPosB)+posB;
|
|
float4 newOrnB = qtMul(ornB,childOrnB);
|
|
|
|
int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
|
|
|
|
|
|
//////////////////////////////////////
|
|
|
|
if (1)
|
|
{
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
float dmin = FLT_MAX;
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
posA.w = 0.f;
|
|
float4 posB = newPosB;
|
|
posB.w = 0.f;
|
|
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 ornB =newOrnB;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
{//
|
|
int compoundPairIdx = atomic_inc(numCompoundPairsOut);
|
|
if (compoundPairIdx<maxNumCompoundPairsCapacity)
|
|
{
|
|
gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,-1,childShapeIndexB);
|
|
}//fi (compoundPairIdx<maxNumCompoundPairsCapacity)
|
|
}//
|
|
}//fi (1)
|
|
}//for (int b=0;b<numChildrenB;b++)
|
|
return;
|
|
}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
return;
|
|
}//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
|
|
}//i<numPairs
|
|
}
|
|
|
|
// work-in-progress
|
|
__kernel void findSeparatingAxisKernel( __global const int2* pairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global btAabbCL* aabbs,
|
|
__global volatile float4* separatingNormals,
|
|
__global volatile int* hasSeparatingAxis,
|
|
int numPairs
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
|
|
if (i<numPairs)
|
|
{
|
|
|
|
|
|
int bodyIndexA = pairs[i].x;
|
|
int bodyIndexB = pairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
|
|
//once the broadphase avoids static-static pairs, we can remove this test
|
|
if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
|
|
{
|
|
hasSeparatingAxis[i] = 0;
|
|
return;
|
|
}
|
|
|
|
|
|
if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
|
|
{
|
|
hasSeparatingAxis[i] = 0;
|
|
return;
|
|
}
|
|
|
|
if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))
|
|
{
|
|
hasSeparatingAxis[i] = 0;
|
|
return;
|
|
}
|
|
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
|
|
float dmin = FLT_MAX;
|
|
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
posA.w = 0.f;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
posB.w = 0.f;
|
|
float4 c0local = convexShapes[shapeIndexA].m_localCenter;
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
float4 sepNormal;
|
|
|
|
bool sepA = findSeparatingAxis( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
|
|
posB,ornB,
|
|
DeltaC2,
|
|
vertices,uniqueEdges,faces,
|
|
indices,&sepNormal,&dmin);
|
|
hasSeparatingAxis[i] = 4;
|
|
if (!sepA)
|
|
{
|
|
hasSeparatingAxis[i] = 0;
|
|
} else
|
|
{
|
|
bool sepB = findSeparatingAxis( &convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,
|
|
posA,ornA,
|
|
DeltaC2,
|
|
vertices,uniqueEdges,faces,
|
|
indices,&sepNormal,&dmin);
|
|
|
|
if (!sepB)
|
|
{
|
|
hasSeparatingAxis[i] = 0;
|
|
} else
|
|
{
|
|
bool sepEE = findSeparatingAxisEdgeEdge( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
|
|
posB,ornB,
|
|
DeltaC2,
|
|
vertices,uniqueEdges,faces,
|
|
indices,&sepNormal,&dmin);
|
|
if (!sepEE)
|
|
{
|
|
hasSeparatingAxis[i] = 0;
|
|
} else
|
|
{
|
|
hasSeparatingAxis[i] = 1;
|
|
separatingNormals[i] = sepNormal;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// work-in-progress
|
|
__kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global btAabbCL* aabbs,
|
|
__global volatile float4* separatingNormals,
|
|
__global volatile int* hasSeparatingAxis,
|
|
__global float4* concaveSeparatingNormalsOut,
|
|
int numConcavePairs
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
if (i>=numConcavePairs)
|
|
return;
|
|
int pairIdx = i;
|
|
|
|
int bodyIndexA = concavePairs[i].x;
|
|
int bodyIndexB = concavePairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL)
|
|
{
|
|
concavePairs[pairIdx].w = 0;
|
|
return;
|
|
}
|
|
|
|
|
|
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
int numActualConcaveConvexTests = 0;
|
|
|
|
int f = concavePairs[i].z;
|
|
|
|
bool overlap = false;
|
|
|
|
ConvexPolyhedronCL convexPolyhedronA;
|
|
|
|
//add 3 vertices of the triangle
|
|
convexPolyhedronA.m_numVertices = 3;
|
|
convexPolyhedronA.m_vertexOffset = 0;
|
|
float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
|
|
|
|
btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
|
|
float4 triMinAabb, triMaxAabb;
|
|
btAabbCL triAabb;
|
|
triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
|
|
triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
|
|
|
|
float4 verticesA[3];
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
int index = indices[face.m_indexOffset+i];
|
|
float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
|
|
verticesA[i] = vert;
|
|
localCenter += vert;
|
|
|
|
triAabb.m_min = min(triAabb.m_min,vert);
|
|
triAabb.m_max = max(triAabb.m_max,vert);
|
|
|
|
}
|
|
|
|
overlap = true;
|
|
overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
|
|
overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
|
|
overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
|
|
|
|
if (overlap)
|
|
{
|
|
float dmin = FLT_MAX;
|
|
int hasSeparatingAxis=5;
|
|
float4 sepAxis=make_float4(1,2,3,4);
|
|
|
|
int localCC=0;
|
|
numActualConcaveConvexTests++;
|
|
|
|
//a triangle has 3 unique edges
|
|
convexPolyhedronA.m_numUniqueEdges = 3;
|
|
convexPolyhedronA.m_uniqueEdgesOffset = 0;
|
|
float4 uniqueEdgesA[3];
|
|
|
|
uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
|
|
uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
|
|
uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
|
|
|
|
|
|
convexPolyhedronA.m_faceOffset = 0;
|
|
|
|
float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
|
|
|
|
btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
|
|
int indicesA[3+3+2+2+2];
|
|
int curUsedIndices=0;
|
|
int fidx=0;
|
|
|
|
//front size of triangle
|
|
{
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[0] = 0;
|
|
indicesA[1] = 1;
|
|
indicesA[2] = 2;
|
|
curUsedIndices+=3;
|
|
float c = face.m_plane.w;
|
|
facesA[fidx].m_plane.x = normal.x;
|
|
facesA[fidx].m_plane.y = normal.y;
|
|
facesA[fidx].m_plane.z = normal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
facesA[fidx].m_numIndices=3;
|
|
}
|
|
fidx++;
|
|
//back size of triangle
|
|
{
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[3]=2;
|
|
indicesA[4]=1;
|
|
indicesA[5]=0;
|
|
curUsedIndices+=3;
|
|
float c = dot(normal,verticesA[0]);
|
|
float c1 = -face.m_plane.w;
|
|
facesA[fidx].m_plane.x = -normal.x;
|
|
facesA[fidx].m_plane.y = -normal.y;
|
|
facesA[fidx].m_plane.z = -normal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
facesA[fidx].m_numIndices=3;
|
|
}
|
|
fidx++;
|
|
|
|
bool addEdgePlanes = true;
|
|
if (addEdgePlanes)
|
|
{
|
|
int numVertices=3;
|
|
int prevVertex = numVertices-1;
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
float4 v0 = verticesA[i];
|
|
float4 v1 = verticesA[prevVertex];
|
|
|
|
float4 edgeNormal = normalize(cross(normal,v1-v0));
|
|
float c = -dot(edgeNormal,v0);
|
|
|
|
facesA[fidx].m_numIndices = 2;
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[curUsedIndices++]=i;
|
|
indicesA[curUsedIndices++]=prevVertex;
|
|
|
|
facesA[fidx].m_plane.x = edgeNormal.x;
|
|
facesA[fidx].m_plane.y = edgeNormal.y;
|
|
facesA[fidx].m_plane.z = edgeNormal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
fidx++;
|
|
prevVertex = i;
|
|
}
|
|
}
|
|
convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
|
|
convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
|
|
|
|
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
posA.w = 0.f;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
posB.w = 0.f;
|
|
float4 c0local = convexPolyhedronA.m_localCenter;
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
|
|
bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
|
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
|
DeltaC2,
|
|
verticesA,uniqueEdgesA,facesA,indicesA,
|
|
vertices,uniqueEdges,faces,indices,
|
|
&sepAxis,&dmin);
|
|
hasSeparatingAxis = 4;
|
|
if (!sepA)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
|
rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
|
DeltaC2,
|
|
vertices,uniqueEdges,faces,indices,
|
|
verticesA,uniqueEdgesA,facesA,indicesA,
|
|
&sepAxis,&dmin);
|
|
|
|
if (!sepB)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
|
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
|
DeltaC2,
|
|
verticesA,uniqueEdgesA,facesA,indicesA,
|
|
vertices,uniqueEdges,faces,indices,
|
|
&sepAxis,&dmin);
|
|
|
|
if (!sepEE)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
hasSeparatingAxis = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (hasSeparatingAxis)
|
|
{
|
|
sepAxis.w = dmin;
|
|
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
|
|
} else
|
|
{
|
|
//mark this pair as in-active
|
|
concavePairs[pairIdx].w = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//mark this pair as in-active
|
|
concavePairs[pairIdx].w = 0;
|
|
}
|
|
}
|