1 files changed, 323 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
new file mode 100644
index 0000000000..c3134b2c65
--- /dev/null
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
@@ -0,0 +1,323 @@
+#include "b3CpuNarrowPhase.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h"
+
+
+struct b3CpuNarrowPhaseInternalData
+{
+	b3AlignedObjectArray<b3Aabb> m_localShapeAABBCPU;
+	b3AlignedObjectArray<b3Collidable>	m_collidablesCPU;
+	b3AlignedObjectArray<b3ConvexUtility*> m_convexData;
+	b3Config m_config;
+
+
+	b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
+	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
+	b3AlignedObjectArray<b3Vector3> m_convexVertices;
+	b3AlignedObjectArray<int> m_convexIndices;
+	b3AlignedObjectArray<b3GpuFace> m_convexFaces;
+
+	b3AlignedObjectArray<b3Contact4Data> m_contacts;
+
+	int	m_numAcceleratedShapes;
+};
+
+
+const b3AlignedObjectArray<b3Contact4Data>& b3CpuNarrowPhase::getContacts() const
+{
+	return m_data->m_contacts;
+}
+
+b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex)
+{
+	return m_data->m_collidablesCPU[collidableIndex];
+}
+
+const b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex) const
+{
+	return m_data->m_collidablesCPU[collidableIndex];
+}
+
+
+b3CpuNarrowPhase::b3CpuNarrowPhase(const struct b3Config& config)
+{
+	m_data = new b3CpuNarrowPhaseInternalData;
+	m_data->m_config = config;
+	m_data->m_numAcceleratedShapes = 0;
+}
+
+b3CpuNarrowPhase::~b3CpuNarrowPhase()
+{
+	delete m_data;
+}
+
+void b3CpuNarrowPhase::computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies)
+{
+	int nPairs = pairs.size();
+	int numContacts = 0;
+	int maxContactCapacity = m_data->m_config.m_maxContactCapacity;
+	m_data->m_contacts.resize(maxContactCapacity);
+
+	for (int i=0;i<nPairs;i++)
+	{
+		int bodyIndexA = pairs[i].x;
+		int bodyIndexB = pairs[i].y;
+		int collidableIndexA = bodies[bodyIndexA].m_collidableIdx;
+		int collidableIndexB = bodies[bodyIndexB].m_collidableIdx;
+
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
+		{
+//			computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
+//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+		}
+
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_SPHERE)
+		{
+//			computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//printf("convex-sphere\n");
+			
+		}
+
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE)
+		{
+//			computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+//			printf("convex-plane\n");
+			
+		}
+
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
+		{
+//			computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
+//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+//			printf("plane-convex\n");
+			
+		}
+
+			if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
+		{
+//			computeContactCompoundCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], hostAabbsWorldSpace,hostAabbsLocalSpace,hostVertices,hostUniqueEdges,hostIndices,hostFaces,&hostContacts[0],
+//			nContacts,maxContactCapacity,treeNodesCPU,subTreesCPU,bvhInfoCPU);	
+//			printf("convex-plane\n");
+			
+		}
+
+
+				if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE)
+		{
+//			computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+//			printf("convex-plane\n");
+			
+		}
+
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
+		{
+//			computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
+//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+//			printf("plane-convex\n");
+			
+		}
+
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
+			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
+		{
+			//printf("pairs[i].z=%d\n",pairs[i].z);
+			//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies,
+			//		m_data->m_collidablesCPU,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
+			int contactIndex = b3ContactConvexConvexSAT(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies,
+				m_data->m_collidablesCPU,m_data->m_convexPolyhedra,m_data->m_convexVertices,m_data->m_uniqueEdges,m_data->m_convexIndices,m_data->m_convexFaces,m_data->m_contacts,numContacts,maxContactCapacity);
+
+
+			if (contactIndex>=0)
+			{
+				pairs[i].z = contactIndex;
+			}
+//			printf("plane-convex\n");
+			
+		}
+
+
+	}
+
+	m_data->m_contacts.resize(numContacts);
+}
+
+int	b3CpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
+{
+	int collidableIndex = allocateCollidable();
+	if (collidableIndex<0)
+		return collidableIndex;
+
+	
+	b3Collidable& col = m_data->m_collidablesCPU[collidableIndex];
+	col.m_shapeType = SHAPE_CONVEX_HULL;
+	col.m_shapeIndex = -1;
+	
+	
+	{
+		b3Vector3 localCenter=b3MakeVector3(0,0,0);
+		for (int i=0;i<utilPtr->m_vertices.size();i++)
+			localCenter+=utilPtr->m_vertices[i];
+		localCenter*= (1.f/utilPtr->m_vertices.size());
+		utilPtr->m_localCenter = localCenter;
+
+		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr,col);
+	}
+
+	if (col.m_shapeIndex>=0)
+	{
+		b3Aabb aabb;
+		
+		b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
+		b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
+
+		for (int i=0;i<utilPtr->m_vertices.size();i++)
+		{
+			myAabbMin.setMin(utilPtr->m_vertices[i]);
+			myAabbMax.setMax(utilPtr->m_vertices[i]);
+		}
+		aabb.m_min[0] = myAabbMin[0];
+		aabb.m_min[1] = myAabbMin[1];
+		aabb.m_min[2] = myAabbMin[2];
+		aabb.m_minIndices[3] = 0;
+
+		aabb.m_max[0] = myAabbMax[0];
+		aabb.m_max[1] = myAabbMax[1];
+		aabb.m_max[2] = myAabbMax[2];
+		aabb.m_signedMaxIndices[3] = 0;
+
+		m_data->m_localShapeAABBCPU.push_back(aabb);
+
+	}
+	
+	return collidableIndex;
+}
+
+int	b3CpuNarrowPhase::allocateCollidable()
+{
+	int curSize = m_data->m_collidablesCPU.size();
+	if (curSize<m_data->m_config.m_maxConvexShapes)
+	{
+		m_data->m_collidablesCPU.expand();
+		return curSize;
+	}
+	else
+	{
+		b3Error("allocateCollidable out-of-range %d\n",m_data->m_config.m_maxConvexShapes);
+	}
+	return -1;
+
+}
+
+int	b3CpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
+{
+	b3AlignedObjectArray<b3Vector3> verts;
+
+	unsigned char* vts = (unsigned char*) vertices;
+	for (int i=0;i<numVertices;i++)
+	{
+		float* vertex = (float*) &vts[i*strideInBytes];
+		verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
+	}
+
+	b3ConvexUtility* utilPtr = new b3ConvexUtility();
+	bool merge = true;
+	if (numVertices)
+	{
+		utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
+	}
+
+	int collidableIndex = registerConvexHullShape(utilPtr);
+
+	delete utilPtr;
+	return collidableIndex;
+}
+
+
+int b3CpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr,b3Collidable& col)
+{
+
+	m_data->m_convexData.resize(m_data->m_numAcceleratedShapes+1);
+	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
+	
+    
+	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
+	convex.mC = convexPtr->mC;
+	convex.mE = convexPtr->mE;
+	convex.m_extents= convexPtr->m_extents;
+	convex.m_localCenter = convexPtr->m_localCenter;
+	convex.m_radius = convexPtr->m_radius;
+	
+	convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
+	int edgeOffset = m_data->m_uniqueEdges.size();
+	convex.m_uniqueEdgesOffset = edgeOffset;
+	
+	m_data->m_uniqueEdges.resize(edgeOffset+convex.m_numUniqueEdges);
+    
+	//convex data here
+	int i;
+	for ( i=0;i<convexPtr->m_uniqueEdges.size();i++)
+	{
+		m_data->m_uniqueEdges[edgeOffset+i] = convexPtr->m_uniqueEdges[i];
+	}
+    
+	int faceOffset = m_data->m_convexFaces.size();
+	convex.m_faceOffset = faceOffset;
+	convex.m_numFaces = convexPtr->m_faces.size();
+
+	m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
+	
+
+	for (i=0;i<convexPtr->m_faces.size();i++)
+	{
+		m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
+																			convexPtr->m_faces[i].m_plane[1],
+																			convexPtr->m_faces[i].m_plane[2],
+																			convexPtr->m_faces[i].m_plane[3]);
+
+		
+		int indexOffset = m_data->m_convexIndices.size();
+		int numIndices = convexPtr->m_faces[i].m_indices.size();
+		m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
+		m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
+		m_data->m_convexIndices.resize(indexOffset+numIndices);
+		for (int p=0;p<numIndices;p++)
+		{
+			m_data->m_convexIndices[indexOffset+p] = convexPtr->m_faces[i].m_indices[p];
+		}
+	}
+    
+	convex.m_numVertices = convexPtr->m_vertices.size();
+	int vertexOffset = m_data->m_convexVertices.size();
+	convex.m_vertexOffset =vertexOffset;
+	
+	m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
+	for (int i=0;i<convexPtr->m_vertices.size();i++)
+	{
+		m_data->m_convexVertices[vertexOffset+i] = convexPtr->m_vertices[i];
+	}
+
+	(m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
+	
+    
+    
+	return m_data->m_numAcceleratedShapes++;
+}
+
+const b3Aabb& b3CpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
+{
+	return m_data->m_localShapeAABBCPU[collidableIndex];
+}