summaryrefslogtreecommitdiff
path: root/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
diff options
context:
space:
mode:
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h')
-rw-r--r--thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h103
1 files changed, 50 insertions, 53 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
index 2618da24bc..7c2507cc98 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
@@ -7,69 +7,64 @@
#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)
+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))
+ if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
{
return;
}
-
- if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)
+
+ 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
- )
+
+ 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;
+ 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++)
+ 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);
+
+ 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 endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize;
int curIndex = startNodeIndex;
int escapeIndex;
int isLeafNode;
@@ -77,43 +72,46 @@ void b3BvhTraversal( __global const b3Int4* pairs,
while (curIndex < endNodeIndex)
{
b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex];
- aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);
+ 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)
+ 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++)
+ int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
+ int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB);
+ for (int b = 0; b < numChildrenB; b++)
+ {
+ if ((pairIdx + b) < maxNumConcavePairsCapacity)
{
- if ((pairIdx+b)<maxNumConcavePairsCapacity)
- {
- int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
- b3Int4 newPair = b3MakeInt4(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);
- concavePairsOut[pairIdx+b] = newPair;
- }
+ int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
+ b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB);
+ concavePairsOut[pairIdx + b] = newPair;
}
- } else
+ }
+ }
+ else
{
int pairIdx = b3AtomicInc(numConcavePairsOut);
- if (pairIdx<maxNumConcavePairsCapacity)
+ if (pairIdx < maxNumConcavePairsCapacity)
{
- b3Int4 newPair = b3MakeInt4(bodyIndexA,bodyIndexB,triangleIndex,0);
+ b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0);
concavePairsOut[pairIdx] = newPair;
}
}
- }
+ }
curIndex++;
- } else
+ }
+ else
{
if (isLeafNode)
{
curIndex++;
- } else
+ }
+ else
{
escapeIndex = b3GetEscapeIndex(&rootNode);
curIndex += escapeIndex;
@@ -122,5 +120,4 @@ void b3BvhTraversal( __global const b3Int4* pairs,
}
}
}
-
} \ No newline at end of file
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-26 23:45:21 +0000