diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h | 2575 |
1 files changed, 1287 insertions, 1288 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h index b0103fe674..b2e0a2dd47 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h @@ -1,1289 +1,1288 @@ //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" -; +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"; |