682 lines
25 KiB
C++
682 lines
25 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
|
|
///This file was written by Erwin Coumans
|
|
///Separating axis rest based on work from Pierre Terdiman, see
|
|
///And contact clipping based on work from Simon Hobbs
|
|
|
|
//#define BT_DEBUG_SAT_FACE
|
|
|
|
#include "ConvexHullContact.h"
|
|
#include <string.h>//memcpy
|
|
#include "btConvexPolyhedronCL.h"
|
|
|
|
|
|
typedef btAlignedObjectArray<btVector3> btVertexArray;
|
|
#include "BulletCommon/btQuickprof.h"
|
|
|
|
#include <float.h> //for FLT_MAX
|
|
#include "basic_initialize/btOpenCLUtils.h"
|
|
#include "parallel_primitives/host/btLauncherCL.h"
|
|
//#include "AdlQuaternion.h"
|
|
|
|
#include "../kernels/satKernels.h"
|
|
#include "../kernels/satClipHullContacts.h"
|
|
#include "../kernels/bvhTraversal.h"
|
|
|
|
#include "BulletGeometry/btAabbUtil2.h"
|
|
|
|
|
|
#define dot3F4 btDot
|
|
|
|
GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q )
|
|
:m_context(ctx),
|
|
m_device(device),
|
|
m_queue(q),
|
|
m_findSeparatingAxisKernel(0),
|
|
m_totalContactsOut(m_context, m_queue)
|
|
{
|
|
m_totalContactsOut.push_back(0);
|
|
|
|
cl_int errNum=0;
|
|
|
|
if (1)
|
|
{
|
|
const char* src = satKernelsCL;
|
|
cl_program satProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,"","opencl/gpu_sat/kernels/sat.cl");
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_findSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisKernel",&errNum,satProg );
|
|
|
|
m_findConcaveSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisKernel",&errNum,satProg );
|
|
|
|
|
|
m_findCompoundPairsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findCompoundPairsKernel",&errNum,satProg );
|
|
|
|
m_processCompoundPairsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "processCompoundPairsKernel",&errNum,satProg );
|
|
btAssert(errNum==CL_SUCCESS);
|
|
}
|
|
|
|
if (1)
|
|
{
|
|
const char* srcClip = satClipKernelsCL;
|
|
cl_program satClipContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,"","opencl/gpu_sat/kernels/satClipHullContacts.cl");
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_clipHullHullKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_clipCompoundsHullHullKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipCompoundsHullHullKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
|
|
m_findClippingFacesKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "findClippingFacesKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_clipFacesAndContactReductionKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipFacesAndContactReductionKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_clipHullHullConcaveConvexKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_extractManifoldAndAddContactKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_newContactReductionKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
|
|
"newContactReductionKernel",&errNum,satClipContactsProg);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
}
|
|
else
|
|
{
|
|
m_clipHullHullKernel=0;
|
|
m_clipCompoundsHullHullKernel = 0;
|
|
m_findClippingFacesKernel = 0;
|
|
m_newContactReductionKernel=0;
|
|
m_clipFacesAndContactReductionKernel = 0;
|
|
m_clipHullHullConcaveConvexKernel = 0;
|
|
m_extractManifoldAndAddContactKernel = 0;
|
|
}
|
|
|
|
if (1)
|
|
{
|
|
const char* srcBvh = bvhTraversalKernelCL;
|
|
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl");
|
|
//cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl", true);
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
m_bvhTraversalKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcBvh, "bvhTraversalKernel",&errNum,bvhTraversalProg,"-g");
|
|
btAssert(errNum==CL_SUCCESS);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
GpuSatCollision::~GpuSatCollision()
|
|
{
|
|
|
|
if (m_findSeparatingAxisKernel)
|
|
clReleaseKernel(m_findSeparatingAxisKernel);
|
|
|
|
if (m_findConcaveSeparatingAxisKernel)
|
|
clReleaseKernel(m_findConcaveSeparatingAxisKernel);
|
|
|
|
if (m_findCompoundPairsKernel)
|
|
clReleaseKernel(m_findCompoundPairsKernel);
|
|
|
|
if (m_processCompoundPairsKernel)
|
|
clReleaseKernel(m_processCompoundPairsKernel);
|
|
|
|
if (m_findClippingFacesKernel)
|
|
clReleaseKernel(m_findClippingFacesKernel);
|
|
|
|
if (m_clipFacesAndContactReductionKernel)
|
|
clReleaseKernel(m_clipFacesAndContactReductionKernel);
|
|
if (m_newContactReductionKernel)
|
|
clReleaseKernel(m_newContactReductionKernel);
|
|
|
|
if (m_clipHullHullKernel)
|
|
clReleaseKernel(m_clipHullHullKernel);
|
|
if (m_clipCompoundsHullHullKernel)
|
|
clReleaseKernel(m_clipCompoundsHullHullKernel);
|
|
|
|
if (m_clipHullHullConcaveConvexKernel)
|
|
clReleaseKernel(m_clipHullHullConcaveConvexKernel);
|
|
if (m_extractManifoldAndAddContactKernel)
|
|
clReleaseKernel(m_extractManifoldAndAddContactKernel);
|
|
|
|
if (m_bvhTraversalKernel)
|
|
clReleaseKernel(m_bvhTraversalKernel);
|
|
|
|
}
|
|
|
|
struct MyTriangleCallback : public btNodeOverlapCallback
|
|
{
|
|
int m_bodyIndexA;
|
|
int m_bodyIndexB;
|
|
|
|
virtual void processNode(int subPart, int triangleIndex)
|
|
{
|
|
printf("bodyIndexA %d, bodyIndexB %d\n",m_bodyIndexA,m_bodyIndexB);
|
|
printf("triangleIndex %d\n", triangleIndex);
|
|
}
|
|
};
|
|
|
|
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs,
|
|
const btOpenCLArray<btRigidBodyCL>* bodyBuf,
|
|
btOpenCLArray<btContact4>* contactOut, int& nContacts,
|
|
|
|
const btOpenCLArray<btConvexPolyhedronCL>& convexData,
|
|
const btOpenCLArray<btVector3>& gpuVertices,
|
|
const btOpenCLArray<btVector3>& gpuUniqueEdges,
|
|
const btOpenCLArray<btGpuFace>& gpuFaces,
|
|
const btOpenCLArray<int>& gpuIndices,
|
|
const btOpenCLArray<btCollidable>& gpuCollidables,
|
|
const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
|
|
|
|
const btOpenCLArray<btYetAnotherAabb>& clAabbsWS,
|
|
btOpenCLArray<btVector3>& worldVertsB1GPU,
|
|
btOpenCLArray<btInt4>& clippingFacesOutGPU,
|
|
btOpenCLArray<btVector3>& worldNormalsAGPU,
|
|
btOpenCLArray<btVector3>& worldVertsA1GPU,
|
|
btOpenCLArray<btVector3>& worldVertsB2GPU,
|
|
btAlignedObjectArray<class btOptimizedBvh*>& bvhData,
|
|
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
|
|
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
|
|
int numObjects,
|
|
int maxTriConvexPairCapacity,
|
|
btOpenCLArray<btInt4>& triangleConvexPairsOut,
|
|
int& numTriConvexPairsOut
|
|
)
|
|
{
|
|
if (!nPairs)
|
|
return;
|
|
|
|
BT_PROFILE("computeConvexConvexContactsGPUSAT");
|
|
// printf("nContacts = %d\n",nContacts);
|
|
|
|
btOpenCLArray<btVector3> sepNormals(m_context,m_queue);
|
|
sepNormals.resize(nPairs);
|
|
btOpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
|
|
hasSeparatingNormals.resize(nPairs);
|
|
|
|
int concaveCapacity=maxTriConvexPairCapacity;
|
|
btOpenCLArray<btVector3> concaveSepNormals(m_context,m_queue);
|
|
concaveSepNormals.resize(concaveCapacity);
|
|
|
|
btOpenCLArray<int> numConcavePairsOut(m_context,m_queue);
|
|
numConcavePairsOut.push_back(0);
|
|
|
|
int compoundPairCapacity=65536*10;
|
|
btOpenCLArray<btCompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
|
|
gpuCompoundPairs.resize(compoundPairCapacity);
|
|
|
|
btOpenCLArray<btVector3> gpuCompoundSepNormals(m_context,m_queue);
|
|
gpuCompoundSepNormals.resize(compoundPairCapacity);
|
|
|
|
|
|
btOpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue);
|
|
gpuHasCompoundSepNormals.resize(compoundPairCapacity);
|
|
|
|
btOpenCLArray<int> numCompoundPairsOut(m_context,m_queue);
|
|
numCompoundPairsOut.push_back(0);
|
|
|
|
int numCompoundPairs = 0;
|
|
|
|
bool findSeparatingAxisOnGpu = true;//false;
|
|
int numConcavePairs =0;
|
|
|
|
{
|
|
clFinish(m_queue);
|
|
if (findSeparatingAxisOnGpu)
|
|
{
|
|
|
|
{
|
|
BT_PROFILE("findSeparatingAxisKernel");
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( pairs->getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
|
|
btBufferInfoCL( sepNormals.getBufferCL()),
|
|
btBufferInfoCL( hasSeparatingNormals.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( nPairs );
|
|
|
|
int num = nPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
//now perform the tree query on GPU
|
|
{
|
|
|
|
int numNodes = bvhData.size()? bvhData[0]->getQuantizedNodeArray().size() : 0;
|
|
if (numNodes)
|
|
{
|
|
int numSubTrees = subTreesGPU->size();
|
|
btVector3 bvhAabbMin = bvhData[0]->m_bvhAabbMin;
|
|
btVector3 bvhAabbMax = bvhData[0]->m_bvhAabbMax;
|
|
btVector3 bvhQuantization = bvhData[0]->m_bvhQuantization;
|
|
{
|
|
BT_PROFILE("m_bvhTraversalKernel");
|
|
numConcavePairs = numConcavePairsOut.at(0);
|
|
btLauncherCL launcher(m_queue, m_bvhTraversalKernel);
|
|
launcher.setBuffer( pairs->getBufferCL());
|
|
launcher.setBuffer( bodyBuf->getBufferCL());
|
|
launcher.setBuffer( gpuCollidables.getBufferCL());
|
|
launcher.setBuffer( clAabbsWS.getBufferCL());
|
|
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
|
|
launcher.setBuffer( numConcavePairsOut.getBufferCL());
|
|
launcher.setBuffer( subTreesGPU->getBufferCL());
|
|
launcher.setBuffer( treeNodesGPU->getBufferCL());
|
|
launcher.setConst( bvhAabbMin);
|
|
launcher.setConst( bvhAabbMax);
|
|
launcher.setConst( bvhQuantization);
|
|
launcher.setConst(numSubTrees);
|
|
launcher.setConst( nPairs );
|
|
launcher.setConst( maxTriConvexPairCapacity);
|
|
int num = nPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
numConcavePairs = numConcavePairsOut.at(0);
|
|
|
|
if (numConcavePairs > maxTriConvexPairCapacity)
|
|
{
|
|
static int exceeded_maxTriConvexPairCapacity_count = 0;
|
|
printf("Rxceeded %d times the maxTriConvexPairCapacity (found %d but max is %d)\n", exceeded_maxTriConvexPairCapacity_count++,
|
|
numConcavePairs,maxTriConvexPairCapacity);
|
|
numConcavePairs = maxTriConvexPairCapacity;
|
|
}
|
|
triangleConvexPairsOut.resize(numConcavePairs);
|
|
if (numConcavePairs)
|
|
{
|
|
//now perform a SAT test for each triangle-convex element (stored in triangleConvexPairsOut)
|
|
BT_PROFILE("findConcaveSeparatingAxisKernel");
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
|
|
btBufferInfoCL( sepNormals.getBufferCL()),
|
|
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
|
|
btBufferInfoCL( concaveSepNormals.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
|
|
launcher.setConst( numConcavePairs );
|
|
|
|
int num = numConcavePairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
{
|
|
BT_PROFILE("findCompoundPairsKernel");
|
|
btBufferInfoCL bInfo[] =
|
|
{
|
|
btBufferInfoCL( pairs->getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
|
|
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
|
btBufferInfoCL( gpuCompoundPairs.getBufferCL()),
|
|
btBufferInfoCL( numCompoundPairsOut.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_findCompoundPairsKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( nPairs );
|
|
launcher.setConst( compoundPairCapacity);
|
|
|
|
int num = nPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
|
|
numCompoundPairs = numCompoundPairsOut.at(0);
|
|
//printf("numCompoundPairs =%d\n",numCompoundPairs );
|
|
if (numCompoundPairs > compoundPairCapacity)
|
|
numCompoundPairs = compoundPairCapacity;
|
|
|
|
gpuCompoundPairs.resize(numCompoundPairs);
|
|
gpuHasCompoundSepNormals.resize(numCompoundPairs);
|
|
gpuCompoundSepNormals.resize(numCompoundPairs);
|
|
|
|
|
|
if (numCompoundPairs)
|
|
{
|
|
|
|
BT_PROFILE("processCompoundPairsKernel");
|
|
btBufferInfoCL bInfo[] =
|
|
{
|
|
btBufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
|
|
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
|
btBufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
|
|
btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_processCompoundPairsKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( numCompoundPairs );
|
|
|
|
int num = numCompoundPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
|
|
}
|
|
|
|
|
|
//printf("numConcave = %d\n",numConcave);
|
|
|
|
}//if (findSeparatingAxisOnGpu)
|
|
|
|
|
|
// printf("hostNormals.size()=%d\n",hostNormals.size());
|
|
//int numPairs = pairCount.at(0);
|
|
|
|
|
|
|
|
}
|
|
#ifdef __APPLE__
|
|
bool contactClippingOnGpu = true;
|
|
#else
|
|
bool contactClippingOnGpu = true;
|
|
#endif
|
|
|
|
if (contactClippingOnGpu)
|
|
{
|
|
//BT_PROFILE("clipHullHullKernel");
|
|
|
|
|
|
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
|
|
|
|
//concave-convex contact clipping
|
|
|
|
if (numConcavePairs)
|
|
{
|
|
BT_PROFILE("clipHullHullConcaveConvexKernel");
|
|
nContacts = m_totalContactsOut.at(0);
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( concaveSepNormals.getBufferCL()),
|
|
btBufferInfoCL( contactOut->getBufferCL()),
|
|
btBufferInfoCL( m_totalContactsOut.getBufferCL())
|
|
};
|
|
btLauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( numConcavePairs );
|
|
int num = numConcavePairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
nContacts = m_totalContactsOut.at(0);
|
|
}
|
|
|
|
|
|
//convex-convex contact clipping
|
|
if (1)
|
|
{
|
|
BT_PROFILE("clipHullHullKernel");
|
|
bool breakupKernel = false;
|
|
|
|
#ifdef __APPLE__
|
|
breakupKernel = true;
|
|
#endif
|
|
|
|
if (breakupKernel)
|
|
{
|
|
|
|
|
|
|
|
int vertexFaceCapacity = 64;
|
|
|
|
|
|
worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
|
|
|
|
|
|
clippingFacesOutGPU.resize(nPairs);
|
|
|
|
|
|
worldNormalsAGPU.resize(nPairs);
|
|
|
|
|
|
worldVertsA1GPU.resize(vertexFaceCapacity*nPairs);
|
|
|
|
|
|
worldVertsB2GPU.resize(vertexFaceCapacity*nPairs);
|
|
|
|
|
|
|
|
{
|
|
BT_PROFILE("findClippingFacesKernel");
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( pairs->getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( sepNormals.getBufferCL()),
|
|
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
|
|
btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
|
btBufferInfoCL( worldVertsA1GPU.getBufferCL()),
|
|
btBufferInfoCL( worldNormalsAGPU.getBufferCL()),
|
|
btBufferInfoCL( worldVertsB1GPU.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_findClippingFacesKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( vertexFaceCapacity);
|
|
launcher.setConst( nPairs );
|
|
int num = nPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
///clip face B against face A, reduce contacts and append them to a global contact array
|
|
if (1)
|
|
{
|
|
BT_PROFILE("clipFacesAndContactReductionKernel");
|
|
//nContacts = m_totalContactsOut.at(0);
|
|
//int h = hasSeparatingNormals.at(0);
|
|
//int4 p = clippingFacesOutGPU.at(0);
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( pairs->getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( sepNormals.getBufferCL()),
|
|
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
|
|
btBufferInfoCL( contactOut->getBufferCL()),
|
|
btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
|
btBufferInfoCL( worldVertsA1GPU.getBufferCL()),
|
|
btBufferInfoCL( worldNormalsAGPU.getBufferCL()),
|
|
btBufferInfoCL( worldVertsB1GPU.getBufferCL()),
|
|
btBufferInfoCL( worldVertsB2GPU.getBufferCL()),
|
|
btBufferInfoCL( m_totalContactsOut.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst(vertexFaceCapacity);
|
|
|
|
launcher.setConst( nPairs );
|
|
int debugMode = 0;
|
|
launcher.setConst( debugMode);
|
|
|
|
/*
|
|
int serializationBytes = launcher.getSerializationBufferSize();
|
|
unsigned char* buf = (unsigned char*)malloc(serializationBytes+1);
|
|
int actualWritten = launcher.serializeArguments(buf,serializationBytes+1);
|
|
FILE* f = fopen("clipFacesAndContactReductionKernel.bin","wb");
|
|
fwrite(buf,actualWritten,1,f);
|
|
fclose(f);
|
|
free(buf);
|
|
printf("serializationBytes=%d, actualWritten=%d\n",serializationBytes,actualWritten);
|
|
*/
|
|
|
|
int num = nPairs;
|
|
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
{
|
|
// nContacts = m_totalContactsOut.at(0);
|
|
// printf("nContacts = %d\n",nContacts);
|
|
|
|
contactOut->reserve(nContacts+nPairs);
|
|
|
|
{
|
|
BT_PROFILE("newContactReductionKernel");
|
|
btBufferInfoCL bInfo[] =
|
|
{
|
|
btBufferInfoCL( pairs->getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( sepNormals.getBufferCL()),
|
|
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
|
|
btBufferInfoCL( contactOut->getBufferCL()),
|
|
btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
|
|
btBufferInfoCL( worldVertsB2GPU.getBufferCL()),
|
|
btBufferInfoCL( m_totalContactsOut.getBufferCL())
|
|
};
|
|
|
|
btLauncherCL launcher(m_queue, m_newContactReductionKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst(vertexFaceCapacity);
|
|
launcher.setConst( nPairs );
|
|
int num = nPairs;
|
|
|
|
launcher.launch1D( num);
|
|
}
|
|
nContacts = m_totalContactsOut.at(0);
|
|
contactOut->resize(nContacts);
|
|
|
|
// Contact4 pt = contactOut->at(0);
|
|
|
|
// printf("nContacts = %d\n",nContacts);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
|
|
if (nPairs)
|
|
{
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( pairs->getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( sepNormals.getBufferCL()),
|
|
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
|
|
btBufferInfoCL( contactOut->getBufferCL()),
|
|
btBufferInfoCL( m_totalContactsOut.getBufferCL())
|
|
};
|
|
btLauncherCL launcher(m_queue, m_clipHullHullKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( nPairs );
|
|
int num = nPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
|
|
nContacts = m_totalContactsOut.at(0);
|
|
contactOut->resize(nContacts);
|
|
}
|
|
|
|
int nCompoundsPairs = gpuCompoundPairs.size();
|
|
|
|
if (nCompoundsPairs)
|
|
{
|
|
btBufferInfoCL bInfo[] = {
|
|
btBufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
|
|
btBufferInfoCL( bodyBuf->getBufferCL(),true),
|
|
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
|
|
btBufferInfoCL( convexData.getBufferCL(),true),
|
|
btBufferInfoCL( gpuVertices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
|
|
btBufferInfoCL( gpuFaces.getBufferCL(),true),
|
|
btBufferInfoCL( gpuIndices.getBufferCL(),true),
|
|
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
|
|
btBufferInfoCL( gpuCompoundSepNormals.getBufferCL(),true),
|
|
btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL(),true),
|
|
btBufferInfoCL( contactOut->getBufferCL()),
|
|
btBufferInfoCL( m_totalContactsOut.getBufferCL())
|
|
};
|
|
btLauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel);
|
|
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
|
|
launcher.setConst( nCompoundsPairs );
|
|
int num = nCompoundsPairs;
|
|
launcher.launch1D( num);
|
|
clFinish(m_queue);
|
|
|
|
nContacts = m_totalContactsOut.at(0);
|
|
contactOut->resize(nContacts);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|