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-rw-r--r--thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl1374
1 files changed, 0 insertions, 1374 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
deleted file mode 100644
index 9c9e920f13..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
+++ /dev/null
@@ -1,1374 +0,0 @@
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#define SHAPE_CONVEX_HULL 3
-#define SHAPE_PLANE 4
-#define SHAPE_CONCAVE_TRIMESH 5
-#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
-#define SHAPE_SPHERE 7
-
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile __global int*
-#endif
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-#define max2 max
-#define min2 min
-
-typedef unsigned int u32;
-
-
-
-
-typedef struct
-{
- union
- {
- float4 m_min;
- float m_minElems[4];
- int m_minIndices[4];
- };
- union
- {
- float4 m_max;
- float m_maxElems[4];
- int m_maxIndices[4];
- };
-} btAabbCL;
-
-///keep this in sync with btCollidable.h
-typedef struct
-{
- int m_numChildShapes;
- float m_radius;
- int m_shapeType;
- int m_shapeIndex;
-
-} btCollidableGpu;
-
-typedef struct
-{
- float4 m_childPosition;
- float4 m_childOrientation;
- int m_shapeIndex;
- int m_unused0;
- int m_unused1;
- int m_unused2;
-} btGpuChildShape;
-
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-
-typedef struct
-{
- float4 m_pos;
- float4 m_quat;
- float4 m_linVel;
- float4 m_angVel;
-
- u32 m_collidableIdx;
- float m_invMass;
- float m_restituitionCoeff;
- float m_frictionCoeff;
-} BodyData;
-
-
-typedef struct
-{
- float4 m_localCenter;
- float4 m_extents;
- float4 mC;
- float4 mE;
-
- float m_radius;
- int m_faceOffset;
- int m_numFaces;
- int m_numVertices;
-
- int m_vertexOffset;
- int m_uniqueEdgesOffset;
- int m_numUniqueEdges;
- int m_unused;
-
-} ConvexPolyhedronCL;
-
-typedef struct
-{
- float4 m_plane;
- int m_indexOffset;
- int m_numIndices;
-} btGpuFace;
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-__inline
-float fastDiv(float numerator, float denominator)
-{
- return native_divide(numerator, denominator);
-// return numerator/denominator;
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
- return native_divide(numerator, denominator);
-}
-
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
- return cross(a,b);
-}
-
-//#define dot3F4 dot
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
- float4 a1 = make_float4(a.xyz,0.f);
- float4 b1 = make_float4(b.xyz,0.f);
- return dot(a1, b1);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
- return fast_normalize(v);
-}
-
-
-///////////////////////////////////////
-// Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
- Quaternion ans;
- ans = cross3( a, b );
- ans += a.w*b+b.w*a;
-// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
- ans.w = a.w*b.w - dot3F4(a, b);
- return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
- return fastNormalize4(in);
-// in /= length( in );
-// return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
- Quaternion qInv = qtInvert( q );
- float4 vcpy = vec;
- vcpy.w = 0.f;
- float4 out = qtMul(qtMul(q,vcpy),qInv);
- return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
- return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
- return qtRotate( qtInvert( q ), vec );
-}
-
-__inline
-float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
-{
- return qtRotate( *orientation, *p ) + (*translation);
-}
-
-void trInverse(float4 translationIn, Quaternion orientationIn,
- float4* translationOut, Quaternion* orientationOut)
-{
- *orientationOut = qtInvert(orientationIn);
- *translationOut = qtRotate(*orientationOut, -translationIn);
-}
-
-void trMul(float4 translationA, Quaternion orientationA,
- float4 translationB, Quaternion orientationB,
- float4* translationOut, Quaternion* orientationOut)
-{
- *orientationOut = qtMul(orientationA,orientationB);
- *translationOut = transform(&translationB,&translationA,&orientationA);
-}
-
-
-
-__inline
-float4 normalize3(const float4 a)
-{
- float4 n = make_float4(a.x, a.y, a.z, 0.f);
- return fastNormalize4( n );
-}
-
-
-__inline float4 lerp3(const float4 a,const float4 b, float t)
-{
- return make_float4( a.x + (b.x - a.x) * t,
- a.y + (b.y - a.y) * t,
- a.z + (b.z - a.z) * t,
- 0.f);
-}
-
-
-float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)
-{
- float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);
- float dist = dot3F4(n, point) + planeEqn.w;
- *closestPointOnFace = point - dist * n;
- return dist;
-}
-
-
-
-inline bool IsPointInPolygon(float4 p,
- const btGpuFace* face,
- __global const float4* baseVertex,
- __global const int* convexIndices,
- float4* out)
-{
- float4 a;
- float4 b;
- float4 ab;
- float4 ap;
- float4 v;
-
- float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
-
- if (face->m_numIndices<2)
- return false;
-
-
- float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
-
- b = v0;
-
- for(unsigned i=0; i != face->m_numIndices; ++i)
- {
- a = b;
- float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
- b = vi;
- ab = b-a;
- ap = p-a;
- v = cross3(ab,plane);
-
- if (dot(ap, v) > 0.f)
- {
- float ab_m2 = dot(ab, ab);
- float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;
- if (rt <= 0.f)
- {
- *out = a;
- }
- else if (rt >= 1.f)
- {
- *out = b;
- }
- else
- {
- float s = 1.f - rt;
- out[0].x = s * a.x + rt * b.x;
- out[0].y = s * a.y + rt * b.y;
- out[0].z = s * a.z + rt * b.z;
- }
- return false;
- }
- }
- return true;
-}
-
-
-
-
-void computeContactSphereConvex(int pairIndex,
- int bodyIndexA, int bodyIndexB,
- int collidableIndexA, int collidableIndexB,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu* collidables,
- __global const ConvexPolyhedronCL* convexShapes,
- __global const float4* convexVertices,
- __global const int* convexIndices,
- __global const btGpuFace* faces,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int maxContactCapacity,
- float4 spherePos2,
- float radius,
- float4 pos,
- float4 quat
- )
-{
-
- float4 invPos;
- float4 invOrn;
-
- trInverse(pos,quat, &invPos,&invOrn);
-
- float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
-
- int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
- int numFaces = convexShapes[shapeIndex].m_numFaces;
- float4 closestPnt = (float4)(0, 0, 0, 0);
- float4 hitNormalWorld = (float4)(0, 0, 0, 0);
- float minDist = -1000000.f;
- bool bCollide = true;
-
- for ( int f = 0; f < numFaces; f++ )
- {
- btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
-
- // set up a plane equation
- float4 planeEqn;
- float4 n1 = face.m_plane;
- n1.w = 0.f;
- planeEqn = n1;
- planeEqn.w = face.m_plane.w;
-
-
- // compute a signed distance from the vertex in cloth to the face of rigidbody.
- float4 pntReturn;
- float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
-
- // If the distance is positive, the plane is a separating plane.
- if ( dist > radius )
- {
- bCollide = false;
- break;
- }
-
-
- if (dist>0)
- {
- //might hit an edge or vertex
- float4 out;
- float4 zeroPos = make_float4(0,0,0,0);
-
- bool isInPoly = IsPointInPolygon(spherePos,
- &face,
- &convexVertices[convexShapes[shapeIndex].m_vertexOffset],
- convexIndices,
- &out);
- if (isInPoly)
- {
- if (dist>minDist)
- {
- minDist = dist;
- closestPnt = pntReturn;
- hitNormalWorld = planeEqn;
-
- }
- } else
- {
- float4 tmp = spherePos-out;
- float l2 = dot(tmp,tmp);
- if (l2<radius*radius)
- {
- dist = sqrt(l2);
- if (dist>minDist)
- {
- minDist = dist;
- closestPnt = out;
- hitNormalWorld = tmp/dist;
-
- }
-
- } else
- {
- bCollide = false;
- break;
- }
- }
- } else
- {
- if ( dist > minDist )
- {
- minDist = dist;
- closestPnt = pntReturn;
- hitNormalWorld.xyz = planeEqn.xyz;
- }
- }
-
- }
-
-
-
- if (bCollide && minDist > -10000)
- {
- float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
- float4 pOnB1 = transform(&closestPnt,&pos,&quat);
-
- float actualDepth = minDist-radius;
- if (actualDepth<=0.f)
- {
-
-
- pOnB1.w = actualDepth;
-
- int dstIdx;
- AppendInc( nGlobalContactsOut, dstIdx );
-
-
- if (1)//dstIdx < maxContactCapacity)
- {
- __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
- c->m_worldNormalOnB = -normalOnSurfaceB1;
- c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
- c->m_batchIdx = pairIndex;
- c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
- c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
- c->m_worldPosB[0] = pOnB1;
- c->m_childIndexA = -1;
- c->m_childIndexB = -1;
-
- GET_NPOINTS(*c) = 1;
- }
-
- }
- }//if (hasCollision)
-
-}
-
-
-
-int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)
-{
- if( nPoints == 0 )
- return 0;
-
- if (nPoints <=4)
- return nPoints;
-
-
- if (nPoints >64)
- nPoints = 64;
-
- float4 center = make_float4(0.f);
- {
-
- for (int i=0;i<nPoints;i++)
- center += p[i];
- center /= (float)nPoints;
- }
-
-
-
- // sample 4 directions
-
- float4 aVector = p[0] - center;
- float4 u = cross3( nearNormal, aVector );
- float4 v = cross3( nearNormal, u );
- u = normalize3( u );
- v = normalize3( v );
-
-
- //keep point with deepest penetration
- float minW= FLT_MAX;
-
- int minIndex=-1;
-
- float4 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;
- float4 r = p[ie]-center;
- f = dot3F4( u, r );
- if (f<maxDots.x)
- {
- maxDots.x = f;
- contactIdx[0].x = ie;
- }
-
- f = dot3F4( -u, r );
- if (f<maxDots.y)
- {
- maxDots.y = f;
- contactIdx[0].y = ie;
- }
-
-
- f = dot3F4( v, r );
- if (f<maxDots.z)
- {
- maxDots.z = f;
- contactIdx[0].z = ie;
- }
-
- f = dot3F4( -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;
-
-}
-
-#define MAX_PLANE_CONVEX_POINTS 64
-
-int computeContactPlaneConvex(int pairIndex,
- int bodyIndexA, int bodyIndexB,
- int collidableIndexA, int collidableIndexB,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu*collidables,
- __global const ConvexPolyhedronCL* convexShapes,
- __global const float4* convexVertices,
- __global const int* convexIndices,
- __global const btGpuFace* faces,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int maxContactCapacity,
- float4 posB,
- Quaternion ornB
- )
-{
- int resultIndex=-1;
-
- int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
- __global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
-
- float4 posA;
- posA = rigidBodies[bodyIndexA].m_pos;
- Quaternion ornA;
- ornA = rigidBodies[bodyIndexA].m_quat;
-
- int numContactsOut = 0;
- int numWorldVertsB1= 0;
-
- float4 planeEq;
- planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
- float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
- float4 planeNormalWorld;
- planeNormalWorld = qtRotate(ornA,planeNormal);
- float planeConstant = planeEq.w;
-
- float4 invPosA;Quaternion invOrnA;
- float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
- {
-
- trInverse(posA,ornA,&invPosA,&invOrnA);
- trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
- }
- float4 invPosB;Quaternion invOrnB;
- float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
- {
-
- trInverse(posB,ornB,&invPosB,&invOrnB);
- trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);
- }
-
-
- float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);
- float maxDot = -1e30;
- int hitVertex=-1;
- float4 hitVtx;
-
-
-
- float4 contactPoints[MAX_PLANE_CONVEX_POINTS];
- int numPoints = 0;
-
- int4 contactIdx;
- contactIdx=make_int4(0,1,2,3);
-
-
- for (int i=0;i<hullB->m_numVertices;i++)
- {
- float4 vtx = convexVertices[hullB->m_vertexOffset+i];
- float curDot = dot(vtx,planeNormalInConvex);
-
-
- if (curDot>maxDot)
- {
- hitVertex=i;
- maxDot=curDot;
- hitVtx = vtx;
- //make sure the deepest points is always included
- if (numPoints==MAX_PLANE_CONVEX_POINTS)
- numPoints--;
- }
-
- if (numPoints<MAX_PLANE_CONVEX_POINTS)
- {
- float4 vtxWorld = transform(&vtx, &posB, &ornB);
- float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;
- float dist = dot(planeNormal,vtxInPlane)-planeConstant;
- if (dist<0.f)
- {
- vtxWorld.w = dist;
- contactPoints[numPoints] = vtxWorld;
- numPoints++;
- }
- }
-
- }
-
- int numReducedPoints = numPoints;
- if (numPoints>4)
- {
- numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
- }
-
- if (numReducedPoints>0)
- {
- int dstIdx;
- AppendInc( nGlobalContactsOut, dstIdx );
-
- if (dstIdx < maxContactCapacity)
- {
- resultIndex = dstIdx;
- __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
- c->m_worldNormalOnB = -planeNormalWorld;
- //c->setFrictionCoeff(0.7);
- //c->setRestituitionCoeff(0.f);
- c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
- c->m_batchIdx = pairIndex;
- c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
- c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
- c->m_childIndexA = -1;
- c->m_childIndexB = -1;
-
- switch (numReducedPoints)
- {
- case 4:
- c->m_worldPosB[3] = contactPoints[contactIdx.w];
- case 3:
- c->m_worldPosB[2] = contactPoints[contactIdx.z];
- case 2:
- c->m_worldPosB[1] = contactPoints[contactIdx.y];
- case 1:
- c->m_worldPosB[0] = contactPoints[contactIdx.x];
- default:
- {
- }
- };
-
- GET_NPOINTS(*c) = numReducedPoints;
- }//if (dstIdx < numPairs)
- }
-
- return resultIndex;
-}
-
-
-void computeContactPlaneSphere(int pairIndex,
- int bodyIndexA, int bodyIndexB,
- int collidableIndexA, int collidableIndexB,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu* collidables,
- __global const btGpuFace* faces,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int maxContactCapacity)
-{
- float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
- float radius = collidables[collidableIndexB].m_radius;
- float4 posA1 = rigidBodies[bodyIndexA].m_pos;
- float4 ornA1 = rigidBodies[bodyIndexA].m_quat;
- float4 posB1 = rigidBodies[bodyIndexB].m_pos;
- float4 ornB1 = rigidBodies[bodyIndexB].m_quat;
-
- bool hasCollision = false;
- float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
- float planeConstant = planeEq.w;
- float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
- {
- float4 invPosA;Quaternion invOrnA;
- trInverse(posA1,ornA1,&invPosA,&invOrnA);
- trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
- }
- float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
- {
- float4 invPosB;Quaternion invOrnB;
- trInverse(posB1,ornB1,&invPosB,&invOrnB);
- trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);
- }
- float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;
- float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
- float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;
- hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();
- if (hasCollision)
- {
- float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;
- float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);
- float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);
- float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;
- pOnB1.w = distance;
-
- int dstIdx;
- AppendInc( nGlobalContactsOut, dstIdx );
-
- if (dstIdx < maxContactCapacity)
- {
- __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
- c->m_worldNormalOnB = -normalOnSurfaceB1;
- c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
- c->m_batchIdx = pairIndex;
- c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
- c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
- c->m_worldPosB[0] = pOnB1;
- c->m_childIndexA = -1;
- c->m_childIndexB = -1;
- GET_NPOINTS(*c) = 1;
- }//if (dstIdx < numPairs)
- }//if (hasCollision)
-}
-
-
-__kernel void primitiveContactsKernel( __global int4* pairs,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu* collidables,
- __global const ConvexPolyhedronCL* convexShapes,
- __global const float4* vertices,
- __global const float4* uniqueEdges,
- __global const btGpuFace* faces,
- __global const int* indices,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int numPairs, int maxContactCapacity)
-{
-
- int i = get_global_id(0);
- int pairIndex = i;
-
- float4 worldVertsB1[64];
- float4 worldVertsB2[64];
- int capacityWorldVerts = 64;
-
- float4 localContactsOut[64];
- int localContactCapacity=64;
-
- float minDist = -1e30f;
- float maxDist = 0.02f;
-
- if (i<numPairs)
- {
-
- int bodyIndexA = pairs[i].x;
- int bodyIndexB = pairs[i].y;
-
- int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
- int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
- collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
- {
-
- float4 posB;
- posB = rigidBodies[bodyIndexB].m_pos;
- Quaternion ornB;
- ornB = rigidBodies[bodyIndexB].m_quat;
- int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
- rigidBodies,collidables,convexShapes,vertices,indices,
- faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);
- if (contactIndex>=0)
- pairs[pairIndex].z = contactIndex;
-
- return;
- }
-
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
- collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
- {
-
- float4 posA;
- posA = rigidBodies[bodyIndexA].m_pos;
- Quaternion ornA;
- ornA = rigidBodies[bodyIndexA].m_quat;
-
-
- int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
- rigidBodies,collidables,convexShapes,vertices,indices,
- faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
-
- if (contactIndex>=0)
- pairs[pairIndex].z = contactIndex;
-
- return;
- }
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
- collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
- {
- computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
- rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
- return;
- }
-
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
- collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
- {
-
-
- computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
- rigidBodies,collidables,
- faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
-
- return;
- }
-
-
-
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
- collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
- {
-
- float4 spherePos = rigidBodies[bodyIndexA].m_pos;
- float sphereRadius = collidables[collidableIndexA].m_radius;
- float4 convexPos = rigidBodies[bodyIndexB].m_pos;
- float4 convexOrn = rigidBodies[bodyIndexB].m_quat;
-
- computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
- rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
- spherePos,sphereRadius,convexPos,convexOrn);
-
- return;
- }
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
- collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
- {
-
- float4 spherePos = rigidBodies[bodyIndexB].m_pos;
- float sphereRadius = collidables[collidableIndexB].m_radius;
- float4 convexPos = rigidBodies[bodyIndexA].m_pos;
- float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
-
- computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
- rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
- spherePos,sphereRadius,convexPos,convexOrn);
- return;
- }
-
-
-
-
-
-
- if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
- collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
- {
- //sphere-sphere
- float radiusA = collidables[collidableIndexA].m_radius;
- float radiusB = collidables[collidableIndexB].m_radius;
- float4 posA = rigidBodies[bodyIndexA].m_pos;
- float4 posB = rigidBodies[bodyIndexB].m_pos;
-
- float4 diff = posA-posB;
- float len = length(diff);
-
- ///iff distance positive, don't generate a new contact
- if ( len <= (radiusA+radiusB))
- {
- ///distance (negative means penetration)
- float dist = len - (radiusA+radiusB);
- float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
- if (len > 0.00001)
- {
- normalOnSurfaceB = diff / len;
- }
- float4 contactPosB = posB + normalOnSurfaceB*radiusB;
- contactPosB.w = dist;
-
- int dstIdx;
- AppendInc( nGlobalContactsOut, dstIdx );
-
- if (dstIdx < maxContactCapacity)
- {
- __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
- c->m_worldNormalOnB = normalOnSurfaceB;
- 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;
- c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
- c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
- c->m_worldPosB[0] = contactPosB;
- c->m_childIndexA = -1;
- c->m_childIndexB = -1;
- GET_NPOINTS(*c) = 1;
- }//if (dstIdx < numPairs)
- }//if ( len <= (radiusA+radiusB))
-
- return;
- }//SHAPE_SPHERE SHAPE_SPHERE
-
- }// if (i<numPairs)
-
-}
-
-
-// work-in-progress
-__kernel void processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu* collidables,
- __global const ConvexPolyhedronCL* convexShapes,
- __global const float4* vertices,
- __global const float4* uniqueEdges,
- __global const btGpuFace* faces,
- __global const int* indices,
- __global btAabbCL* aabbs,
- __global const btGpuChildShape* gpuChildShapes,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int numCompoundPairs, int maxContactCapacity
- )
-{
-
- int i = get_global_id(0);
- if (i<numCompoundPairs)
- {
- int bodyIndexA = gpuCompoundPairs[i].x;
- int bodyIndexB = gpuCompoundPairs[i].y;
-
- int childShapeIndexA = gpuCompoundPairs[i].z;
- int childShapeIndexB = gpuCompoundPairs[i].w;
-
- int collidableIndexA = -1;
- int collidableIndexB = -1;
-
- float4 ornA = rigidBodies[bodyIndexA].m_quat;
- float4 posA = rigidBodies[bodyIndexA].m_pos;
-
- float4 ornB = rigidBodies[bodyIndexB].m_quat;
- float4 posB = rigidBodies[bodyIndexB].m_pos;
-
- if (childShapeIndexA >= 0)
- {
- collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
- float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
- float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
- float4 newPosA = qtRotate(ornA,childPosA)+posA;
- float4 newOrnA = qtMul(ornA,childOrnA);
- posA = newPosA;
- ornA = newOrnA;
- } else
- {
- collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
- }
-
- if (childShapeIndexB>=0)
- {
- collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
- float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
- float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
- float4 newPosB = transform(&childPosB,&posB,&ornB);
- float4 newOrnB = qtMul(ornB,childOrnB);
- posB = newPosB;
- ornB = newOrnB;
- } else
- {
- collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
- }
-
- int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
- int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
- int shapeTypeA = collidables[collidableIndexA].m_shapeType;
- int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-
- int pairIndex = i;
- if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))
- {
-
- computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB, collidableIndexA,collidableIndexB,
- rigidBodies,collidables,convexShapes,vertices,indices,
- faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);
- return;
- }
-
- if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))
- {
-
- computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
- rigidBodies,collidables,convexShapes,vertices,indices,
- faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
- return;
- }
-
- if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))
- {
- float4 spherePos = rigidBodies[bodyIndexB].m_pos;
- float sphereRadius = collidables[collidableIndexB].m_radius;
- float4 convexPos = posA;
- float4 convexOrn = ornA;
-
- computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA,
- rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
- spherePos,sphereRadius,convexPos,convexOrn);
-
- return;
- }
-
- if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))
- {
-
- float4 spherePos = rigidBodies[bodyIndexA].m_pos;
- float sphereRadius = collidables[collidableIndexA].m_radius;
- float4 convexPos = posB;
- float4 convexOrn = ornB;
-
-
- computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
- rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
- spherePos,sphereRadius,convexPos,convexOrn);
-
- return;
- }
- }// if (i<numCompoundPairs)
-}
-
-
-bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )
-{
-
- const float4* p1 = &vertices[0];
- const float4* p2 = &vertices[1];
- const float4* p3 = &vertices[2];
-
- float4 edge1; edge1 = (*p2 - *p1);
- float4 edge2; edge2 = ( *p3 - *p2 );
- float4 edge3; edge3 = ( *p1 - *p3 );
-
-
- float4 p1_to_p; p1_to_p = ( *p - *p1 );
- float4 p2_to_p; p2_to_p = ( *p - *p2 );
- float4 p3_to_p; p3_to_p = ( *p - *p3 );
-
- float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));
- float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));
- float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));
-
-
-
- float r1, r2, r3;
- r1 = dot(edge1_normal,p1_to_p );
- r2 = dot(edge2_normal,p2_to_p );
- r3 = dot(edge3_normal,p3_to_p );
-
- if ( r1 > 0 && r2 > 0 && r3 > 0 )
- return true;
- if ( r1 <= 0 && r2 <= 0 && r3 <= 0 )
- return true;
- return false;
-
-}
-
-
-float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest)
-{
- float4 diff = p - from;
- float4 v = to - from;
- float t = dot(v,diff);
-
- if (t > 0)
- {
- float dotVV = dot(v,v);
- if (t < dotVV)
- {
- t /= dotVV;
- diff -= t*v;
- } else
- {
- t = 1;
- diff -= v;
- }
- } else
- {
- t = 0;
- }
- *nearest = from + t*v;
- return dot(diff,diff);
-}
-
-
-void computeContactSphereTriangle(int pairIndex,
- int bodyIndexA, int bodyIndexB,
- int collidableIndexA, int collidableIndexB,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu* collidables,
- const float4* triangleVertices,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int maxContactCapacity,
- float4 spherePos2,
- float radius,
- float4 pos,
- float4 quat,
- int faceIndex
- )
-{
-
- float4 invPos;
- float4 invOrn;
-
- trInverse(pos,quat, &invPos,&invOrn);
- float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
- int numFaces = 3;
- float4 closestPnt = (float4)(0, 0, 0, 0);
- float4 hitNormalWorld = (float4)(0, 0, 0, 0);
- float minDist = -1000000.f;
- bool bCollide = false;
-
-
- //////////////////////////////////////
-
- float4 sphereCenter;
- sphereCenter = spherePos;
-
- const float4* vertices = triangleVertices;
- float contactBreakingThreshold = 0.f;//todo?
- float radiusWithThreshold = radius + contactBreakingThreshold;
- float4 edge10;
- edge10 = vertices[1]-vertices[0];
- edge10.w = 0.f;//is this needed?
- float4 edge20;
- edge20 = vertices[2]-vertices[0];
- edge20.w = 0.f;//is this needed?
- float4 normal = cross3(edge10,edge20);
- normal = normalize(normal);
- float4 p1ToCenter;
- p1ToCenter = sphereCenter - vertices[0];
-
- float distanceFromPlane = dot(p1ToCenter,normal);
-
- if (distanceFromPlane < 0.f)
- {
- //triangle facing the other way
- distanceFromPlane *= -1.f;
- normal *= -1.f;
- }
- hitNormalWorld = normal;
-
- bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
-
- // Check for contact / intersection
- bool hasContact = false;
- float4 contactPoint;
- if (isInsideContactPlane)
- {
-
- if (pointInTriangle(vertices,&normal, &sphereCenter))
- {
- // Inside the contact wedge - touches a point on the shell plane
- hasContact = true;
- contactPoint = sphereCenter - normal*distanceFromPlane;
-
- } else {
- // Could be inside one of the contact capsules
- float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
- float4 nearestOnEdge;
- int numEdges = 3;
- for (int i = 0; i < numEdges; i++)
- {
- float4 pa =vertices[i];
- float4 pb = vertices[(i+1)%3];
-
- float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);
- if (distanceSqr < contactCapsuleRadiusSqr)
- {
- // Yep, we're inside a capsule
- hasContact = true;
- contactPoint = nearestOnEdge;
-
- }
-
- }
- }
- }
-
- if (hasContact)
- {
-
- closestPnt = contactPoint;
- float4 contactToCenter = sphereCenter - contactPoint;
- minDist = length(contactToCenter);
- if (minDist>FLT_EPSILON)
- {
- hitNormalWorld = normalize(contactToCenter);//*(1./minDist);
- bCollide = true;
- }
-
- }
-
-
- /////////////////////////////////////
-
- if (bCollide && minDist > -10000)
- {
-
- float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
- float4 pOnB1 = transform(&closestPnt,&pos,&quat);
- float actualDepth = minDist-radius;
-
-
- if (actualDepth<=0.f)
- {
- pOnB1.w = actualDepth;
- int dstIdx;
-
-
- float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);
- if (lenSqr>FLT_EPSILON)
- {
- AppendInc( nGlobalContactsOut, dstIdx );
-
- if (dstIdx < maxContactCapacity)
- {
- __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
- c->m_worldNormalOnB = -normalOnSurfaceB1;
- c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
- c->m_batchIdx = pairIndex;
- c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
- c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
- c->m_worldPosB[0] = pOnB1;
-
- c->m_childIndexA = -1;
- c->m_childIndexB = faceIndex;
-
- GET_NPOINTS(*c) = 1;
- }
- }
-
- }
- }//if (hasCollision)
-
-}
-
-
-
-// work-in-progress
-__kernel void findConcaveSphereContactsKernel( __global int4* concavePairs,
- __global const BodyData* rigidBodies,
- __global const btCollidableGpu* collidables,
- __global const ConvexPolyhedronCL* convexShapes,
- __global const float4* vertices,
- __global const float4* uniqueEdges,
- __global const btGpuFace* faces,
- __global const int* indices,
- __global btAabbCL* aabbs,
- __global struct b3Contact4Data* restrict globalContactsOut,
- counter32_t nGlobalContactsOut,
- int numConcavePairs, int maxContactCapacity
- )
-{
-
- int i = get_global_id(0);
- if (i>=numConcavePairs)
- return;
- int pairIdx = i;
-
- int bodyIndexA = concavePairs[i].x;
- int bodyIndexB = concavePairs[i].y;
-
- int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
- int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
- int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
- int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
- if (collidables[collidableIndexB].m_shapeType==SHAPE_SPHERE)
- {
- int f = concavePairs[i].z;
- btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
-
- float4 verticesA[3];
- for (int i=0;i<3;i++)
- {
- int index = indices[face.m_indexOffset+i];
- float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
- verticesA[i] = vert;
- }
-
- float4 spherePos = rigidBodies[bodyIndexB].m_pos;
- float sphereRadius = collidables[collidableIndexB].m_radius;
- float4 convexPos = rigidBodies[bodyIndexA].m_pos;
- float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
-
- computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
- rigidBodies,collidables,
- verticesA,
- globalContactsOut, nGlobalContactsOut,maxContactCapacity,
- spherePos,sphereRadius,convexPos,convexOrn, f);
-
- return;
- }
-} \ No newline at end of file
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-21 07:18:28 +0000