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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h | 1289 |
1 files changed, 1289 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h new file mode 100644 index 0000000000..b0103fe674 --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h @@ -0,0 +1,1289 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* primitiveContactsKernelsCL= \ +"#ifndef B3_CONTACT4DATA_H\n" +"#define B3_CONTACT4DATA_H\n" +"#ifndef B3_FLOAT4_H\n" +"#define B3_FLOAT4_H\n" +"#ifndef B3_PLATFORM_DEFINITIONS_H\n" +"#define B3_PLATFORM_DEFINITIONS_H\n" +"struct MyTest\n" +"{\n" +" int bla;\n" +"};\n" +"#ifdef __cplusplus\n" +"#else\n" +"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n" +"#define B3_LARGE_FLOAT 1e18f\n" +"#define B3_INFINITY 1e18f\n" +"#define b3Assert(a)\n" +"#define b3ConstArray(a) __global const a*\n" +"#define b3AtomicInc atomic_inc\n" +"#define b3AtomicAdd atomic_add\n" +"#define b3Fabs fabs\n" +"#define b3Sqrt native_sqrt\n" +"#define b3Sin native_sin\n" +"#define b3Cos native_cos\n" +"#define B3_STATIC\n" +"#endif\n" +"#endif\n" +"#ifdef __cplusplus\n" +"#else\n" +" typedef float4 b3Float4;\n" +" #define b3Float4ConstArg const b3Float4\n" +" #define b3MakeFloat4 (float4)\n" +" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n" +" {\n" +" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n" +" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n" +" return dot(a1, b1);\n" +" }\n" +" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n" +" {\n" +" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n" +" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n" +" return cross(a1, b1);\n" +" }\n" +" #define b3MinFloat4 min\n" +" #define b3MaxFloat4 max\n" +" #define b3Normalized(a) normalize(a)\n" +"#endif \n" +" \n" +"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n" +"{\n" +" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n" +" return false;\n" +" return true;\n" +"}\n" +"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n" +"{\n" +" float maxDot = -B3_INFINITY;\n" +" int i = 0;\n" +" int ptIndex = -1;\n" +" for( i = 0; i < vecLen; i++ )\n" +" {\n" +" float dot = b3Dot3F4(vecArray[i],vec);\n" +" \n" +" if( dot > maxDot )\n" +" {\n" +" maxDot = dot;\n" +" ptIndex = i;\n" +" }\n" +" }\n" +" b3Assert(ptIndex>=0);\n" +" if (ptIndex<0)\n" +" {\n" +" ptIndex = 0;\n" +" }\n" +" *dotOut = maxDot;\n" +" return ptIndex;\n" +"}\n" +"#endif //B3_FLOAT4_H\n" +"typedef struct b3Contact4Data b3Contact4Data_t;\n" +"struct b3Contact4Data\n" +"{\n" +" b3Float4 m_worldPosB[4];\n" +"// b3Float4 m_localPosA[4];\n" +"// b3Float4 m_localPosB[4];\n" +" b3Float4 m_worldNormalOnB; // w: m_nPoints\n" +" unsigned short m_restituitionCoeffCmp;\n" +" unsigned short m_frictionCoeffCmp;\n" +" int m_batchIdx;\n" +" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n" +" int m_bodyBPtrAndSignBit;\n" +" int m_childIndexA;\n" +" int m_childIndexB;\n" +" int m_unused1;\n" +" int m_unused2;\n" +"};\n" +"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n" +"{\n" +" return (int)contact->m_worldNormalOnB.w;\n" +"};\n" +"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n" +"{\n" +" contact->m_worldNormalOnB.w = (float)numPoints;\n" +"};\n" +"#endif //B3_CONTACT4DATA_H\n" +"#define SHAPE_CONVEX_HULL 3\n" +"#define SHAPE_PLANE 4\n" +"#define SHAPE_CONCAVE_TRIMESH 5\n" +"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n" +"#define SHAPE_SPHERE 7\n" +"#pragma OPENCL EXTENSION cl_amd_printf : enable\n" +"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n" +"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n" +"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n" +"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n" +"#ifdef cl_ext_atomic_counters_32\n" +"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n" +"#else\n" +"#define counter32_t volatile __global int*\n" +"#endif\n" +"#define GET_GROUP_IDX get_group_id(0)\n" +"#define GET_LOCAL_IDX get_local_id(0)\n" +"#define GET_GLOBAL_IDX get_global_id(0)\n" +"#define GET_GROUP_SIZE get_local_size(0)\n" +"#define GET_NUM_GROUPS get_num_groups(0)\n" +"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n" +"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n" +"#define AtomInc(x) atom_inc(&(x))\n" +"#define AtomInc1(x, out) out = atom_inc(&(x))\n" +"#define AppendInc(x, out) out = atomic_inc(x)\n" +"#define AtomAdd(x, value) atom_add(&(x), value)\n" +"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n" +"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n" +"#define max2 max\n" +"#define min2 min\n" +"typedef unsigned int u32;\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" +"///keep this in sync with btCollidable.h\n" +"typedef struct\n" +"{\n" +" int m_numChildShapes;\n" +" float m_radius;\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" +"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\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" +" float4 m_localCenter;\n" +" float4 m_extents;\n" +" float4 mC;\n" +" float4 mE;\n" +" \n" +" float m_radius;\n" +" int m_faceOffset;\n" +" int m_numFaces;\n" +" int m_numVertices;\n" +" \n" +" int m_vertexOffset;\n" +" int m_uniqueEdgesOffset;\n" +" int m_numUniqueEdges;\n" +" int m_unused;\n" +"} ConvexPolyhedronCL;\n" +"typedef struct\n" +"{\n" +" float4 m_plane;\n" +" int m_indexOffset;\n" +" int m_numIndices;\n" +"} btGpuFace;\n" +"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n" +"#define make_float4 (float4)\n" +"#define make_float2 (float2)\n" +"#define make_uint4 (uint4)\n" +"#define make_int4 (int4)\n" +"#define make_uint2 (uint2)\n" +"#define make_int2 (int2)\n" +"__inline\n" +"float fastDiv(float numerator, float denominator)\n" +"{\n" +" return native_divide(numerator, denominator); \n" +"// return numerator/denominator; \n" +"}\n" +"__inline\n" +"float4 fastDiv4(float4 numerator, float4 denominator)\n" +"{\n" +" return native_divide(numerator, denominator); \n" +"}\n" +"__inline\n" +"float4 cross3(float4 a, float4 b)\n" +"{\n" +" return cross(a,b);\n" +"}\n" +"//#define dot3F4 dot\n" +"__inline\n" +"float dot3F4(float4 a, float4 b)\n" +"{\n" +" float4 a1 = make_float4(a.xyz,0.f);\n" +" float4 b1 = make_float4(b.xyz,0.f);\n" +" return dot(a1, b1);\n" +"}\n" +"__inline\n" +"float4 fastNormalize4(float4 v)\n" +"{\n" +" return fast_normalize(v);\n" +"}\n" +"///////////////////////////////////////\n" +"// Quaternion\n" +"///////////////////////////////////////\n" +"typedef float4 Quaternion;\n" +"__inline\n" +"Quaternion qtMul(Quaternion a, Quaternion b);\n" +"__inline\n" +"Quaternion qtNormalize(Quaternion in);\n" +"__inline\n" +"float4 qtRotate(Quaternion q, float4 vec);\n" +"__inline\n" +"Quaternion qtInvert(Quaternion q);\n" +"__inline\n" +"Quaternion qtMul(Quaternion a, Quaternion b)\n" +"{\n" +" Quaternion ans;\n" +" ans = cross3( a, b );\n" +" ans += a.w*b+b.w*a;\n" +"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n" +" ans.w = a.w*b.w - dot3F4(a, b);\n" +" return ans;\n" +"}\n" +"__inline\n" +"Quaternion qtNormalize(Quaternion in)\n" +"{\n" +" return fastNormalize4(in);\n" +"// in /= length( in );\n" +"// return in;\n" +"}\n" +"__inline\n" +"float4 qtRotate(Quaternion q, float4 vec)\n" +"{\n" +" Quaternion qInv = qtInvert( q );\n" +" float4 vcpy = vec;\n" +" vcpy.w = 0.f;\n" +" float4 out = qtMul(qtMul(q,vcpy),qInv);\n" +" return out;\n" +"}\n" +"__inline\n" +"Quaternion qtInvert(Quaternion q)\n" +"{\n" +" return (Quaternion)(-q.xyz, q.w);\n" +"}\n" +"__inline\n" +"float4 qtInvRotate(const Quaternion q, float4 vec)\n" +"{\n" +" return qtRotate( qtInvert( q ), vec );\n" +"}\n" +"__inline\n" +"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n" +"{\n" +" return qtRotate( *orientation, *p ) + (*translation);\n" +"}\n" +"void trInverse(float4 translationIn, Quaternion orientationIn,\n" +" float4* translationOut, Quaternion* orientationOut)\n" +"{\n" +" *orientationOut = qtInvert(orientationIn);\n" +" *translationOut = qtRotate(*orientationOut, -translationIn);\n" +"}\n" +"void trMul(float4 translationA, Quaternion orientationA,\n" +" float4 translationB, Quaternion orientationB,\n" +" float4* translationOut, Quaternion* orientationOut)\n" +"{\n" +" *orientationOut = qtMul(orientationA,orientationB);\n" +" *translationOut = transform(&translationB,&translationA,&orientationA);\n" +"}\n" +"__inline\n" +"float4 normalize3(const float4 a)\n" +"{\n" +" float4 n = make_float4(a.x, a.y, a.z, 0.f);\n" +" return fastNormalize4( n );\n" +"}\n" +"__inline float4 lerp3(const float4 a,const float4 b, float t)\n" +"{\n" +" return make_float4( a.x + (b.x - a.x) * t,\n" +" a.y + (b.y - a.y) * t,\n" +" a.z + (b.z - a.z) * t,\n" +" 0.f);\n" +"}\n" +"float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)\n" +"{\n" +" float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);\n" +" float dist = dot3F4(n, point) + planeEqn.w;\n" +" *closestPointOnFace = point - dist * n;\n" +" return dist;\n" +"}\n" +"inline bool IsPointInPolygon(float4 p, \n" +" const btGpuFace* face,\n" +" __global const float4* baseVertex,\n" +" __global const int* convexIndices,\n" +" float4* out)\n" +"{\n" +" float4 a;\n" +" float4 b;\n" +" float4 ab;\n" +" float4 ap;\n" +" float4 v;\n" +" float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);\n" +" \n" +" if (face->m_numIndices<2)\n" +" return false;\n" +" \n" +" float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];\n" +" \n" +" b = v0;\n" +" for(unsigned i=0; i != face->m_numIndices; ++i)\n" +" {\n" +" a = b;\n" +" float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];\n" +" b = vi;\n" +" ab = b-a;\n" +" ap = p-a;\n" +" v = cross3(ab,plane);\n" +" if (dot(ap, v) > 0.f)\n" +" {\n" +" float ab_m2 = dot(ab, ab);\n" +" float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;\n" +" if (rt <= 0.f)\n" +" {\n" +" *out = a;\n" +" }\n" +" else if (rt >= 1.f) \n" +" {\n" +" *out = b;\n" +" }\n" +" else\n" +" {\n" +" float s = 1.f - rt;\n" +" out[0].x = s * a.x + rt * b.x;\n" +" out[0].y = s * a.y + rt * b.y;\n" +" out[0].z = s * a.z + rt * b.z;\n" +" }\n" +" return false;\n" +" }\n" +" }\n" +" return true;\n" +"}\n" +"void computeContactSphereConvex(int pairIndex,\n" +" int bodyIndexA, int bodyIndexB, \n" +" int collidableIndexA, int collidableIndexB, \n" +" __global const BodyData* rigidBodies, \n" +" __global const btCollidableGpu* collidables,\n" +" __global const ConvexPolyhedronCL* convexShapes,\n" +" __global const float4* convexVertices,\n" +" __global const int* convexIndices,\n" +" __global const btGpuFace* faces,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int maxContactCapacity,\n" +" float4 spherePos2,\n" +" float radius,\n" +" float4 pos,\n" +" float4 quat\n" +" )\n" +"{\n" +" float4 invPos;\n" +" float4 invOrn;\n" +" trInverse(pos,quat, &invPos,&invOrn);\n" +" float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n" +" int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n" +" int numFaces = convexShapes[shapeIndex].m_numFaces;\n" +" float4 closestPnt = (float4)(0, 0, 0, 0);\n" +" float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n" +" float minDist = -1000000.f;\n" +" bool bCollide = true;\n" +" for ( int f = 0; f < numFaces; f++ )\n" +" {\n" +" btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];\n" +" // set up a plane equation \n" +" float4 planeEqn;\n" +" float4 n1 = face.m_plane;\n" +" n1.w = 0.f;\n" +" planeEqn = n1;\n" +" planeEqn.w = face.m_plane.w;\n" +" \n" +" \n" +" // compute a signed distance from the vertex in cloth to the face of rigidbody.\n" +" float4 pntReturn;\n" +" float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);\n" +" // If the distance is positive, the plane is a separating plane. \n" +" if ( dist > radius )\n" +" {\n" +" bCollide = false;\n" +" break;\n" +" }\n" +" if (dist>0)\n" +" {\n" +" //might hit an edge or vertex\n" +" float4 out;\n" +" float4 zeroPos = make_float4(0,0,0,0);\n" +" bool isInPoly = IsPointInPolygon(spherePos,\n" +" &face,\n" +" &convexVertices[convexShapes[shapeIndex].m_vertexOffset],\n" +" convexIndices,\n" +" &out);\n" +" if (isInPoly)\n" +" {\n" +" if (dist>minDist)\n" +" {\n" +" minDist = dist;\n" +" closestPnt = pntReturn;\n" +" hitNormalWorld = planeEqn;\n" +" \n" +" }\n" +" } else\n" +" {\n" +" float4 tmp = spherePos-out;\n" +" float l2 = dot(tmp,tmp);\n" +" if (l2<radius*radius)\n" +" {\n" +" dist = sqrt(l2);\n" +" if (dist>minDist)\n" +" {\n" +" minDist = dist;\n" +" closestPnt = out;\n" +" hitNormalWorld = tmp/dist;\n" +" \n" +" }\n" +" \n" +" } else\n" +" {\n" +" bCollide = false;\n" +" break;\n" +" }\n" +" }\n" +" } else\n" +" {\n" +" if ( dist > minDist )\n" +" {\n" +" minDist = dist;\n" +" closestPnt = pntReturn;\n" +" hitNormalWorld.xyz = planeEqn.xyz;\n" +" }\n" +" }\n" +" \n" +" }\n" +" \n" +" if (bCollide && minDist > -10000)\n" +" {\n" +" float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n" +" float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n" +" \n" +" float actualDepth = minDist-radius;\n" +" if (actualDepth<=0.f)\n" +" {\n" +" \n" +" pOnB1.w = actualDepth;\n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" \n" +" \n" +" if (1)//dstIdx < maxContactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = -normalOnSurfaceB1;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n" +" c->m_worldPosB[0] = pOnB1;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" GET_NPOINTS(*c) = 1;\n" +" } \n" +" }\n" +" }//if (hasCollision)\n" +"}\n" +" \n" +"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n" +"{\n" +" if( nPoints == 0 )\n" +" return 0;\n" +" \n" +" if (nPoints <=4)\n" +" return nPoints;\n" +" \n" +" \n" +" if (nPoints >64)\n" +" nPoints = 64;\n" +" \n" +" float4 center = make_float4(0.f);\n" +" {\n" +" \n" +" for (int i=0;i<nPoints;i++)\n" +" center += p[i];\n" +" center /= (float)nPoints;\n" +" }\n" +" \n" +" \n" +" \n" +" // sample 4 directions\n" +" \n" +" float4 aVector = p[0] - center;\n" +" float4 u = cross3( nearNormal, aVector );\n" +" float4 v = cross3( nearNormal, u );\n" +" u = normalize3( u );\n" +" v = normalize3( v );\n" +" \n" +" \n" +" //keep point with deepest penetration\n" +" float minW= FLT_MAX;\n" +" \n" +" int minIndex=-1;\n" +" \n" +" float4 maxDots;\n" +" maxDots.x = FLT_MIN;\n" +" maxDots.y = FLT_MIN;\n" +" maxDots.z = FLT_MIN;\n" +" maxDots.w = FLT_MIN;\n" +" \n" +" // idx, distance\n" +" for(int ie = 0; ie<nPoints; ie++ )\n" +" {\n" +" if (p[ie].w<minW)\n" +" {\n" +" minW = p[ie].w;\n" +" minIndex=ie;\n" +" }\n" +" float f;\n" +" float4 r = p[ie]-center;\n" +" f = dot3F4( u, r );\n" +" if (f<maxDots.x)\n" +" {\n" +" maxDots.x = f;\n" +" contactIdx[0].x = ie;\n" +" }\n" +" \n" +" f = dot3F4( -u, r );\n" +" if (f<maxDots.y)\n" +" {\n" +" maxDots.y = f;\n" +" contactIdx[0].y = ie;\n" +" }\n" +" \n" +" \n" +" f = dot3F4( v, r );\n" +" if (f<maxDots.z)\n" +" {\n" +" maxDots.z = f;\n" +" contactIdx[0].z = ie;\n" +" }\n" +" \n" +" f = dot3F4( -v, r );\n" +" if (f<maxDots.w)\n" +" {\n" +" maxDots.w = f;\n" +" contactIdx[0].w = ie;\n" +" }\n" +" \n" +" }\n" +" \n" +" if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n" +" {\n" +" //replace the first contact with minimum (todo: replace contact with least penetration)\n" +" contactIdx[0].x = minIndex;\n" +" }\n" +" \n" +" return 4;\n" +" \n" +"}\n" +"#define MAX_PLANE_CONVEX_POINTS 64\n" +"int computeContactPlaneConvex(int pairIndex,\n" +" int bodyIndexA, int bodyIndexB, \n" +" int collidableIndexA, int collidableIndexB, \n" +" __global const BodyData* rigidBodies, \n" +" __global const btCollidableGpu*collidables,\n" +" __global const ConvexPolyhedronCL* convexShapes,\n" +" __global const float4* convexVertices,\n" +" __global const int* convexIndices,\n" +" __global const btGpuFace* faces,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int maxContactCapacity,\n" +" float4 posB,\n" +" Quaternion ornB\n" +" )\n" +"{\n" +" int resultIndex=-1;\n" +" int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n" +" __global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];\n" +" \n" +" float4 posA;\n" +" posA = rigidBodies[bodyIndexA].m_pos;\n" +" Quaternion ornA;\n" +" ornA = rigidBodies[bodyIndexA].m_quat;\n" +" int numContactsOut = 0;\n" +" int numWorldVertsB1= 0;\n" +" float4 planeEq;\n" +" planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n" +" float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n" +" float4 planeNormalWorld;\n" +" planeNormalWorld = qtRotate(ornA,planeNormal);\n" +" float planeConstant = planeEq.w;\n" +" \n" +" float4 invPosA;Quaternion invOrnA;\n" +" float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n" +" {\n" +" \n" +" trInverse(posA,ornA,&invPosA,&invOrnA);\n" +" trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n" +" }\n" +" float4 invPosB;Quaternion invOrnB;\n" +" float4 planeInConvexPos1; Quaternion planeInConvexOrn1;\n" +" {\n" +" \n" +" trInverse(posB,ornB,&invPosB,&invOrnB);\n" +" trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1); \n" +" }\n" +" \n" +" float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);\n" +" float maxDot = -1e30;\n" +" int hitVertex=-1;\n" +" float4 hitVtx;\n" +" float4 contactPoints[MAX_PLANE_CONVEX_POINTS];\n" +" int numPoints = 0;\n" +" int4 contactIdx;\n" +" contactIdx=make_int4(0,1,2,3);\n" +" \n" +" \n" +" for (int i=0;i<hullB->m_numVertices;i++)\n" +" {\n" +" float4 vtx = convexVertices[hullB->m_vertexOffset+i];\n" +" float curDot = dot(vtx,planeNormalInConvex);\n" +" if (curDot>maxDot)\n" +" {\n" +" hitVertex=i;\n" +" maxDot=curDot;\n" +" hitVtx = vtx;\n" +" //make sure the deepest points is always included\n" +" if (numPoints==MAX_PLANE_CONVEX_POINTS)\n" +" numPoints--;\n" +" }\n" +" if (numPoints<MAX_PLANE_CONVEX_POINTS)\n" +" {\n" +" float4 vtxWorld = transform(&vtx, &posB, &ornB);\n" +" float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;\n" +" float dist = dot(planeNormal,vtxInPlane)-planeConstant;\n" +" if (dist<0.f)\n" +" {\n" +" vtxWorld.w = dist;\n" +" contactPoints[numPoints] = vtxWorld;\n" +" numPoints++;\n" +" }\n" +" }\n" +" }\n" +" int numReducedPoints = numPoints;\n" +" if (numPoints>4)\n" +" {\n" +" numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);\n" +" }\n" +" if (numReducedPoints>0)\n" +" {\n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" if (dstIdx < maxContactCapacity)\n" +" {\n" +" resultIndex = dstIdx;\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = -planeNormalWorld;\n" +" //c->setFrictionCoeff(0.7);\n" +" //c->setRestituitionCoeff(0.f);\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" switch (numReducedPoints)\n" +" {\n" +" case 4:\n" +" c->m_worldPosB[3] = contactPoints[contactIdx.w];\n" +" case 3:\n" +" c->m_worldPosB[2] = contactPoints[contactIdx.z];\n" +" case 2:\n" +" c->m_worldPosB[1] = contactPoints[contactIdx.y];\n" +" case 1:\n" +" c->m_worldPosB[0] = contactPoints[contactIdx.x];\n" +" default:\n" +" {\n" +" }\n" +" };\n" +" \n" +" GET_NPOINTS(*c) = numReducedPoints;\n" +" }//if (dstIdx < numPairs)\n" +" } \n" +" return resultIndex;\n" +"}\n" +"void computeContactPlaneSphere(int pairIndex,\n" +" int bodyIndexA, int bodyIndexB, \n" +" int collidableIndexA, int collidableIndexB, \n" +" __global const BodyData* rigidBodies, \n" +" __global const btCollidableGpu* collidables,\n" +" __global const btGpuFace* faces,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int maxContactCapacity)\n" +"{\n" +" float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n" +" float radius = collidables[collidableIndexB].m_radius;\n" +" float4 posA1 = rigidBodies[bodyIndexA].m_pos;\n" +" float4 ornA1 = rigidBodies[bodyIndexA].m_quat;\n" +" float4 posB1 = rigidBodies[bodyIndexB].m_pos;\n" +" float4 ornB1 = rigidBodies[bodyIndexB].m_quat;\n" +" \n" +" bool hasCollision = false;\n" +" float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n" +" float planeConstant = planeEq.w;\n" +" float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n" +" {\n" +" float4 invPosA;Quaternion invOrnA;\n" +" trInverse(posA1,ornA1,&invPosA,&invOrnA);\n" +" trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n" +" }\n" +" float4 planeInConvexPos1; Quaternion planeInConvexOrn1;\n" +" {\n" +" float4 invPosB;Quaternion invOrnB;\n" +" trInverse(posB1,ornB1,&invPosB,&invOrnB);\n" +" trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1); \n" +" }\n" +" float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;\n" +" float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n" +" float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;\n" +" hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();\n" +" if (hasCollision)\n" +" {\n" +" float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;\n" +" float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);\n" +" float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);\n" +" float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;\n" +" pOnB1.w = distance;\n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" \n" +" if (dstIdx < maxContactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = -normalOnSurfaceB1;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n" +" c->m_worldPosB[0] = pOnB1;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" GET_NPOINTS(*c) = 1;\n" +" }//if (dstIdx < numPairs)\n" +" }//if (hasCollision)\n" +"}\n" +"__kernel void primitiveContactsKernel( __global int4* pairs, \n" +" __global const BodyData* rigidBodies, \n" +" __global const btCollidableGpu* collidables,\n" +" __global const ConvexPolyhedronCL* convexShapes, \n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const btGpuFace* faces,\n" +" __global const int* indices,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int numPairs, int maxContactCapacity)\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" float4 worldVertsB1[64];\n" +" float4 worldVertsB2[64];\n" +" int capacityWorldVerts = 64; \n" +" float4 localContactsOut[64];\n" +" int localContactCapacity=64;\n" +" \n" +" float minDist = -1e30f;\n" +" float maxDist = 0.02f;\n" +" if (i<numPairs)\n" +" {\n" +" int bodyIndexA = pairs[i].x;\n" +" int bodyIndexB = pairs[i].y;\n" +" \n" +" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" +" \n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n" +" {\n" +" float4 posB;\n" +" posB = rigidBodies[bodyIndexB].m_pos;\n" +" Quaternion ornB;\n" +" ornB = rigidBodies[bodyIndexB].m_quat;\n" +" int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,\n" +" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);\n" +" if (contactIndex>=0)\n" +" pairs[pairIndex].z = contactIndex;\n" +" return;\n" +" }\n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n" +" {\n" +" float4 posA;\n" +" posA = rigidBodies[bodyIndexA].m_pos;\n" +" Quaternion ornA;\n" +" ornA = rigidBodies[bodyIndexA].m_quat;\n" +" int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,\n" +" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n" +" if (contactIndex>=0)\n" +" pairs[pairIndex].z = contactIndex;\n" +" return;\n" +" }\n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n" +" {\n" +" computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n" +" rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n" +" return;\n" +" }\n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n" +" {\n" +" computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n" +" rigidBodies,collidables,\n" +" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n" +" return;\n" +" }\n" +" \n" +" \n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n" +" {\n" +" \n" +" float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n" +" float sphereRadius = collidables[collidableIndexA].m_radius;\n" +" float4 convexPos = rigidBodies[bodyIndexB].m_pos;\n" +" float4 convexOrn = rigidBodies[bodyIndexB].m_quat;\n" +" computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n" +" spherePos,sphereRadius,convexPos,convexOrn);\n" +" return;\n" +" }\n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n" +" {\n" +" \n" +" float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n" +" float sphereRadius = collidables[collidableIndexB].m_radius;\n" +" float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n" +" float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n" +" computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n" +" spherePos,sphereRadius,convexPos,convexOrn);\n" +" return;\n" +" }\n" +" \n" +" \n" +" \n" +" \n" +" \n" +" \n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n" +" {\n" +" //sphere-sphere\n" +" float radiusA = collidables[collidableIndexA].m_radius;\n" +" float radiusB = collidables[collidableIndexB].m_radius;\n" +" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" +" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" +" float4 diff = posA-posB;\n" +" float len = length(diff);\n" +" \n" +" ///iff distance positive, don't generate a new contact\n" +" if ( len <= (radiusA+radiusB))\n" +" {\n" +" ///distance (negative means penetration)\n" +" float dist = len - (radiusA+radiusB);\n" +" float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n" +" if (len > 0.00001)\n" +" {\n" +" normalOnSurfaceB = diff / len;\n" +" }\n" +" float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n" +" contactPosB.w = dist;\n" +" \n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" \n" +" if (dstIdx < maxContactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = normalOnSurfaceB;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" int bodyA = pairs[pairIndex].x;\n" +" int bodyB = pairs[pairIndex].y;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" +" c->m_worldPosB[0] = contactPosB;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" GET_NPOINTS(*c) = 1;\n" +" }//if (dstIdx < numPairs)\n" +" }//if ( len <= (radiusA+radiusB))\n" +" return;\n" +" }//SHAPE_SPHERE SHAPE_SPHERE\n" +" }// if (i<numPairs)\n" +"}\n" +"// work-in-progress\n" +"__kernel void processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,\n" +" __global const BodyData* rigidBodies, \n" +" __global const btCollidableGpu* collidables,\n" +" __global const ConvexPolyhedronCL* convexShapes, \n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const btGpuFace* faces,\n" +" __global const int* indices,\n" +" __global btAabbCL* aabbs,\n" +" __global const btGpuChildShape* gpuChildShapes,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int numCompoundPairs, int maxContactCapacity\n" +" )\n" +"{\n" +" int i = get_global_id(0);\n" +" if (i<numCompoundPairs)\n" +" {\n" +" int bodyIndexA = gpuCompoundPairs[i].x;\n" +" int bodyIndexB = gpuCompoundPairs[i].y;\n" +" int childShapeIndexA = gpuCompoundPairs[i].z;\n" +" int childShapeIndexB = gpuCompoundPairs[i].w;\n" +" \n" +" int collidableIndexA = -1;\n" +" int collidableIndexB = -1;\n" +" \n" +" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" +" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" +" \n" +" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n" +" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" +" \n" +" if (childShapeIndexA >= 0)\n" +" {\n" +" collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n" +" float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n" +" float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n" +" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n" +" float4 newOrnA = qtMul(ornA,childOrnA);\n" +" posA = newPosA;\n" +" ornA = newOrnA;\n" +" } else\n" +" {\n" +" collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" }\n" +" \n" +" if (childShapeIndexB>=0)\n" +" {\n" +" collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" +" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" +" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" +" float4 newPosB = transform(&childPosB,&posB,&ornB);\n" +" float4 newOrnB = qtMul(ornB,childOrnB);\n" +" posB = newPosB;\n" +" ornB = newOrnB;\n" +" } else\n" +" {\n" +" collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; \n" +" }\n" +" \n" +" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" +" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" +" \n" +" int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n" +" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n" +" int pairIndex = i;\n" +" if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))\n" +" {\n" +" computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB, collidableIndexA,collidableIndexB, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,\n" +" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);\n" +" return;\n" +" }\n" +" if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))\n" +" {\n" +" computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,\n" +" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n" +" return;\n" +" }\n" +" if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))\n" +" {\n" +" float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n" +" float sphereRadius = collidables[collidableIndexB].m_radius;\n" +" float4 convexPos = posA;\n" +" float4 convexOrn = ornA;\n" +" \n" +" computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n" +" spherePos,sphereRadius,convexPos,convexOrn);\n" +" \n" +" return;\n" +" }\n" +" if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))\n" +" {\n" +" float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n" +" float sphereRadius = collidables[collidableIndexA].m_radius;\n" +" float4 convexPos = posB;\n" +" float4 convexOrn = ornB;\n" +" \n" +" computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n" +" rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n" +" spherePos,sphereRadius,convexPos,convexOrn);\n" +" \n" +" return;\n" +" }\n" +" }// if (i<numCompoundPairs)\n" +"}\n" +"bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )\n" +"{\n" +" const float4* p1 = &vertices[0];\n" +" const float4* p2 = &vertices[1];\n" +" const float4* p3 = &vertices[2];\n" +" float4 edge1; edge1 = (*p2 - *p1);\n" +" float4 edge2; edge2 = ( *p3 - *p2 );\n" +" float4 edge3; edge3 = ( *p1 - *p3 );\n" +" \n" +" float4 p1_to_p; p1_to_p = ( *p - *p1 );\n" +" float4 p2_to_p; p2_to_p = ( *p - *p2 );\n" +" float4 p3_to_p; p3_to_p = ( *p - *p3 );\n" +" float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));\n" +" float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));\n" +" float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));\n" +" \n" +" \n" +" float r1, r2, r3;\n" +" r1 = dot(edge1_normal,p1_to_p );\n" +" r2 = dot(edge2_normal,p2_to_p );\n" +" r3 = dot(edge3_normal,p3_to_p );\n" +" \n" +" if ( r1 > 0 && r2 > 0 && r3 > 0 )\n" +" return true;\n" +" if ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) \n" +" return true;\n" +" return false;\n" +"}\n" +"float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest) \n" +"{\n" +" float4 diff = p - from;\n" +" float4 v = to - from;\n" +" float t = dot(v,diff);\n" +" \n" +" if (t > 0) \n" +" {\n" +" float dotVV = dot(v,v);\n" +" if (t < dotVV) \n" +" {\n" +" t /= dotVV;\n" +" diff -= t*v;\n" +" } else \n" +" {\n" +" t = 1;\n" +" diff -= v;\n" +" }\n" +" } else\n" +" {\n" +" t = 0;\n" +" }\n" +" *nearest = from + t*v;\n" +" return dot(diff,diff); \n" +"}\n" +"void computeContactSphereTriangle(int pairIndex,\n" +" int bodyIndexA, int bodyIndexB,\n" +" int collidableIndexA, int collidableIndexB, \n" +" __global const BodyData* rigidBodies, \n" +" __global const btCollidableGpu* collidables,\n" +" const float4* triangleVertices,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int maxContactCapacity,\n" +" float4 spherePos2,\n" +" float radius,\n" +" float4 pos,\n" +" float4 quat,\n" +" int faceIndex\n" +" )\n" +"{\n" +" float4 invPos;\n" +" float4 invOrn;\n" +" trInverse(pos,quat, &invPos,&invOrn);\n" +" float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n" +" int numFaces = 3;\n" +" float4 closestPnt = (float4)(0, 0, 0, 0);\n" +" float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n" +" float minDist = -1000000.f;\n" +" bool bCollide = false;\n" +" \n" +" //////////////////////////////////////\n" +" float4 sphereCenter;\n" +" sphereCenter = spherePos;\n" +" const float4* vertices = triangleVertices;\n" +" float contactBreakingThreshold = 0.f;//todo?\n" +" float radiusWithThreshold = radius + contactBreakingThreshold;\n" +" float4 edge10;\n" +" edge10 = vertices[1]-vertices[0];\n" +" edge10.w = 0.f;//is this needed?\n" +" float4 edge20;\n" +" edge20 = vertices[2]-vertices[0];\n" +" edge20.w = 0.f;//is this needed?\n" +" float4 normal = cross3(edge10,edge20);\n" +" normal = normalize(normal);\n" +" float4 p1ToCenter;\n" +" p1ToCenter = sphereCenter - vertices[0];\n" +" \n" +" float distanceFromPlane = dot(p1ToCenter,normal);\n" +" if (distanceFromPlane < 0.f)\n" +" {\n" +" //triangle facing the other way\n" +" distanceFromPlane *= -1.f;\n" +" normal *= -1.f;\n" +" }\n" +" hitNormalWorld = normal;\n" +" bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;\n" +" \n" +" // Check for contact / intersection\n" +" bool hasContact = false;\n" +" float4 contactPoint;\n" +" if (isInsideContactPlane) \n" +" {\n" +" \n" +" if (pointInTriangle(vertices,&normal, &sphereCenter)) \n" +" {\n" +" // Inside the contact wedge - touches a point on the shell plane\n" +" hasContact = true;\n" +" contactPoint = sphereCenter - normal*distanceFromPlane;\n" +" \n" +" } else {\n" +" // Could be inside one of the contact capsules\n" +" float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;\n" +" float4 nearestOnEdge;\n" +" int numEdges = 3;\n" +" for (int i = 0; i < numEdges; i++) \n" +" {\n" +" float4 pa =vertices[i];\n" +" float4 pb = vertices[(i+1)%3];\n" +" float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);\n" +" if (distanceSqr < contactCapsuleRadiusSqr) \n" +" {\n" +" // Yep, we're inside a capsule\n" +" hasContact = true;\n" +" contactPoint = nearestOnEdge;\n" +" \n" +" }\n" +" \n" +" }\n" +" }\n" +" }\n" +" if (hasContact) \n" +" {\n" +" closestPnt = contactPoint;\n" +" float4 contactToCenter = sphereCenter - contactPoint;\n" +" minDist = length(contactToCenter);\n" +" if (minDist>FLT_EPSILON)\n" +" {\n" +" hitNormalWorld = normalize(contactToCenter);//*(1./minDist);\n" +" bCollide = true;\n" +" }\n" +" \n" +" }\n" +" /////////////////////////////////////\n" +" if (bCollide && minDist > -10000)\n" +" {\n" +" \n" +" float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n" +" float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n" +" float actualDepth = minDist-radius;\n" +" \n" +" if (actualDepth<=0.f)\n" +" {\n" +" pOnB1.w = actualDepth;\n" +" int dstIdx;\n" +" \n" +" float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);\n" +" if (lenSqr>FLT_EPSILON)\n" +" {\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" \n" +" if (dstIdx < maxContactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = -normalOnSurfaceB1;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n" +" c->m_worldPosB[0] = pOnB1;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = faceIndex;\n" +" GET_NPOINTS(*c) = 1;\n" +" } \n" +" }\n" +" }\n" +" }//if (hasCollision)\n" +"}\n" +"// work-in-progress\n" +"__kernel void findConcaveSphereContactsKernel( __global int4* concavePairs,\n" +" __global const BodyData* rigidBodies,\n" +" __global const btCollidableGpu* collidables,\n" +" __global const ConvexPolyhedronCL* convexShapes, \n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const btGpuFace* faces,\n" +" __global const int* indices,\n" +" __global btAabbCL* aabbs,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int numConcavePairs, int maxContactCapacity\n" +" )\n" +"{\n" +" int i = get_global_id(0);\n" +" if (i>=numConcavePairs)\n" +" return;\n" +" int pairIdx = i;\n" +" int bodyIndexA = concavePairs[i].x;\n" +" int bodyIndexB = concavePairs[i].y;\n" +" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" +" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" +" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" +" if (collidables[collidableIndexB].m_shapeType==SHAPE_SPHERE)\n" +" {\n" +" int f = concavePairs[i].z;\n" +" btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n" +" \n" +" float4 verticesA[3];\n" +" for (int i=0;i<3;i++)\n" +" {\n" +" int index = indices[face.m_indexOffset+i];\n" +" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n" +" verticesA[i] = vert;\n" +" }\n" +" float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n" +" float sphereRadius = collidables[collidableIndexB].m_radius;\n" +" float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n" +" float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n" +" computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n" +" rigidBodies,collidables,\n" +" verticesA,\n" +" globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n" +" spherePos,sphereRadius,convexPos,convexOrn, f);\n" +" return;\n" +" }\n" +"}\n" +; |