1277 lines
38 KiB
C
1277 lines
38 KiB
C
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
|
static const char* satKernelsCL= \
|
|
"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
|
|
"//written by Erwin Coumans\n"
|
|
"\n"
|
|
"\n"
|
|
"#define SHAPE_CONVEX_HULL 3\n"
|
|
"#define SHAPE_CONCAVE_TRIMESH 5\n"
|
|
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
|
|
"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"typedef unsigned int u32;\n"
|
|
"\n"
|
|
"///keep this in sync with btCollidable.h\n"
|
|
"typedef struct\n"
|
|
"{\n"
|
|
" int m_numChildShapes;\n"
|
|
" int blaat2;\n"
|
|
" int m_shapeType;\n"
|
|
" int m_shapeIndex;\n"
|
|
" \n"
|
|
"} btCollidableGpu;\n"
|
|
"\n"
|
|
"typedef struct\n"
|
|
"{\n"
|
|
" float4 m_childPosition;\n"
|
|
" float4 m_childOrientation;\n"
|
|
" int m_shapeIndex;\n"
|
|
" int m_unused0;\n"
|
|
" int m_unused1;\n"
|
|
" int m_unused2;\n"
|
|
"} btGpuChildShape;\n"
|
|
"\n"
|
|
"\n"
|
|
"typedef struct\n"
|
|
"{\n"
|
|
" float4 m_pos;\n"
|
|
" float4 m_quat;\n"
|
|
" float4 m_linVel;\n"
|
|
" float4 m_angVel;\n"
|
|
"\n"
|
|
" u32 m_collidableIdx;\n"
|
|
" float m_invMass;\n"
|
|
" float m_restituitionCoeff;\n"
|
|
" float m_frictionCoeff;\n"
|
|
"} BodyData;\n"
|
|
"\n"
|
|
"\n"
|
|
"typedef struct \n"
|
|
"{\n"
|
|
" float4 m_localCenter;\n"
|
|
" float4 m_extents;\n"
|
|
" float4 mC;\n"
|
|
" float4 mE;\n"
|
|
" \n"
|
|
" float m_radius;\n"
|
|
" int m_faceOffset;\n"
|
|
" int m_numFaces;\n"
|
|
" int m_numVertices;\n"
|
|
"\n"
|
|
" int m_vertexOffset;\n"
|
|
" int m_uniqueEdgesOffset;\n"
|
|
" int m_numUniqueEdges;\n"
|
|
" int m_unused;\n"
|
|
"} ConvexPolyhedronCL;\n"
|
|
"\n"
|
|
"typedef struct \n"
|
|
"{\n"
|
|
" union\n"
|
|
" {\n"
|
|
" float4 m_min;\n"
|
|
" float m_minElems[4];\n"
|
|
" int m_minIndices[4];\n"
|
|
" };\n"
|
|
" union\n"
|
|
" {\n"
|
|
" float4 m_max;\n"
|
|
" float m_maxElems[4];\n"
|
|
" int m_maxIndices[4];\n"
|
|
" };\n"
|
|
"} btAabbCL;\n"
|
|
"\n"
|
|
"typedef struct\n"
|
|
"{\n"
|
|
" float4 m_plane;\n"
|
|
" int m_indexOffset;\n"
|
|
" int m_numIndices;\n"
|
|
"} btGpuFace;\n"
|
|
"\n"
|
|
"#define make_float4 (float4)\n"
|
|
"\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float4 cross3(float4 a, float4 b)\n"
|
|
"{\n"
|
|
" return cross(a,b);\n"
|
|
"\n"
|
|
" \n"
|
|
"// float4 a1 = make_float4(a.xyz,0.f);\n"
|
|
"// float4 b1 = make_float4(b.xyz,0.f);\n"
|
|
"\n"
|
|
"// return cross(a1,b1);\n"
|
|
"\n"
|
|
"//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);\n"
|
|
" \n"
|
|
" // float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
|
|
" \n"
|
|
" //return c;\n"
|
|
"}\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float dot3F4(float4 a, float4 b)\n"
|
|
"{\n"
|
|
" float4 a1 = make_float4(a.xyz,0.f);\n"
|
|
" float4 b1 = make_float4(b.xyz,0.f);\n"
|
|
" return dot(a1, b1);\n"
|
|
"}\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float4 fastNormalize4(float4 v)\n"
|
|
"{\n"
|
|
" v = make_float4(v.xyz,0.f);\n"
|
|
" return fast_normalize(v);\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"///////////////////////////////////////\n"
|
|
"// Quaternion\n"
|
|
"///////////////////////////////////////\n"
|
|
"\n"
|
|
"typedef float4 Quaternion;\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"Quaternion qtMul(Quaternion a, Quaternion b);\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"Quaternion qtNormalize(Quaternion in);\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float4 qtRotate(Quaternion q, float4 vec);\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"Quaternion qtInvert(Quaternion q);\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"Quaternion qtMul(Quaternion a, Quaternion b)\n"
|
|
"{\n"
|
|
" Quaternion ans;\n"
|
|
" ans = cross3( a, b );\n"
|
|
" ans += a.w*b+b.w*a;\n"
|
|
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
|
" ans.w = a.w*b.w - dot3F4(a, b);\n"
|
|
" return ans;\n"
|
|
"}\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"Quaternion qtNormalize(Quaternion in)\n"
|
|
"{\n"
|
|
" return fastNormalize4(in);\n"
|
|
"// in /= length( in );\n"
|
|
"// return in;\n"
|
|
"}\n"
|
|
"__inline\n"
|
|
"float4 qtRotate(Quaternion q, float4 vec)\n"
|
|
"{\n"
|
|
" Quaternion qInv = qtInvert( q );\n"
|
|
" float4 vcpy = vec;\n"
|
|
" vcpy.w = 0.f;\n"
|
|
" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
|
|
" return out;\n"
|
|
"}\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"Quaternion qtInvert(Quaternion q)\n"
|
|
"{\n"
|
|
" return (Quaternion)(-q.xyz, q.w);\n"
|
|
"}\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
|
|
"{\n"
|
|
" return qtRotate( qtInvert( q ), vec );\n"
|
|
"}\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
|
|
"{\n"
|
|
" return qtRotate( *orientation, *p ) + (*translation);\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"__inline\n"
|
|
"float4 normalize3(const float4 a)\n"
|
|
"{\n"
|
|
" float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
|
|
" return fastNormalize4( n );\n"
|
|
"}\n"
|
|
"\n"
|
|
"inline void projectLocal(const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn, \n"
|
|
"const float4* dir, const float4* vertices, float* min, float* max)\n"
|
|
"{\n"
|
|
" min[0] = FLT_MAX;\n"
|
|
" max[0] = -FLT_MAX;\n"
|
|
" int numVerts = hull->m_numVertices;\n"
|
|
"\n"
|
|
" const float4 localDir = qtInvRotate(orn,*dir);\n"
|
|
" float offset = dot(pos,*dir);\n"
|
|
" for(int i=0;i<numVerts;i++)\n"
|
|
" {\n"
|
|
" float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
|
|
" if(dp < min[0]) \n"
|
|
" min[0] = dp;\n"
|
|
" if(dp > max[0]) \n"
|
|
" max[0] = dp;\n"
|
|
" }\n"
|
|
" if(min[0]>max[0])\n"
|
|
" {\n"
|
|
" float tmp = min[0];\n"
|
|
" min[0] = max[0];\n"
|
|
" max[0] = tmp;\n"
|
|
" }\n"
|
|
" min[0] += offset;\n"
|
|
" max[0] += offset;\n"
|
|
"}\n"
|
|
"\n"
|
|
"inline void project(__global const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn, \n"
|
|
"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
|
|
"{\n"
|
|
" min[0] = FLT_MAX;\n"
|
|
" max[0] = -FLT_MAX;\n"
|
|
" int numVerts = hull->m_numVertices;\n"
|
|
"\n"
|
|
" const float4 localDir = qtInvRotate(orn,*dir);\n"
|
|
" float offset = dot(pos,*dir);\n"
|
|
" for(int i=0;i<numVerts;i++)\n"
|
|
" {\n"
|
|
" float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
|
|
" if(dp < min[0]) \n"
|
|
" min[0] = dp;\n"
|
|
" if(dp > max[0]) \n"
|
|
" max[0] = dp;\n"
|
|
" }\n"
|
|
" if(min[0]>max[0])\n"
|
|
" {\n"
|
|
" float tmp = min[0];\n"
|
|
" min[0] = max[0];\n"
|
|
" max[0] = tmp;\n"
|
|
" }\n"
|
|
" min[0] += offset;\n"
|
|
" max[0] += offset;\n"
|
|
"}\n"
|
|
"\n"
|
|
"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA,const float4 ornA,\n"
|
|
" const float4 posB,const float4 ornB,\n"
|
|
" float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
|
|
"{\n"
|
|
" float Min0,Max0;\n"
|
|
" float Min1,Max1;\n"
|
|
" projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
|
|
" project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
|
|
"\n"
|
|
" if(Max0<Min1 || Max1<Min0)\n"
|
|
" return false;\n"
|
|
"\n"
|
|
" float d0 = Max0 - Min1;\n"
|
|
" float d1 = Max1 - Min0;\n"
|
|
" *depth = d0<d1 ? d0:d1;\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"inline bool IsAlmostZero(const float4 v)\n"
|
|
"{\n"
|
|
" if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
|
|
" return false;\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"bool findSeparatingAxisLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA1,\n"
|
|
" const float4 ornA,\n"
|
|
" const float4 posB1,\n"
|
|
" const float4 ornB,\n"
|
|
" const float4 DeltaC2,\n"
|
|
" \n"
|
|
" const float4* verticesA, \n"
|
|
" const float4* uniqueEdgesA, \n"
|
|
" const btGpuFace* facesA,\n"
|
|
" const int* indicesA,\n"
|
|
"\n"
|
|
" __global const float4* verticesB, \n"
|
|
" __global const float4* uniqueEdgesB, \n"
|
|
" __global const btGpuFace* facesB,\n"
|
|
" __global const int* indicesB,\n"
|
|
" float4* sep,\n"
|
|
" float* dmin)\n"
|
|
"{\n"
|
|
" int i = get_global_id(0);\n"
|
|
"\n"
|
|
" float4 posA = posA1;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = posB1;\n"
|
|
" posB.w = 0.f;\n"
|
|
" int curPlaneTests=0;\n"
|
|
" {\n"
|
|
" int numFacesA = hullA->m_numFaces;\n"
|
|
" // Test normals from hullA\n"
|
|
" for(int i=0;i<numFacesA;i++)\n"
|
|
" {\n"
|
|
" const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
|
|
" float4 faceANormalWS = qtRotate(ornA,normal);\n"
|
|
" if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
|
|
" faceANormalWS*=-1.f;\n"
|
|
" curPlaneTests++;\n"
|
|
" float d;\n"
|
|
" if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
|
|
" return false;\n"
|
|
" if(d<*dmin)\n"
|
|
" {\n"
|
|
" *dmin = d;\n"
|
|
" *sep = faceANormalWS;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" }\n"
|
|
" if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
|
|
" {\n"
|
|
" *sep = -(*sep);\n"
|
|
" }\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"bool findSeparatingAxisLocalB( __global const ConvexPolyhedronCL* hullA, const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA1,\n"
|
|
" const float4 ornA,\n"
|
|
" const float4 posB1,\n"
|
|
" const float4 ornB,\n"
|
|
" const float4 DeltaC2,\n"
|
|
" __global const float4* verticesA, \n"
|
|
" __global const float4* uniqueEdgesA, \n"
|
|
" __global const btGpuFace* facesA,\n"
|
|
" __global const int* indicesA,\n"
|
|
" const float4* verticesB,\n"
|
|
" const float4* uniqueEdgesB, \n"
|
|
" const btGpuFace* facesB,\n"
|
|
" const int* indicesB,\n"
|
|
" float4* sep,\n"
|
|
" float* dmin)\n"
|
|
"{\n"
|
|
" int i = get_global_id(0);\n"
|
|
"\n"
|
|
" float4 posA = posA1;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = posB1;\n"
|
|
" posB.w = 0.f;\n"
|
|
" int curPlaneTests=0;\n"
|
|
" {\n"
|
|
" int numFacesA = hullA->m_numFaces;\n"
|
|
" // Test normals from hullA\n"
|
|
" for(int i=0;i<numFacesA;i++)\n"
|
|
" {\n"
|
|
" const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
|
|
" float4 faceANormalWS = qtRotate(ornA,normal);\n"
|
|
" if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
|
|
" faceANormalWS *= -1.f;\n"
|
|
" curPlaneTests++;\n"
|
|
" float d;\n"
|
|
" if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
|
|
" return false;\n"
|
|
" if(d<*dmin)\n"
|
|
" {\n"
|
|
" *dmin = d;\n"
|
|
" *sep = faceANormalWS;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" }\n"
|
|
" if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
|
|
" {\n"
|
|
" *sep = -(*sep);\n"
|
|
" }\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"bool findSeparatingAxisEdgeEdgeLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA1,\n"
|
|
" const float4 ornA,\n"
|
|
" const float4 posB1,\n"
|
|
" const float4 ornB,\n"
|
|
" const float4 DeltaC2,\n"
|
|
" const float4* verticesA, \n"
|
|
" const float4* uniqueEdgesA, \n"
|
|
" const btGpuFace* facesA,\n"
|
|
" const int* indicesA,\n"
|
|
" __global const float4* verticesB, \n"
|
|
" __global const float4* uniqueEdgesB, \n"
|
|
" __global const btGpuFace* facesB,\n"
|
|
" __global const int* indicesB,\n"
|
|
" float4* sep,\n"
|
|
" float* dmin)\n"
|
|
"{\n"
|
|
" int i = get_global_id(0);\n"
|
|
"\n"
|
|
" float4 posA = posA1;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = posB1;\n"
|
|
" posB.w = 0.f;\n"
|
|
"\n"
|
|
" int curPlaneTests=0;\n"
|
|
"\n"
|
|
" int curEdgeEdge = 0;\n"
|
|
" // Test edges\n"
|
|
" for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
|
|
" {\n"
|
|
" const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
|
|
" float4 edge0World = qtRotate(ornA,edge0);\n"
|
|
"\n"
|
|
" for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
|
|
" {\n"
|
|
" const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
|
|
" float4 edge1World = qtRotate(ornB,edge1);\n"
|
|
"\n"
|
|
"\n"
|
|
" float4 crossje = cross3(edge0World,edge1World);\n"
|
|
"\n"
|
|
" curEdgeEdge++;\n"
|
|
" if(!IsAlmostZero(crossje))\n"
|
|
" {\n"
|
|
" crossje = normalize3(crossje);\n"
|
|
" if (dot3F4(DeltaC2,crossje)<0)\n"
|
|
" crossje *= -1.f;\n"
|
|
"\n"
|
|
" float dist;\n"
|
|
" bool result = true;\n"
|
|
" {\n"
|
|
" float Min0,Max0;\n"
|
|
" float Min1,Max1;\n"
|
|
" projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
|
|
" project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
|
|
" \n"
|
|
" if(Max0<Min1 || Max1<Min0)\n"
|
|
" result = false;\n"
|
|
" \n"
|
|
" float d0 = Max0 - Min1;\n"
|
|
" float d1 = Max1 - Min0;\n"
|
|
" dist = d0<d1 ? d0:d1;\n"
|
|
" result = true;\n"
|
|
"\n"
|
|
" }\n"
|
|
" \n"
|
|
"\n"
|
|
" if(dist<*dmin)\n"
|
|
" {\n"
|
|
" *dmin = dist;\n"
|
|
" *sep = crossje;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" }\n"
|
|
"\n"
|
|
" }\n"
|
|
"\n"
|
|
" \n"
|
|
" if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
|
|
" {\n"
|
|
" *sep = -(*sep);\n"
|
|
" }\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"inline bool TestSepAxis(__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA,const float4 ornA,\n"
|
|
" const float4 posB,const float4 ornB,\n"
|
|
" float4* sep_axis, __global const float4* vertices,float* depth)\n"
|
|
"{\n"
|
|
" float Min0,Max0;\n"
|
|
" float Min1,Max1;\n"
|
|
" project(hullA,posA,ornA,sep_axis,vertices, &Min0, &Max0);\n"
|
|
" project(hullB,posB,ornB, sep_axis,vertices, &Min1, &Max1);\n"
|
|
"\n"
|
|
" if(Max0<Min1 || Max1<Min0)\n"
|
|
" return false;\n"
|
|
"\n"
|
|
" float d0 = Max0 - Min1;\n"
|
|
" float d1 = Max1 - Min0;\n"
|
|
" *depth = d0<d1 ? d0:d1;\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"bool findSeparatingAxis( __global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA1,\n"
|
|
" const float4 ornA,\n"
|
|
" const float4 posB1,\n"
|
|
" const float4 ornB,\n"
|
|
" const float4 DeltaC2,\n"
|
|
" __global const float4* vertices, \n"
|
|
" __global const float4* uniqueEdges, \n"
|
|
" __global const btGpuFace* faces,\n"
|
|
" __global const int* indices,\n"
|
|
" float4* sep,\n"
|
|
" float* dmin)\n"
|
|
"{\n"
|
|
" int i = get_global_id(0);\n"
|
|
"\n"
|
|
" float4 posA = posA1;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = posB1;\n"
|
|
" posB.w = 0.f;\n"
|
|
" \n"
|
|
" int curPlaneTests=0;\n"
|
|
"\n"
|
|
" {\n"
|
|
" int numFacesA = hullA->m_numFaces;\n"
|
|
" // Test normals from hullA\n"
|
|
" for(int i=0;i<numFacesA;i++)\n"
|
|
" {\n"
|
|
" const float4 normal = faces[hullA->m_faceOffset+i].m_plane;\n"
|
|
" float4 faceANormalWS = qtRotate(ornA,normal);\n"
|
|
" \n"
|
|
" if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
|
|
" faceANormalWS*=-1.f;\n"
|
|
" \n"
|
|
" curPlaneTests++;\n"
|
|
" \n"
|
|
" float d;\n"
|
|
" if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, vertices,&d))\n"
|
|
" return false;\n"
|
|
" \n"
|
|
" if(d<*dmin)\n"
|
|
" {\n"
|
|
" *dmin = d;\n"
|
|
" *sep = faceANormalWS;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" }\n"
|
|
"\n"
|
|
"\n"
|
|
" if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
|
|
" {\n"
|
|
" *sep = -(*sep);\n"
|
|
" }\n"
|
|
" \n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"bool findSeparatingAxisEdgeEdge( __global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
|
" const float4 posA1,\n"
|
|
" const float4 ornA,\n"
|
|
" const float4 posB1,\n"
|
|
" const float4 ornB,\n"
|
|
" const float4 DeltaC2,\n"
|
|
" __global const float4* vertices, \n"
|
|
" __global const float4* uniqueEdges, \n"
|
|
" __global const btGpuFace* faces,\n"
|
|
" __global const int* indices,\n"
|
|
" float4* sep,\n"
|
|
" float* dmin)\n"
|
|
"{\n"
|
|
" int i = get_global_id(0);\n"
|
|
"\n"
|
|
" float4 posA = posA1;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = posB1;\n"
|
|
" posB.w = 0.f;\n"
|
|
"\n"
|
|
" int curPlaneTests=0;\n"
|
|
"\n"
|
|
" int curEdgeEdge = 0;\n"
|
|
" // Test edges\n"
|
|
" for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
|
|
" {\n"
|
|
" const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];\n"
|
|
" float4 edge0World = qtRotate(ornA,edge0);\n"
|
|
"\n"
|
|
" for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
|
|
" {\n"
|
|
" const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];\n"
|
|
" float4 edge1World = qtRotate(ornB,edge1);\n"
|
|
"\n"
|
|
"\n"
|
|
" float4 crossje = cross3(edge0World,edge1World);\n"
|
|
"\n"
|
|
" curEdgeEdge++;\n"
|
|
" if(!IsAlmostZero(crossje))\n"
|
|
" {\n"
|
|
" crossje = normalize3(crossje);\n"
|
|
" if (dot3F4(DeltaC2,crossje)<0)\n"
|
|
" crossje*=-1.f;\n"
|
|
" \n"
|
|
" float dist;\n"
|
|
" bool result = true;\n"
|
|
" {\n"
|
|
" float Min0,Max0;\n"
|
|
" float Min1,Max1;\n"
|
|
" project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
|
|
" project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
|
|
" \n"
|
|
" if(Max0<Min1 || Max1<Min0)\n"
|
|
" result = false;\n"
|
|
" \n"
|
|
" float d0 = Max0 - Min1;\n"
|
|
" float d1 = Max1 - Min0;\n"
|
|
" dist = d0<d1 ? d0:d1;\n"
|
|
" result = true;\n"
|
|
"\n"
|
|
" }\n"
|
|
" \n"
|
|
"\n"
|
|
" if(dist<*dmin)\n"
|
|
" {\n"
|
|
" *dmin = dist;\n"
|
|
" *sep = crossje;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" }\n"
|
|
"\n"
|
|
" }\n"
|
|
"\n"
|
|
" \n"
|
|
" if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
|
|
" {\n"
|
|
" *sep = -(*sep);\n"
|
|
" }\n"
|
|
" return true;\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"// work-in-progress\n"
|
|
"__kernel void processCompoundPairsKernel( __global const int4* gpuCompoundPairs,\n"
|
|
" __global const BodyData* rigidBodies, \n"
|
|
" __global const btCollidableGpu* collidables,\n"
|
|
" __global const ConvexPolyhedronCL* convexShapes, \n"
|
|
" __global const float4* vertices,\n"
|
|
" __global const float4* uniqueEdges,\n"
|
|
" __global const btGpuFace* faces,\n"
|
|
" __global const int* indices,\n"
|
|
" __global btAabbCL* aabbs,\n"
|
|
" __global const btGpuChildShape* gpuChildShapes,\n"
|
|
" __global volatile float4* gpuCompoundSepNormalsOut,\n"
|
|
" __global volatile int* gpuHasCompoundSepNormalsOut,\n"
|
|
" int numCompoundPairs\n"
|
|
" )\n"
|
|
"{\n"
|
|
"\n"
|
|
" int i = get_global_id(0);\n"
|
|
" if (i<numCompoundPairs)\n"
|
|
" {\n"
|
|
" int bodyIndexA = gpuCompoundPairs[i].x;\n"
|
|
" int bodyIndexB = gpuCompoundPairs[i].y;\n"
|
|
"\n"
|
|
" int childShapeIndexA = gpuCompoundPairs[i].z;\n"
|
|
" int childShapeIndexB = gpuCompoundPairs[i].w;\n"
|
|
" \n"
|
|
" int collidableIndexA = -1;\n"
|
|
" int collidableIndexB = -1;\n"
|
|
" \n"
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
" \n"
|
|
" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
" \n"
|
|
" if (childShapeIndexA >= 0)\n"
|
|
" {\n"
|
|
" collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
|
|
" float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
|
|
" float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
|
|
" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
|
|
" float4 newOrnA = qtMul(ornA,childOrnA);\n"
|
|
" posA = newPosA;\n"
|
|
" ornA = newOrnA;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
|
" }\n"
|
|
" \n"
|
|
" if (childShapeIndexB>=0)\n"
|
|
" {\n"
|
|
" collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
|
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
|
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
|
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
|
|
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
|
" posB = newPosB;\n"
|
|
" ornB = newOrnB;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; \n"
|
|
" }\n"
|
|
" \n"
|
|
" gpuHasCompoundSepNormalsOut[i] = 0;\n"
|
|
" \n"
|
|
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
|
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
|
" \n"
|
|
" int hasSeparatingAxis = 5;\n"
|
|
" \n"
|
|
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
|
" float dmin = FLT_MAX;\n"
|
|
" posA.w = 0.f;\n"
|
|
" posB.w = 0.f;\n"
|
|
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
|
|
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
|
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
|
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
|
" const float4 DeltaC2 = c0 - c1;\n"
|
|
" float4 sepNormal = make_float4(1,0,0,0);\n"
|
|
" bool sepA = findSeparatingAxis( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
|
|
" hasSeparatingAxis = 4;\n"
|
|
" if (!sepA)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" bool sepB = findSeparatingAxis( &convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,posA,ornA,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
|
|
"\n"
|
|
" if (!sepB)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis = 0;\n"
|
|
" } else//(!sepB)\n"
|
|
" {\n"
|
|
" bool sepEE = findSeparatingAxisEdgeEdge( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
|
|
" if (sepEE)\n"
|
|
" {\n"
|
|
" gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);\n"
|
|
" gpuHasCompoundSepNormalsOut[i] = 1;\n"
|
|
" }//sepEE\n"
|
|
" }//(!sepB)\n"
|
|
" }//(!sepA)\n"
|
|
" \n"
|
|
" \n"
|
|
" }\n"
|
|
" \n"
|
|
"}\n"
|
|
"\n"
|
|
"// work-in-progress\n"
|
|
"__kernel void findCompoundPairsKernel( __global const int2* pairs, \n"
|
|
" __global const BodyData* rigidBodies, \n"
|
|
" __global const btCollidableGpu* collidables,\n"
|
|
" __global const ConvexPolyhedronCL* convexShapes, \n"
|
|
" __global const float4* vertices,\n"
|
|
" __global const float4* uniqueEdges,\n"
|
|
" __global const btGpuFace* faces,\n"
|
|
" __global const int* indices,\n"
|
|
" __global btAabbCL* aabbs,\n"
|
|
" __global const btGpuChildShape* gpuChildShapes,\n"
|
|
" __global volatile int4* gpuCompoundPairsOut,\n"
|
|
" __global volatile int* numCompoundPairsOut,\n"
|
|
" int numPairs,\n"
|
|
" int maxNumCompoundPairsCapacity\n"
|
|
" )\n"
|
|
"{\n"
|
|
"\n"
|
|
" int i = get_global_id(0);\n"
|
|
"\n"
|
|
" if (i<numPairs)\n"
|
|
" {\n"
|
|
" int bodyIndexA = pairs[i].x;\n"
|
|
" int bodyIndexB = pairs[i].y;\n"
|
|
"\n"
|
|
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
|
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
|
|
"\n"
|
|
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
|
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
|
"\n"
|
|
"\n"
|
|
" //once the broadphase avoids static-static pairs, we can remove this test\n"
|
|
" if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
|
|
" {\n"
|
|
" return;\n"
|
|
" }\n"
|
|
"\n"
|
|
" if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
|
|
" {\n"
|
|
"\n"
|
|
" if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) \n"
|
|
" {\n"
|
|
"\n"
|
|
" int numChildrenA = collidables[collidableIndexA].m_numChildShapes;\n"
|
|
" for (int c=0;c<numChildrenA;c++)\n"
|
|
" {\n"
|
|
" int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;\n"
|
|
" int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
|
|
"\n"
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
" float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
|
|
" float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
|
|
" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
|
|
" float4 newOrnA = qtMul(ornA,childOrnA);\n"
|
|
"\n"
|
|
" int shapeIndexA = collidables[childColIndexA].m_shapeIndex;\n"
|
|
"\n"
|
|
" if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
" {\n"
|
|
" int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
|
|
" for (int b=0;b<numChildrenB;b++)\n"
|
|
" {\n"
|
|
" int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
|
|
" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
|
" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
|
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
|
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
|
|
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
|
"\n"
|
|
" int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
|
|
"\n"
|
|
" if (1)\n"
|
|
" {\n"
|
|
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
|
" float dmin = FLT_MAX;\n"
|
|
" float4 posA = newPosA;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = newPosB;\n"
|
|
" posB.w = 0.f;\n"
|
|
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
|
|
" float4 ornA = newOrnA;\n"
|
|
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
|
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
|
" float4 ornB =newOrnB;\n"
|
|
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
|
" const float4 DeltaC2 = c0 - c1;\n"
|
|
"\n"
|
|
" {//\n"
|
|
" int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
|
|
" if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
|
|
" {\n"
|
|
" gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
|
|
" }\n"
|
|
" }//\n"
|
|
" }//fi(1)\n"
|
|
" } //for (int b=0\n"
|
|
" }//if (collidables[collidableIndexB].\n"
|
|
" else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
" {\n"
|
|
" if (1)\n"
|
|
" {\n"
|
|
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
|
" float dmin = FLT_MAX;\n"
|
|
" float4 posA = newPosA;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
" posB.w = 0.f;\n"
|
|
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
|
|
" float4 ornA = newOrnA;\n"
|
|
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
|
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
|
" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
|
|
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
|
" const float4 DeltaC2 = c0 - c1;\n"
|
|
"\n"
|
|
" {\n"
|
|
" int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
|
|
" if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
|
|
" {\n"
|
|
" gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,-1);\n"
|
|
" }//if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
|
|
" }//\n"
|
|
" }//fi (1)\n"
|
|
" }//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
" }//for (int b=0;b<numChildrenB;b++) \n"
|
|
" return;\n"
|
|
" }//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
" if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
" {\n"
|
|
" int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
|
|
" for (int b=0;b<numChildrenB;b++)\n"
|
|
" {\n"
|
|
" int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
|
|
" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
|
" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
|
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
|
" float4 newPosB = qtRotate(ornB,childPosB)+posB;\n"
|
|
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
|
"\n"
|
|
" int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
|
|
"\n"
|
|
"\n"
|
|
" //////////////////////////////////////\n"
|
|
"\n"
|
|
" if (1)\n"
|
|
" {\n"
|
|
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
|
" float dmin = FLT_MAX;\n"
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = newPosB;\n"
|
|
" posB.w = 0.f;\n"
|
|
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
|
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
|
" float4 ornB =newOrnB;\n"
|
|
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
|
" const float4 DeltaC2 = c0 - c1;\n"
|
|
" {//\n"
|
|
" int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
|
|
" if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
|
|
" {\n"
|
|
" gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,-1,childShapeIndexB);\n"
|
|
" }//fi (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
|
|
" }//\n"
|
|
" }//fi (1) \n"
|
|
" }//for (int b=0;b<numChildrenB;b++)\n"
|
|
" return;\n"
|
|
" }//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
" return;\n"
|
|
" }//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
|
|
" }//i<numPairs\n"
|
|
"}\n"
|
|
"\n"
|
|
"// work-in-progress\n"
|
|
"__kernel void findSeparatingAxisKernel( __global const int2* pairs, \n"
|
|
" __global const BodyData* rigidBodies, \n"
|
|
" __global const btCollidableGpu* collidables,\n"
|
|
" __global const ConvexPolyhedronCL* convexShapes, \n"
|
|
" __global const float4* vertices,\n"
|
|
" __global const float4* uniqueEdges,\n"
|
|
" __global const btGpuFace* faces,\n"
|
|
" __global const int* indices,\n"
|
|
" __global btAabbCL* aabbs,\n"
|
|
" __global volatile float4* separatingNormals,\n"
|
|
" __global volatile int* hasSeparatingAxis,\n"
|
|
" int numPairs\n"
|
|
" )\n"
|
|
"{\n"
|
|
"\n"
|
|
" int i = get_global_id(0);\n"
|
|
" \n"
|
|
" if (i<numPairs)\n"
|
|
" {\n"
|
|
"\n"
|
|
" \n"
|
|
" int bodyIndexA = pairs[i].x;\n"
|
|
" int bodyIndexB = pairs[i].y;\n"
|
|
"\n"
|
|
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
|
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
|
|
" \n"
|
|
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
|
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
|
" \n"
|
|
" \n"
|
|
" //once the broadphase avoids static-static pairs, we can remove this test\n"
|
|
" if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 0;\n"
|
|
" return;\n"
|
|
" }\n"
|
|
" \n"
|
|
"\n"
|
|
" if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 0;\n"
|
|
" return;\n"
|
|
" }\n"
|
|
" \n"
|
|
" if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 0;\n"
|
|
" return;\n"
|
|
" }\n"
|
|
"\n"
|
|
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
|
"\n"
|
|
" float dmin = FLT_MAX;\n"
|
|
"\n"
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
" posB.w = 0.f;\n"
|
|
" float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
|
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
|
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
|
|
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
|
" const float4 DeltaC2 = c0 - c1;\n"
|
|
" float4 sepNormal;\n"
|
|
" \n"
|
|
" bool sepA = findSeparatingAxis( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
|
|
" posB,ornB,\n"
|
|
" DeltaC2,\n"
|
|
" vertices,uniqueEdges,faces,\n"
|
|
" indices,&sepNormal,&dmin);\n"
|
|
" hasSeparatingAxis[i] = 4;\n"
|
|
" if (!sepA)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" bool sepB = findSeparatingAxis( &convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
|
|
" posA,ornA,\n"
|
|
" DeltaC2,\n"
|
|
" vertices,uniqueEdges,faces,\n"
|
|
" indices,&sepNormal,&dmin);\n"
|
|
"\n"
|
|
" if (!sepB)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" bool sepEE = findSeparatingAxisEdgeEdge( &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
|
|
" posB,ornB,\n"
|
|
" DeltaC2,\n"
|
|
" vertices,uniqueEdges,faces,\n"
|
|
" indices,&sepNormal,&dmin);\n"
|
|
" if (!sepEE)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" hasSeparatingAxis[i] = 1;\n"
|
|
" separatingNormals[i] = sepNormal;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" }\n"
|
|
" \n"
|
|
" }\n"
|
|
"\n"
|
|
"}\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"\n"
|
|
"// work-in-progress\n"
|
|
"__kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,\n"
|
|
" __global const BodyData* rigidBodies,\n"
|
|
" __global const btCollidableGpu* collidables,\n"
|
|
" __global const ConvexPolyhedronCL* convexShapes, \n"
|
|
" __global const float4* vertices,\n"
|
|
" __global const float4* uniqueEdges,\n"
|
|
" __global const btGpuFace* faces,\n"
|
|
" __global const int* indices,\n"
|
|
" __global btAabbCL* aabbs,\n"
|
|
" __global volatile float4* separatingNormals,\n"
|
|
" __global volatile int* hasSeparatingAxis,\n"
|
|
" __global float4* concaveSeparatingNormalsOut,\n"
|
|
" int numConcavePairs\n"
|
|
" )\n"
|
|
"{\n"
|
|
"\n"
|
|
" int i = get_global_id(0);\n"
|
|
" if (i>=numConcavePairs)\n"
|
|
" return;\n"
|
|
" int pairIdx = i;\n"
|
|
"\n"
|
|
" int bodyIndexA = concavePairs[i].x;\n"
|
|
" int bodyIndexB = concavePairs[i].y;\n"
|
|
"\n"
|
|
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
|
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
|
|
"\n"
|
|
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
|
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
|
"\n"
|
|
"\n"
|
|
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
|
|
" int numActualConcaveConvexTests = 0;\n"
|
|
" \n"
|
|
" int f = concavePairs[i].z;\n"
|
|
" \n"
|
|
" bool overlap = false;\n"
|
|
" \n"
|
|
" ConvexPolyhedronCL convexPolyhedronA;\n"
|
|
"\n"
|
|
" //add 3 vertices of the triangle\n"
|
|
" convexPolyhedronA.m_numVertices = 3;\n"
|
|
" convexPolyhedronA.m_vertexOffset = 0;\n"
|
|
" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
|
|
"\n"
|
|
" btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
|
|
" float4 triMinAabb, triMaxAabb;\n"
|
|
" btAabbCL triAabb;\n"
|
|
" triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
|
|
" triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
|
|
" \n"
|
|
" float4 verticesA[3];\n"
|
|
" for (int i=0;i<3;i++)\n"
|
|
" {\n"
|
|
" int index = indices[face.m_indexOffset+i];\n"
|
|
" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
|
|
" verticesA[i] = vert;\n"
|
|
" localCenter += vert;\n"
|
|
" \n"
|
|
" triAabb.m_min = min(triAabb.m_min,vert); \n"
|
|
" triAabb.m_max = max(triAabb.m_max,vert); \n"
|
|
"\n"
|
|
" }\n"
|
|
"\n"
|
|
" overlap = true;\n"
|
|
" overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
|
|
" overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
|
|
" overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
|
|
" \n"
|
|
" if (overlap)\n"
|
|
" {\n"
|
|
" float dmin = FLT_MAX;\n"
|
|
" int hasSeparatingAxis=5;\n"
|
|
" float4 sepAxis=make_float4(1,2,3,4);\n"
|
|
"\n"
|
|
" int localCC=0;\n"
|
|
" numActualConcaveConvexTests++;\n"
|
|
"\n"
|
|
" //a triangle has 3 unique edges\n"
|
|
" convexPolyhedronA.m_numUniqueEdges = 3;\n"
|
|
" convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
|
|
" float4 uniqueEdgesA[3];\n"
|
|
" \n"
|
|
" uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
|
|
" uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
|
|
" uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
|
|
"\n"
|
|
"\n"
|
|
" convexPolyhedronA.m_faceOffset = 0;\n"
|
|
" \n"
|
|
" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
|
|
" \n"
|
|
" btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
|
|
" int indicesA[3+3+2+2+2];\n"
|
|
" int curUsedIndices=0;\n"
|
|
" int fidx=0;\n"
|
|
"\n"
|
|
" //front size of triangle\n"
|
|
" {\n"
|
|
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
|
" indicesA[0] = 0;\n"
|
|
" indicesA[1] = 1;\n"
|
|
" indicesA[2] = 2;\n"
|
|
" curUsedIndices+=3;\n"
|
|
" float c = face.m_plane.w;\n"
|
|
" facesA[fidx].m_plane.x = normal.x;\n"
|
|
" facesA[fidx].m_plane.y = normal.y;\n"
|
|
" facesA[fidx].m_plane.z = normal.z;\n"
|
|
" facesA[fidx].m_plane.w = c;\n"
|
|
" facesA[fidx].m_numIndices=3;\n"
|
|
" }\n"
|
|
" fidx++;\n"
|
|
" //back size of triangle\n"
|
|
" {\n"
|
|
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
|
" indicesA[3]=2;\n"
|
|
" indicesA[4]=1;\n"
|
|
" indicesA[5]=0;\n"
|
|
" curUsedIndices+=3;\n"
|
|
" float c = dot(normal,verticesA[0]);\n"
|
|
" float c1 = -face.m_plane.w;\n"
|
|
" facesA[fidx].m_plane.x = -normal.x;\n"
|
|
" facesA[fidx].m_plane.y = -normal.y;\n"
|
|
" facesA[fidx].m_plane.z = -normal.z;\n"
|
|
" facesA[fidx].m_plane.w = c;\n"
|
|
" facesA[fidx].m_numIndices=3;\n"
|
|
" }\n"
|
|
" fidx++;\n"
|
|
"\n"
|
|
" bool addEdgePlanes = true;\n"
|
|
" if (addEdgePlanes)\n"
|
|
" {\n"
|
|
" int numVertices=3;\n"
|
|
" int prevVertex = numVertices-1;\n"
|
|
" for (int i=0;i<numVertices;i++)\n"
|
|
" {\n"
|
|
" float4 v0 = verticesA[i];\n"
|
|
" float4 v1 = verticesA[prevVertex];\n"
|
|
" \n"
|
|
" float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
|
|
" float c = -dot(edgeNormal,v0);\n"
|
|
"\n"
|
|
" facesA[fidx].m_numIndices = 2;\n"
|
|
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
|
" indicesA[curUsedIndices++]=i;\n"
|
|
" indicesA[curUsedIndices++]=prevVertex;\n"
|
|
" \n"
|
|
" facesA[fidx].m_plane.x = edgeNormal.x;\n"
|
|
" facesA[fidx].m_plane.y = edgeNormal.y;\n"
|
|
" facesA[fidx].m_plane.z = edgeNormal.z;\n"
|
|
" facesA[fidx].m_plane.w = c;\n"
|
|
" fidx++;\n"
|
|
" prevVertex = i;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
|
|
" convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
|
|
"\n"
|
|
"\n"
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
" posA.w = 0.f;\n"
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
" posB.w = 0.f;\n"
|
|
" float4 c0local = convexPolyhedronA.m_localCenter;\n"
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
" float4 c0 = transform(&c0local, &posA, &ornA);\n"
|
|
" float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
|
|
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
|
|
" float4 c1 = transform(&c1local,&posB,&ornB);\n"
|
|
" const float4 DeltaC2 = c0 - c1;\n"
|
|
" \n"
|
|
" bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
|
|
" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
|
|
" DeltaC2,\n"
|
|
" verticesA,uniqueEdgesA,facesA,indicesA,\n"
|
|
" vertices,uniqueEdges,faces,indices,\n"
|
|
" &sepAxis,&dmin);\n"
|
|
" hasSeparatingAxis = 4;\n"
|
|
" if (!sepA)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
|
|
" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
|
|
" DeltaC2,\n"
|
|
" vertices,uniqueEdges,faces,indices,\n"
|
|
" verticesA,uniqueEdgesA,facesA,indicesA,\n"
|
|
" &sepAxis,&dmin);\n"
|
|
"\n"
|
|
" if (!sepB)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
|
|
" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
|
|
" DeltaC2,\n"
|
|
" verticesA,uniqueEdgesA,facesA,indicesA,\n"
|
|
" vertices,uniqueEdges,faces,indices,\n"
|
|
" &sepAxis,&dmin);\n"
|
|
" \n"
|
|
" if (!sepEE)\n"
|
|
" {\n"
|
|
" hasSeparatingAxis = 0;\n"
|
|
" } else\n"
|
|
" {\n"
|
|
" hasSeparatingAxis = 1;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" } \n"
|
|
" \n"
|
|
" if (hasSeparatingAxis)\n"
|
|
" {\n"
|
|
" sepAxis.w = dmin;\n"
|
|
" concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
|
|
" } else\n"
|
|
" { \n"
|
|
" //mark this pair as in-active\n"
|
|
" concavePairs[pairIdx].w = 0;\n"
|
|
" }\n"
|
|
" }\n"
|
|
" else\n"
|
|
" { \n"
|
|
" //mark this pair as in-active\n"
|
|
" concavePairs[pairIdx].w = 0;\n"
|
|
" }\n"
|
|
"}\n"
|
|
"\n"
|
|
;
|