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Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h | 196 |
1 files changed, 196 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h new file mode 100644 index 0000000000..718222ebca --- /dev/null +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h @@ -0,0 +1,196 @@ + +#ifndef B3_NEW_CONTACT_REDUCTION_H +#define B3_NEW_CONTACT_REDUCTION_H + +#include "Bullet3Common/shared/b3Float4.h" +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" + +#define GET_NPOINTS(x) (x).m_worldNormalOnB.w + + +int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx) +{ + if( nPoints == 0 ) + return 0; + + if (nPoints <=4) + return nPoints; + + + if (nPoints >64) + nPoints = 64; + + b3Float4 center = b3MakeFloat4(0,0,0,0); + { + + for (int i=0;i<nPoints;i++) + center += p[i]; + center /= (float)nPoints; + } + + + + // sample 4 directions + + b3Float4 aVector = p[0] - center; + b3Float4 u = b3Cross( nearNormal, aVector ); + b3Float4 v = b3Cross( nearNormal, u ); + u = b3Normalized( u ); + v = b3Normalized( v ); + + + //keep point with deepest penetration + float minW= FLT_MAX; + + int minIndex=-1; + + b3Float4 maxDots; + maxDots.x = FLT_MIN; + maxDots.y = FLT_MIN; + maxDots.z = FLT_MIN; + maxDots.w = FLT_MIN; + + // idx, distance + for(int ie = 0; ie<nPoints; ie++ ) + { + if (p[ie].w<minW) + { + minW = p[ie].w; + minIndex=ie; + } + float f; + b3Float4 r = p[ie]-center; + f = b3Dot( u, r ); + if (f<maxDots.x) + { + maxDots.x = f; + contactIdx[0].x = ie; + } + + f = b3Dot( -u, r ); + if (f<maxDots.y) + { + maxDots.y = f; + contactIdx[0].y = ie; + } + + + f = b3Dot( v, r ); + if (f<maxDots.z) + { + maxDots.z = f; + contactIdx[0].z = ie; + } + + f = b3Dot( -v, r ); + if (f<maxDots.w) + { + maxDots.w = f; + contactIdx[0].w = ie; + } + + } + + if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex) + { + //replace the first contact with minimum (todo: replace contact with least penetration) + contactIdx[0].x = minIndex; + } + + return 4; + +} + +__kernel void b3NewContactReductionKernel( __global b3Int4* pairs, + __global const b3RigidBodyData_t* rigidBodies, + __global const b3Float4* separatingNormals, + __global const int* hasSeparatingAxis, + __global struct b3Contact4Data* globalContactsOut, + __global b3Int4* clippingFaces, + __global b3Float4* worldVertsB2, + volatile __global int* nGlobalContactsOut, + int vertexFaceCapacity, + int contactCapacity, + int numPairs, + int pairIndex + ) +{ +// int i = get_global_id(0); + //int pairIndex = i; + int i = pairIndex; + + b3Int4 contactIdx; + contactIdx=b3MakeInt4(0,1,2,3); + + if (i<numPairs) + { + + if (hasSeparatingAxis[i]) + { + + + + + int nPoints = clippingFaces[pairIndex].w; + + if (nPoints>0) + { + + __global b3Float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity]; + b3Float4 normal = -separatingNormals[i]; + + int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx); + + int dstIdx; + dstIdx = b3AtomicInc( nGlobalContactsOut); + +//#if 0 + b3Assert(dstIdx < contactCapacity); + if (dstIdx < contactCapacity) + { + + __global struct b3Contact4Data* c = &globalContactsOut[dstIdx]; + c->m_worldNormalOnB = -normal; + c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); + c->m_batchIdx = pairIndex; + int bodyA = pairs[pairIndex].x; + int bodyB = pairs[pairIndex].y; + + pairs[pairIndex].w = dstIdx; + + c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA; + c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB; + c->m_childIndexA =-1; + c->m_childIndexB =-1; + + switch (nReducedContacts) + { + case 4: + c->m_worldPosB[3] = pointsIn[contactIdx.w]; + case 3: + c->m_worldPosB[2] = pointsIn[contactIdx.z]; + case 2: + c->m_worldPosB[1] = pointsIn[contactIdx.y]; + case 1: + c->m_worldPosB[0] = pointsIn[contactIdx.x]; + default: + { + } + }; + + GET_NPOINTS(*c) = nReducedContacts; + + } + + +//#endif + + }// if (numContactsOut>0) + }// if (hasSeparatingAxis[i]) + }// if (i<numPairs) + + + +} +#endif |