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Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h | 123 |
1 files changed, 0 insertions, 123 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h deleted file mode 100644 index 7c2507cc98..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h +++ /dev/null @@ -1,123 +0,0 @@ - - -#include "Bullet3Common/shared/b3Int4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h" - -// work-in-progress -void b3BvhTraversal(__global const b3Int4* pairs, - __global const b3RigidBodyData* rigidBodies, - __global const b3Collidable* collidables, - __global b3Aabb* aabbs, - __global b3Int4* concavePairsOut, - __global volatile int* numConcavePairsOut, - __global const b3BvhSubtreeInfo* subtreeHeadersRoot, - __global const b3QuantizedBvhNode* quantizedNodesRoot, - __global const b3BvhInfo* bvhInfos, - int numPairs, - int maxNumConcavePairsCapacity, - int id) -{ - int bodyIndexA = pairs[id].x; - int bodyIndexB = pairs[id].y; - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - //once the broadphase avoids static-static pairs, we can remove this test - if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0)) - { - return; - } - - if (collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH) - return; - - int shapeTypeB = collidables[collidableIndexB].m_shapeType; - - if (shapeTypeB != SHAPE_CONVEX_HULL && - shapeTypeB != SHAPE_SPHERE && - shapeTypeB != SHAPE_COMPOUND_OF_CONVEX_HULLS) - return; - - b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes]; - - b3Float4 bvhAabbMin = bvhInfo.m_aabbMin; - b3Float4 bvhAabbMax = bvhInfo.m_aabbMax; - b3Float4 bvhQuantization = bvhInfo.m_quantization; - int numSubtreeHeaders = bvhInfo.m_numSubTrees; - __global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset]; - __global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset]; - - unsigned short int quantizedQueryAabbMin[3]; - unsigned short int quantizedQueryAabbMax[3]; - b3QuantizeWithClamp(quantizedQueryAabbMin, aabbs[bodyIndexB].m_minVec, false, bvhAabbMin, bvhAabbMax, bvhQuantization); - b3QuantizeWithClamp(quantizedQueryAabbMax, aabbs[bodyIndexB].m_maxVec, true, bvhAabbMin, bvhAabbMax, bvhQuantization); - - for (int i = 0; i < numSubtreeHeaders; i++) - { - b3BvhSubtreeInfoData subtree = subtreeHeaders[i]; - - int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax); - if (overlap != 0) - { - int startNodeIndex = subtree.m_rootNodeIndex; - int endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize; - int curIndex = startNodeIndex; - int escapeIndex; - int isLeafNode; - int aabbOverlap; - while (curIndex < endNodeIndex) - { - b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex]; - aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode.m_quantizedAabbMin, rootNode.m_quantizedAabbMax); - isLeafNode = b3IsLeaf(&rootNode); - if (aabbOverlap) - { - if (isLeafNode) - { - int triangleIndex = b3GetTriangleIndex(&rootNode); - if (shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS) - { - int numChildrenB = collidables[collidableIndexB].m_numChildShapes; - int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB); - for (int b = 0; b < numChildrenB; b++) - { - if ((pairIdx + b) < maxNumConcavePairsCapacity) - { - int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b; - b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB); - concavePairsOut[pairIdx + b] = newPair; - } - } - } - else - { - int pairIdx = b3AtomicInc(numConcavePairsOut); - if (pairIdx < maxNumConcavePairsCapacity) - { - b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0); - concavePairsOut[pairIdx] = newPair; - } - } - } - curIndex++; - } - else - { - if (isLeafNode) - { - curIndex++; - } - else - { - escapeIndex = b3GetEscapeIndex(&rootNode); - curIndex += escapeIndex; - } - } - } - } - } -}
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