582 lines
21 KiB
C++
582 lines
21 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///This file was written by Erwin Coumans
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///Separating axis rest based on work from Pierre Terdiman, see
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///And contact clipping based on work from Simon Hobbs
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//#define BT_DEBUG_SAT_FACE
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#include "ConvexHullContact.h"
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#include <string.h>//memcpy
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#include "btConvexPolyhedronCL.h"
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typedef btAlignedObjectArray<btVector3> btVertexArray;
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#include "BulletCommon/btQuickprof.h"
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#include <float.h> //for FLT_MAX
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#include "basic_initialize/btOpenCLUtils.h"
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#include "parallel_primitives/host/btLauncherCL.h"
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//#include "AdlQuaternion.h"
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#include "../kernels/satKernels.h"
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#include "../kernels/satClipHullContacts.h"
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#include "BulletGeometry/btAabbUtil2.h"
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#define dot3F4 btDot
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GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q )
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:m_context(ctx),
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m_device(device),
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m_queue(q),
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m_findSeparatingAxisKernel(0),
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m_totalContactsOut(m_context, m_queue)
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{
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m_totalContactsOut.push_back(0);
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cl_int errNum=0;
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if (1)
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{
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const char* src = satKernelsCL;
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cl_program satProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,"","opencl/gpu_sat/kernels/sat.cl");
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btAssert(errNum==CL_SUCCESS);
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m_findSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisKernel",&errNum,satProg );
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m_findCompoundPairsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findCompoundPairsKernel",&errNum,satProg );
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m_processCompoundPairsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "processCompoundPairsKernel",&errNum,satProg );
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btAssert(errNum==CL_SUCCESS);
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}
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if (1)
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{
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const char* srcClip = satClipKernelsCL;
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cl_program satClipContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,"","opencl/gpu_sat/kernels/satClipHullContacts.cl");
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btAssert(errNum==CL_SUCCESS);
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m_clipHullHullKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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m_clipCompoundsHullHullKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipCompoundsHullHullKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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m_findClippingFacesKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "findClippingFacesKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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m_clipFacesAndContactReductionKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipFacesAndContactReductionKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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m_clipHullHullConcaveConvexKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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m_extractManifoldAndAddContactKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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m_newContactReductionKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
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"newContactReductionKernel",&errNum,satClipContactsProg);
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btAssert(errNum==CL_SUCCESS);
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} else
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{
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m_clipHullHullKernel=0;
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m_clipCompoundsHullHullKernel = 0;
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m_findClippingFacesKernel = 0;
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m_newContactReductionKernel=0;
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m_clipFacesAndContactReductionKernel = 0;
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m_clipHullHullConcaveConvexKernel = 0;
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m_extractManifoldAndAddContactKernel = 0;
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}
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}
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GpuSatCollision::~GpuSatCollision()
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{
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if (m_findSeparatingAxisKernel)
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clReleaseKernel(m_findSeparatingAxisKernel);
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if (m_findCompoundPairsKernel)
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clReleaseKernel(m_findCompoundPairsKernel);
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if (m_processCompoundPairsKernel)
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clReleaseKernel(m_processCompoundPairsKernel);
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if (m_findClippingFacesKernel)
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clReleaseKernel(m_findClippingFacesKernel);
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if (m_clipFacesAndContactReductionKernel)
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clReleaseKernel(m_clipFacesAndContactReductionKernel);
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if (m_newContactReductionKernel)
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clReleaseKernel(m_newContactReductionKernel);
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if (m_clipHullHullKernel)
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clReleaseKernel(m_clipHullHullKernel);
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if (m_clipCompoundsHullHullKernel)
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clReleaseKernel(m_clipCompoundsHullHullKernel);
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if (m_clipHullHullConcaveConvexKernel)
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clReleaseKernel(m_clipHullHullConcaveConvexKernel);
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if (m_extractManifoldAndAddContactKernel)
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clReleaseKernel(m_extractManifoldAndAddContactKernel);
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}
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void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs,
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const btOpenCLArray<btRigidBodyCL>* bodyBuf,
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btOpenCLArray<btContact4>* contactOut, int& nContacts,
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const btOpenCLArray<btConvexPolyhedronCL>& convexData,
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const btOpenCLArray<btVector3>& gpuVertices,
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const btOpenCLArray<btVector3>& gpuUniqueEdges,
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const btOpenCLArray<btGpuFace>& gpuFaces,
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const btOpenCLArray<int>& gpuIndices,
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const btOpenCLArray<btCollidable>& gpuCollidables,
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const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
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const btOpenCLArray<btYetAnotherAabb>& clAabbs,
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btOpenCLArray<btVector3>& worldVertsB1GPU,
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btOpenCLArray<btInt4>& clippingFacesOutGPU,
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btOpenCLArray<btVector3>& worldNormalsAGPU,
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btOpenCLArray<btVector3>& worldVertsA1GPU,
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btOpenCLArray<btVector3>& worldVertsB2GPU,
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int numObjects,
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int maxTriConvexPairCapacity,
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btOpenCLArray<btInt4>& triangleConvexPairsOut,
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int& numTriConvexPairsOut
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)
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{
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if (!nPairs)
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return;
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BT_PROFILE("computeConvexConvexContactsGPUSAT");
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// printf("nContacts = %d\n",nContacts);
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btOpenCLArray<btVector3> sepNormals(m_context,m_queue);
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sepNormals.resize(nPairs);
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btOpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
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hasSeparatingNormals.resize(nPairs);
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int concaveCapacity=maxTriConvexPairCapacity;
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btOpenCLArray<btVector3> concaveSepNormals(m_context,m_queue);
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concaveSepNormals.resize(concaveCapacity);
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btOpenCLArray<int> numConcavePairsOut(m_context,m_queue);
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numConcavePairsOut.push_back(0);
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int compoundPairCapacity=65536*10;
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btOpenCLArray<btCompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
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gpuCompoundPairs.resize(compoundPairCapacity);
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btOpenCLArray<btVector3> gpuCompoundSepNormals(m_context,m_queue);
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gpuCompoundSepNormals.resize(compoundPairCapacity);
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btOpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue);
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gpuHasCompoundSepNormals.resize(compoundPairCapacity);
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btOpenCLArray<int> numCompoundPairsOut(m_context,m_queue);
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numCompoundPairsOut.push_back(0);
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int numCompoundPairs = 0;
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bool findSeparatingAxisOnGpu = true;//false;
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int numConcave =0;
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{
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clFinish(m_queue);
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if (findSeparatingAxisOnGpu)
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{
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BT_PROFILE("findSeparatingAxisKernel");
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btBufferInfoCL bInfo[] = {
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btBufferInfoCL( pairs->getBufferCL(), true ),
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btBufferInfoCL( bodyBuf->getBufferCL(),true),
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btBufferInfoCL( gpuCollidables.getBufferCL(),true),
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btBufferInfoCL( convexData.getBufferCL(),true),
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btBufferInfoCL( gpuVertices.getBufferCL(),true),
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btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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btBufferInfoCL( gpuFaces.getBufferCL(),true),
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btBufferInfoCL( gpuIndices.getBufferCL(),true),
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btBufferInfoCL( clAabbs.getBufferCL(),true),
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btBufferInfoCL( sepNormals.getBufferCL()),
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btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
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btBufferInfoCL( triangleConvexPairsOut.getBufferCL()),
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btBufferInfoCL( concaveSepNormals.getBufferCL()),
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btBufferInfoCL( numConcavePairsOut.getBufferCL())
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};
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btLauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
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launcher.setConst( nPairs );
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launcher.setConst( maxTriConvexPairCapacity);
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int num = nPairs;
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launcher.launch1D( num);
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clFinish(m_queue);
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numConcave = numConcavePairsOut.at(0);
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if (numConcave > maxTriConvexPairCapacity)
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numConcave = maxTriConvexPairCapacity;
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triangleConvexPairsOut.resize(numConcave);
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{
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BT_PROFILE("findCompoundPairsKernel");
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btBufferInfoCL bInfo[] =
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{
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btBufferInfoCL( pairs->getBufferCL(), true ),
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btBufferInfoCL( bodyBuf->getBufferCL(),true),
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btBufferInfoCL( gpuCollidables.getBufferCL(),true),
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btBufferInfoCL( convexData.getBufferCL(),true),
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btBufferInfoCL( gpuVertices.getBufferCL(),true),
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btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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btBufferInfoCL( gpuFaces.getBufferCL(),true),
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btBufferInfoCL( gpuIndices.getBufferCL(),true),
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btBufferInfoCL( clAabbs.getBufferCL(),true),
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btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
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btBufferInfoCL( gpuCompoundPairs.getBufferCL()),
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btBufferInfoCL( numCompoundPairsOut.getBufferCL())
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};
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btLauncherCL launcher(m_queue, m_findCompoundPairsKernel);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
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launcher.setConst( nPairs );
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launcher.setConst( compoundPairCapacity);
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int num = nPairs;
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launcher.launch1D( num);
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clFinish(m_queue);
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}
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numCompoundPairs = numCompoundPairsOut.at(0);
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//printf("numCompoundPairs =%d\n",numCompoundPairs );
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if (numCompoundPairs > compoundPairCapacity)
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numCompoundPairs = compoundPairCapacity;
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gpuCompoundPairs.resize(numCompoundPairs);
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gpuHasCompoundSepNormals.resize(numCompoundPairs);
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gpuCompoundSepNormals.resize(numCompoundPairs);
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if (numCompoundPairs)
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{
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BT_PROFILE("processCompoundPairsKernel");
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btBufferInfoCL bInfo[] =
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{
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btBufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
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btBufferInfoCL( bodyBuf->getBufferCL(),true),
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btBufferInfoCL( gpuCollidables.getBufferCL(),true),
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btBufferInfoCL( convexData.getBufferCL(),true),
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btBufferInfoCL( gpuVertices.getBufferCL(),true),
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btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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btBufferInfoCL( gpuFaces.getBufferCL(),true),
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btBufferInfoCL( gpuIndices.getBufferCL(),true),
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btBufferInfoCL( clAabbs.getBufferCL(),true),
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btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
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btBufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
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btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())
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};
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btLauncherCL launcher(m_queue, m_processCompoundPairsKernel);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
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launcher.setConst( numCompoundPairs );
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int num = numCompoundPairs;
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launcher.launch1D( num);
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clFinish(m_queue);
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}
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//printf("numConcave = %d\n",numConcave);
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}//if (findSeparatingAxisOnGpu)
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// printf("hostNormals.size()=%d\n",hostNormals.size());
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//int numPairs = pairCount.at(0);
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}
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#ifdef __APPLE__
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bool contactClippingOnGpu = true;
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#else
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bool contactClippingOnGpu = true;
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#endif
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if (contactClippingOnGpu)
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{
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//BT_PROFILE("clipHullHullKernel");
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m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
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//concave-convex contact clipping
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if (numConcave)
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{
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BT_PROFILE("clipHullHullConcaveConvexKernel");
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nContacts = m_totalContactsOut.at(0);
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btBufferInfoCL bInfo[] = {
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btBufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
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btBufferInfoCL( bodyBuf->getBufferCL(),true),
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btBufferInfoCL( gpuCollidables.getBufferCL(),true),
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btBufferInfoCL( convexData.getBufferCL(),true),
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btBufferInfoCL( gpuVertices.getBufferCL(),true),
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btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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btBufferInfoCL( gpuFaces.getBufferCL(),true),
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btBufferInfoCL( gpuIndices.getBufferCL(),true),
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btBufferInfoCL( concaveSepNormals.getBufferCL()),
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btBufferInfoCL( contactOut->getBufferCL()),
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btBufferInfoCL( m_totalContactsOut.getBufferCL())
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};
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btLauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
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launcher.setConst( numConcave );
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int num = numConcave;
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launcher.launch1D( num);
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clFinish(m_queue);
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nContacts = m_totalContactsOut.at(0);
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}
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//convex-convex contact clipping
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if (1)
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{
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BT_PROFILE("clipHullHullKernel");
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bool breakupKernel = false;
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#ifdef __APPLE__
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breakupKernel = true;
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#endif
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if (breakupKernel)
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{
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int vertexFaceCapacity = 64;
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worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
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clippingFacesOutGPU.resize(nPairs);
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worldNormalsAGPU.resize(nPairs);
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worldVertsA1GPU.resize(vertexFaceCapacity*nPairs);
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worldVertsB2GPU.resize(vertexFaceCapacity*nPairs);
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{
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BT_PROFILE("findClippingFacesKernel");
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btBufferInfoCL bInfo[] = {
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btBufferInfoCL( pairs->getBufferCL(), true ),
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btBufferInfoCL( bodyBuf->getBufferCL(),true),
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btBufferInfoCL( gpuCollidables.getBufferCL(),true),
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btBufferInfoCL( convexData.getBufferCL(),true),
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btBufferInfoCL( gpuVertices.getBufferCL(),true),
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btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
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btBufferInfoCL( gpuFaces.getBufferCL(),true),
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btBufferInfoCL( gpuIndices.getBufferCL(),true),
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btBufferInfoCL( sepNormals.getBufferCL()),
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btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
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btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
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btBufferInfoCL( worldVertsA1GPU.getBufferCL()),
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btBufferInfoCL( worldNormalsAGPU.getBufferCL()),
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btBufferInfoCL( worldVertsB1GPU.getBufferCL())
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};
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btLauncherCL launcher(m_queue, m_findClippingFacesKernel);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
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launcher.setConst( vertexFaceCapacity);
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launcher.setConst( nPairs );
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int num = nPairs;
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launcher.launch1D( num);
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clFinish(m_queue);
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}
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///clip face B against face A, reduce contacts and append them to a global contact array
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if (1)
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{
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BT_PROFILE("clipFacesAndContactReductionKernel");
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//nContacts = m_totalContactsOut.at(0);
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//int h = hasSeparatingNormals.at(0);
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//int4 p = clippingFacesOutGPU.at(0);
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btBufferInfoCL bInfo[] = {
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btBufferInfoCL( pairs->getBufferCL(), true ),
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btBufferInfoCL( bodyBuf->getBufferCL(),true),
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btBufferInfoCL( sepNormals.getBufferCL()),
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btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
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btBufferInfoCL( contactOut->getBufferCL()),
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btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
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btBufferInfoCL( worldVertsA1GPU.getBufferCL()),
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btBufferInfoCL( worldNormalsAGPU.getBufferCL()),
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btBufferInfoCL( worldVertsB1GPU.getBufferCL()),
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btBufferInfoCL( worldVertsB2GPU.getBufferCL()),
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btBufferInfoCL( m_totalContactsOut.getBufferCL())
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};
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btLauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
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launcher.setConst(vertexFaceCapacity);
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launcher.setConst( nPairs );
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int debugMode = 0;
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launcher.setConst( debugMode);
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/*
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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);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|