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-rw-r--r--thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h257
1 files changed, 0 insertions, 257 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
deleted file mode 100644
index f1df8a6970..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
+++ /dev/null
@@ -1,257 +0,0 @@
-//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* bvhTraversalKernelCL =
- "//keep this enum in sync with the CPU version (in btCollidable.h)\n"
- "//written by Erwin Coumans\n"
- "#define SHAPE_CONVEX_HULL 3\n"
- "#define SHAPE_CONCAVE_TRIMESH 5\n"
- "#define TRIANGLE_NUM_CONVEX_FACES 5\n"
- "#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
- "#define SHAPE_SPHERE 7\n"
- "typedef unsigned int u32;\n"
- "#define MAX_NUM_PARTS_IN_BITS 10\n"
- "///btQuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
- "///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
- "typedef struct\n"
- "{\n"
- " //12 bytes\n"
- " unsigned short int m_quantizedAabbMin[3];\n"
- " unsigned short int m_quantizedAabbMax[3];\n"
- " //4 bytes\n"
- " int m_escapeIndexOrTriangleIndex;\n"
- "} btQuantizedBvhNode;\n"
- "typedef struct\n"
- "{\n"
- " float4 m_aabbMin;\n"
- " float4 m_aabbMax;\n"
- " float4 m_quantization;\n"
- " int m_numNodes;\n"
- " int m_numSubTrees;\n"
- " int m_nodeOffset;\n"
- " int m_subTreeOffset;\n"
- "} b3BvhInfo;\n"
- "int getTriangleIndex(const btQuantizedBvhNode* rootNode)\n"
- "{\n"
- " unsigned int x=0;\n"
- " unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
- " // Get only the lower bits where the triangle index is stored\n"
- " return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
- "}\n"
- "int isLeaf(const btQuantizedBvhNode* rootNode)\n"
- "{\n"
- " //skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
- " return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
- "}\n"
- " \n"
- "int getEscapeIndex(const btQuantizedBvhNode* rootNode)\n"
- "{\n"
- " return -rootNode->m_escapeIndexOrTriangleIndex;\n"
- "}\n"
- "typedef struct\n"
- "{\n"
- " //12 bytes\n"
- " unsigned short int m_quantizedAabbMin[3];\n"
- " unsigned short int m_quantizedAabbMax[3];\n"
- " //4 bytes, points to the root of the subtree\n"
- " int m_rootNodeIndex;\n"
- " //4 bytes\n"
- " int m_subtreeSize;\n"
- " int m_padding[3];\n"
- "} btBvhSubtreeInfo;\n"
- "///keep this in sync with btCollidable.h\n"
- "typedef struct\n"
- "{\n"
- " int m_numChildShapes;\n"
- " int blaat2;\n"
- " int m_shapeType;\n"
- " int m_shapeIndex;\n"
- " \n"
- "} btCollidableGpu;\n"
- "typedef struct\n"
- "{\n"
- " float4 m_childPosition;\n"
- " float4 m_childOrientation;\n"
- " int m_shapeIndex;\n"
- " int m_unused0;\n"
- " int m_unused1;\n"
- " int m_unused2;\n"
- "} btGpuChildShape;\n"
- "typedef struct\n"
- "{\n"
- " float4 m_pos;\n"
- " float4 m_quat;\n"
- " float4 m_linVel;\n"
- " float4 m_angVel;\n"
- " u32 m_collidableIdx;\n"
- " float m_invMass;\n"
- " float m_restituitionCoeff;\n"
- " float m_frictionCoeff;\n"
- "} BodyData;\n"
- "typedef struct \n"
- "{\n"
- " union\n"
- " {\n"
- " float4 m_min;\n"
- " float m_minElems[4];\n"
- " int m_minIndices[4];\n"
- " };\n"
- " union\n"
- " {\n"
- " float4 m_max;\n"
- " float m_maxElems[4];\n"
- " int m_maxIndices[4];\n"
- " };\n"
- "} btAabbCL;\n"
- "int testQuantizedAabbAgainstQuantizedAabb(\n"
- " const unsigned short int* aabbMin1,\n"
- " const unsigned short int* aabbMax1,\n"
- " const unsigned short int* aabbMin2,\n"
- " const unsigned short int* aabbMax2)\n"
- "{\n"
- " //int overlap = 1;\n"
- " if (aabbMin1[0] > aabbMax2[0])\n"
- " return 0;\n"
- " if (aabbMax1[0] < aabbMin2[0])\n"
- " return 0;\n"
- " if (aabbMin1[1] > aabbMax2[1])\n"
- " return 0;\n"
- " if (aabbMax1[1] < aabbMin2[1])\n"
- " return 0;\n"
- " if (aabbMin1[2] > aabbMax2[2])\n"
- " return 0;\n"
- " if (aabbMax1[2] < aabbMin2[2])\n"
- " return 0;\n"
- " return 1;\n"
- " //overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;\n"
- " //overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;\n"
- " //overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;\n"
- " //return overlap;\n"
- "}\n"
- "void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)\n"
- "{\n"
- " float4 clampedPoint = max(point2,bvhAabbMin);\n"
- " clampedPoint = min (clampedPoint, bvhAabbMax);\n"
- " float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;\n"
- " if (isMax)\n"
- " {\n"
- " out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));\n"
- " out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));\n"
- " out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));\n"
- " } else\n"
- " {\n"
- " out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));\n"
- " out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));\n"
- " out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));\n"
- " }\n"
- "}\n"
- "// work-in-progress\n"
- "__kernel void bvhTraversalKernel( __global const int4* pairs, \n"
- " __global const BodyData* rigidBodies, \n"
- " __global const btCollidableGpu* collidables,\n"
- " __global btAabbCL* aabbs,\n"
- " __global int4* concavePairsOut,\n"
- " __global volatile int* numConcavePairsOut,\n"
- " __global const btBvhSubtreeInfo* subtreeHeadersRoot,\n"
- " __global const btQuantizedBvhNode* quantizedNodesRoot,\n"
- " __global const b3BvhInfo* bvhInfos,\n"
- " int numPairs,\n"
- " int maxNumConcavePairsCapacity)\n"
- "{\n"
- " int id = get_global_id(0);\n"
- " if (id>=numPairs)\n"
- " return;\n"
- " \n"
- " int bodyIndexA = pairs[id].x;\n"
- " int bodyIndexB = pairs[id].y;\n"
- " int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
- " int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
- " \n"
- " //once the broadphase avoids static-static pairs, we can remove this test\n"
- " if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
- " {\n"
- " return;\n"
- " }\n"
- " \n"
- " if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)\n"
- " return;\n"
- " int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
- " \n"
- " if (shapeTypeB!=SHAPE_CONVEX_HULL &&\n"
- " shapeTypeB!=SHAPE_SPHERE &&\n"
- " shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
- " )\n"
- " return;\n"
- " b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];\n"
- " float4 bvhAabbMin = bvhInfo.m_aabbMin;\n"
- " float4 bvhAabbMax = bvhInfo.m_aabbMax;\n"
- " float4 bvhQuantization = bvhInfo.m_quantization;\n"
- " int numSubtreeHeaders = bvhInfo.m_numSubTrees;\n"
- " __global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];\n"
- " __global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];\n"
- " \n"
- " unsigned short int quantizedQueryAabbMin[3];\n"
- " unsigned short int quantizedQueryAabbMax[3];\n"
- " quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
- " quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
- " \n"
- " for (int i=0;i<numSubtreeHeaders;i++)\n"
- " {\n"
- " btBvhSubtreeInfo subtree = subtreeHeaders[i];\n"
- " \n"
- " int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);\n"
- " if (overlap != 0)\n"
- " {\n"
- " int startNodeIndex = subtree.m_rootNodeIndex;\n"
- " int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;\n"
- " int curIndex = startNodeIndex;\n"
- " int escapeIndex;\n"
- " int isLeafNode;\n"
- " int aabbOverlap;\n"
- " while (curIndex < endNodeIndex)\n"
- " {\n"
- " btQuantizedBvhNode rootNode = quantizedNodes[curIndex];\n"
- " aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);\n"
- " isLeafNode = isLeaf(&rootNode);\n"
- " if (aabbOverlap)\n"
- " {\n"
- " if (isLeafNode)\n"
- " {\n"
- " int triangleIndex = getTriangleIndex(&rootNode);\n"
- " if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
- " {\n"
- " int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
- " int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);\n"
- " for (int b=0;b<numChildrenB;b++)\n"
- " {\n"
- " if ((pairIdx+b)<maxNumConcavePairsCapacity)\n"
- " {\n"
- " int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
- " int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);\n"
- " concavePairsOut[pairIdx+b] = newPair;\n"
- " }\n"
- " }\n"
- " } else\n"
- " {\n"
- " int pairIdx = atomic_inc(numConcavePairsOut);\n"
- " if (pairIdx<maxNumConcavePairsCapacity)\n"
- " {\n"
- " int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);\n"
- " concavePairsOut[pairIdx] = newPair;\n"
- " }\n"
- " }\n"
- " } \n"
- " curIndex++;\n"
- " } else\n"
- " {\n"
- " if (isLeafNode)\n"
- " {\n"
- " curIndex++;\n"
- " } else\n"
- " {\n"
- " escapeIndex = getEscapeIndex(&rootNode);\n"
- " curIndex += escapeIndex;\n"
- " }\n"
- " }\n"
- " }\n"
- " }\n"
- " }\n"
- "}\n";
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-26 16:31:17 +0000