diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl | 1888 |
1 files changed, 0 insertions, 1888 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl deleted file mode 100644 index f433971741..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl +++ /dev/null @@ -1,1888 +0,0 @@ - -#define TRIANGLE_NUM_CONVEX_FACES 5 - - - -#pragma OPENCL EXTENSION cl_amd_printf : enable -#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable -#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable -#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable -#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable - -#ifdef cl_ext_atomic_counters_32 -#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable -#else -#define counter32_t volatile __global int* -#endif - -#define GET_GROUP_IDX get_group_id(0) -#define GET_LOCAL_IDX get_local_id(0) -#define GET_GLOBAL_IDX get_global_id(0) -#define GET_GROUP_SIZE get_local_size(0) -#define GET_NUM_GROUPS get_num_groups(0) -#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE) -#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE) -#define AtomInc(x) atom_inc(&(x)) -#define AtomInc1(x, out) out = atom_inc(&(x)) -#define AppendInc(x, out) out = atomic_inc(x) -#define AtomAdd(x, value) atom_add(&(x), value) -#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value ) -#define AtomXhg(x, value) atom_xchg ( &(x), value ) - -#define max2 max -#define min2 min - -typedef unsigned int u32; - - - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" - - - -#define GET_NPOINTS(x) (x).m_worldNormalOnB.w - - - -#define SELECT_UINT4( b, a, condition ) select( b,a,condition ) - -#define make_float4 (float4) -#define make_float2 (float2) -#define make_uint4 (uint4) -#define make_int4 (int4) -#define make_uint2 (uint2) -#define make_int2 (int2) - - -__inline -float fastDiv(float numerator, float denominator) -{ - return native_divide(numerator, denominator); -// return numerator/denominator; -} - -__inline -float4 fastDiv4(float4 numerator, float4 denominator) -{ - return native_divide(numerator, denominator); -} - - -__inline -float4 cross3(float4 a, float4 b) -{ - return cross(a,b); -} - -//#define dot3F4 dot - -__inline -float dot3F4(float4 a, float4 b) -{ - float4 a1 = make_float4(a.xyz,0.f); - float4 b1 = make_float4(b.xyz,0.f); - return dot(a1, b1); -} - -__inline -float4 fastNormalize4(float4 v) -{ - return fast_normalize(v); -} - - -/////////////////////////////////////// -// Quaternion -/////////////////////////////////////// - -typedef float4 Quaternion; - -__inline -Quaternion qtMul(Quaternion a, Quaternion b); - -__inline -Quaternion qtNormalize(Quaternion in); - -__inline -float4 qtRotate(Quaternion q, float4 vec); - -__inline -Quaternion qtInvert(Quaternion q); - - - - -__inline -Quaternion qtMul(Quaternion a, Quaternion b) -{ - Quaternion ans; - ans = cross3( a, b ); - ans += a.w*b+b.w*a; -// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z); - ans.w = a.w*b.w - dot3F4(a, b); - return ans; -} - -__inline -Quaternion qtNormalize(Quaternion in) -{ - return fastNormalize4(in); -// in /= length( in ); -// return in; -} -__inline -float4 qtRotate(Quaternion q, float4 vec) -{ - Quaternion qInv = qtInvert( q ); - float4 vcpy = vec; - vcpy.w = 0.f; - float4 out = qtMul(qtMul(q,vcpy),qInv); - return out; -} - -__inline -Quaternion qtInvert(Quaternion q) -{ - return (Quaternion)(-q.xyz, q.w); -} - -__inline -float4 qtInvRotate(const Quaternion q, float4 vec) -{ - return qtRotate( qtInvert( q ), vec ); -} - -__inline -float4 transform(const float4* p, const float4* translation, const Quaternion* orientation) -{ - return qtRotate( *orientation, *p ) + (*translation); -} - - - -__inline -float4 normalize3(const float4 a) -{ - float4 n = make_float4(a.x, a.y, a.z, 0.f); - return fastNormalize4( n ); -} - - -__inline float4 lerp3(const float4 a,const float4 b, float t) -{ - return make_float4( a.x + (b.x - a.x) * t, - a.y + (b.y - a.y) * t, - a.z + (b.z - a.z) * t, - 0.f); -} - - - -// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut -int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut) -{ - - int ve; - float ds, de; - int numVertsOut = 0; - //double-check next test - if (numVertsIn < 2) - return 0; - - float4 firstVertex=pVtxIn[numVertsIn-1]; - float4 endVertex = pVtxIn[0]; - - ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS; - - for (ve = 0; ve < numVertsIn; ve++) - { - endVertex=pVtxIn[ve]; - de = dot3F4(planeNormalWS,endVertex)+planeEqWS; - if (ds<0) - { - if (de<0) - { - // Start < 0, end < 0, so output endVertex - ppVtxOut[numVertsOut++] = endVertex; - } - else - { - // Start < 0, end >= 0, so output intersection - ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - } - } - else - { - if (de<0) - { - // Start >= 0, end < 0 so output intersection and end - ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - ppVtxOut[numVertsOut++] = endVertex; - } - } - firstVertex = endVertex; - ds = de; - } - return numVertsOut; -} - - - -// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut -int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut) -{ - - int ve; - float ds, de; - int numVertsOut = 0; -//double-check next test - if (numVertsIn < 2) - return 0; - - float4 firstVertex=pVtxIn[numVertsIn-1]; - float4 endVertex = pVtxIn[0]; - - ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS; - - for (ve = 0; ve < numVertsIn; ve++) - { - endVertex=pVtxIn[ve]; - - de = dot3F4(planeNormalWS,endVertex)+planeEqWS; - - if (ds<0) - { - if (de<0) - { - // Start < 0, end < 0, so output endVertex - ppVtxOut[numVertsOut++] = endVertex; - } - else - { - // Start < 0, end >= 0, so output intersection - ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - } - } - else - { - if (de<0) - { - // Start >= 0, end < 0 so output intersection and end - ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - ppVtxOut[numVertsOut++] = endVertex; - } - } - firstVertex = endVertex; - ds = de; - } - return numVertsOut; -} - - -int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA, - const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1, - float4* worldVertsB2, int capacityWorldVertsB2, - const float minDist, float maxDist, - __global const float4* vertices, - __global const b3GpuFace_t* faces, - __global const int* indices, - float4* contactsOut, - int contactCapacity) -{ - int numContactsOut = 0; - - float4* pVtxIn = worldVertsB1; - float4* pVtxOut = worldVertsB2; - - int numVertsIn = numWorldVertsB1; - int numVertsOut = 0; - - int closestFaceA=-1; - { - float dmin = FLT_MAX; - for(int face=0;face<hullA->m_numFaces;face++) - { - const float4 Normal = make_float4( - faces[hullA->m_faceOffset+face].m_plane.x, - faces[hullA->m_faceOffset+face].m_plane.y, - faces[hullA->m_faceOffset+face].m_plane.z,0.f); - const float4 faceANormalWS = qtRotate(ornA,Normal); - - float d = dot3F4(faceANormalWS,separatingNormal); - if (d < dmin) - { - dmin = d; - closestFaceA = face; - } - } - } - if (closestFaceA<0) - return numContactsOut; - - b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA]; - - // clip polygon to back of planes of all faces of hull A that are adjacent to witness face - int numVerticesA = polyA.m_numIndices; - for(int e0=0;e0<numVerticesA;e0++) - { - const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]]; - const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]]; - const float4 edge0 = a - b; - const float4 WorldEdge0 = qtRotate(ornA,edge0); - float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f); - float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA); - - float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1); - float4 worldA1 = transform(&a,&posA,&ornA); - float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1); - - float4 planeNormalWS = planeNormalWS1; - float planeEqWS=planeEqWS1; - - //clip face - //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS); - numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut); - - //btSwap(pVtxIn,pVtxOut); - float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsIn = numVertsOut; - numVertsOut = 0; - } - - - // only keep points that are behind the witness face - { - float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f); - float localPlaneEq = polyA.m_plane.w; - float4 planeNormalWS = qtRotate(ornA,localPlaneNormal); - float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA); - for (int i=0;i<numVertsIn;i++) - { - float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS; - if (depth <=minDist) - { - depth = minDist; - } - - if (depth <=maxDist) - { - float4 pointInWorld = pVtxIn[i]; - //resultOut.addContactPoint(separatingNormal,point,depth); - contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth); - } - } - } - - return numContactsOut; -} - - - -int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA, - const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1, - float4* worldVertsB2, int capacityWorldVertsB2, - const float minDist, float maxDist, - const float4* verticesA, - const b3GpuFace_t* facesA, - const int* indicesA, - __global const float4* verticesB, - __global const b3GpuFace_t* facesB, - __global const int* indicesB, - float4* contactsOut, - int contactCapacity) -{ - int numContactsOut = 0; - - float4* pVtxIn = worldVertsB1; - float4* pVtxOut = worldVertsB2; - - int numVertsIn = numWorldVertsB1; - int numVertsOut = 0; - - int closestFaceA=-1; - { - float dmin = FLT_MAX; - for(int face=0;face<hullA->m_numFaces;face++) - { - const float4 Normal = make_float4( - facesA[hullA->m_faceOffset+face].m_plane.x, - facesA[hullA->m_faceOffset+face].m_plane.y, - facesA[hullA->m_faceOffset+face].m_plane.z,0.f); - const float4 faceANormalWS = qtRotate(ornA,Normal); - - float d = dot3F4(faceANormalWS,separatingNormal); - if (d < dmin) - { - dmin = d; - closestFaceA = face; - } - } - } - if (closestFaceA<0) - return numContactsOut; - - b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA]; - - // clip polygon to back of planes of all faces of hull A that are adjacent to witness face - int numVerticesA = polyA.m_numIndices; - for(int e0=0;e0<numVerticesA;e0++) - { - const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]]; - const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]]; - const float4 edge0 = a - b; - const float4 WorldEdge0 = qtRotate(ornA,edge0); - float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f); - float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA); - - float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1); - float4 worldA1 = transform(&a,&posA,&ornA); - float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1); - - float4 planeNormalWS = planeNormalWS1; - float planeEqWS=planeEqWS1; - - //clip face - //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS); - numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut); - - //btSwap(pVtxIn,pVtxOut); - float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsIn = numVertsOut; - numVertsOut = 0; - } - - - // only keep points that are behind the witness face - { - float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f); - float localPlaneEq = polyA.m_plane.w; - float4 planeNormalWS = qtRotate(ornA,localPlaneNormal); - float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA); - for (int i=0;i<numVertsIn;i++) - { - float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS; - if (depth <=minDist) - { - depth = minDist; - } - - if (depth <=maxDist) - { - float4 pointInWorld = pVtxIn[i]; - //resultOut.addContactPoint(separatingNormal,point,depth); - contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth); - } - } - } - - return numContactsOut; -} - -int clipHullAgainstHull(const float4 separatingNormal, - __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, - const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, - float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts, - const float minDist, float maxDist, - __global const float4* vertices, - __global const b3GpuFace_t* faces, - __global const int* indices, - float4* localContactsOut, - int localContactCapacity) -{ - int numContactsOut = 0; - int numWorldVertsB1= 0; - - - int closestFaceB=-1; - float dmax = -FLT_MAX; - - { - for(int face=0;face<hullB->m_numFaces;face++) - { - const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, - faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f); - const float4 WorldNormal = qtRotate(ornB, Normal); - float d = dot3F4(WorldNormal,separatingNormal); - if (d > dmax) - { - dmax = d; - closestFaceB = face; - } - } - } - - { - const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB]; - const int numVertices = polyB.m_numIndices; - for(int e0=0;e0<numVertices;e0++) - { - const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]]; - worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB); - } - } - - if (closestFaceB>=0) - { - numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, - posA,ornA, - worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices, - faces, - indices,localContactsOut,localContactCapacity); - } - - return numContactsOut; -} - - -int clipHullAgainstHullLocalA(const float4 separatingNormal, - const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, - const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, - float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts, - const float minDist, float maxDist, - const float4* verticesA, - const b3GpuFace_t* facesA, - const int* indicesA, - __global const float4* verticesB, - __global const b3GpuFace_t* facesB, - __global const int* indicesB, - float4* localContactsOut, - int localContactCapacity) -{ - int numContactsOut = 0; - int numWorldVertsB1= 0; - - - int closestFaceB=-1; - float dmax = -FLT_MAX; - - { - for(int face=0;face<hullB->m_numFaces;face++) - { - const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, - facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f); - const float4 WorldNormal = qtRotate(ornB, Normal); - float d = dot3F4(WorldNormal,separatingNormal); - if (d > dmax) - { - dmax = d; - closestFaceB = face; - } - } - } - - { - const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB]; - const int numVertices = polyB.m_numIndices; - for(int e0=0;e0<numVertices;e0++) - { - const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]]; - worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB); - } - } - - if (closestFaceB>=0) - { - numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, - posA,ornA, - worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist, - verticesA,facesA,indicesA, - verticesB,facesB,indicesB, - localContactsOut,localContactCapacity); - } - - return numContactsOut; -} - -#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j]; -#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;} -#define REDUCE_MAX(v, n) {int i=0;\ -for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; } -#define REDUCE_MIN(v, n) {int i=0;\ -for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; } - -int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx) -{ - if( nPoints == 0 ) - return 0; - - if (nPoints <=4) - return nPoints; - - - if (nPoints >64) - nPoints = 64; - - float4 center = make_float4(0.f); - { - - for (int i=0;i<nPoints;i++) - center += p[i]; - center /= (float)nPoints; - } - - - - // sample 4 directions - - float4 aVector = p[0] - center; - float4 u = cross3( nearNormal, aVector ); - float4 v = cross3( nearNormal, u ); - u = normalize3( u ); - v = normalize3( v ); - - - //keep point with deepest penetration - float minW= FLT_MAX; - - int minIndex=-1; - - float4 maxDots; - maxDots.x = FLT_MIN; - maxDots.y = FLT_MIN; - maxDots.z = FLT_MIN; - maxDots.w = FLT_MIN; - - // idx, distance - for(int ie = 0; ie<nPoints; ie++ ) - { - if (p[ie].w<minW) - { - minW = p[ie].w; - minIndex=ie; - } - float f; - float4 r = p[ie]-center; - f = dot3F4( u, r ); - if (f<maxDots.x) - { - maxDots.x = f; - contactIdx[0].x = ie; - } - - f = dot3F4( -u, r ); - if (f<maxDots.y) - { - maxDots.y = f; - contactIdx[0].y = ie; - } - - - f = dot3F4( v, r ); - if (f<maxDots.z) - { - maxDots.z = f; - contactIdx[0].z = ie; - } - - f = dot3F4( -v, r ); - if (f<maxDots.w) - { - maxDots.w = f; - contactIdx[0].w = ie; - } - - } - - if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex) - { - //replace the first contact with minimum (todo: replace contact with least penetration) - contactIdx[0].x = minIndex; - } - - return 4; - -} - - -int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx) -{ - contactIdx[0] = 0; - contactIdx[1] = 1; - contactIdx[2] = 2; - contactIdx[3] = 3; - - if( nPoints == 0 ) return 0; - - nPoints = min2( nPoints, 4 ); - return nPoints; - -} - - - -int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx) -{ - if( nPoints == 0 ) return 0; - - nPoints = min2( nPoints, 64 ); - - float4 center = make_float4(0.f); - { - float4 v[64]; - for (int i=0;i<nPoints;i++) - v[i] = p[i]; - //memcpy( v, p, nPoints*sizeof(float4) ); - PARALLEL_SUM( v, nPoints ); - center = v[0]/(float)nPoints; - } - - - - { // sample 4 directions - if( nPoints < 4 ) - { - for(int i=0; i<nPoints; i++) - contactIdx[i] = i; - return nPoints; - } - - float4 aVector = p[0] - center; - float4 u = cross3( nearNormal, aVector ); - float4 v = cross3( nearNormal, u ); - u = normalize3( u ); - v = normalize3( v ); - - int idx[4]; - - float2 max00 = make_float2(0,FLT_MAX); - { - // idx, distance - { - { - int4 a[64]; - for(int ie = 0; ie<nPoints; ie++ ) - { - - - float f; - float4 r = p[ie]-center; - f = dot3F4( u, r ); - a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie); - - f = dot3F4( -u, r ); - a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie); - - f = dot3F4( v, r ); - a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie); - - f = dot3F4( -v, r ); - a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie); - } - - for(int ie=0; ie<nPoints; ie++) - { - a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x; - a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y; - a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z; - a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w; - } - - idx[0] = (int)a[0].x & 0xff; - idx[1] = (int)a[0].y & 0xff; - idx[2] = (int)a[0].z & 0xff; - idx[3] = (int)a[0].w & 0xff; - } - } - - { - float2 h[64]; - PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints ); - REDUCE_MIN( h, nPoints ); - max00 = h[0]; - } - } - - contactIdx[0] = idx[0]; - contactIdx[1] = idx[1]; - contactIdx[2] = idx[2]; - contactIdx[3] = idx[3]; - - - return 4; - } -} - - - -__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const float4* closestPointsWorld, - __global const float4* separatingNormalsWorld, - __global const int* contactCounts, - __global const int* contactOffsets, - __global struct b3Contact4Data* restrict contactsOut, - counter32_t nContactsOut, - int contactCapacity, - int numPairs, - int pairIndex - ) -{ - int idx = get_global_id(0); - - if (idx<numPairs) - { - float4 normal = separatingNormalsWorld[idx]; - int nPoints = contactCounts[idx]; - __global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]]; - float4 localPoints[64]; - for (int i=0;i<nPoints;i++) - { - localPoints[i] = pointsIn[i]; - } - - int contactIdx[4];// = {-1,-1,-1,-1}; - contactIdx[0] = -1; - contactIdx[1] = -1; - contactIdx[2] = -1; - contactIdx[3] = -1; - - int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx); - - int dstIdx; - AppendInc( nContactsOut, dstIdx ); - if (dstIdx<contactCapacity) - { - __global struct b3Contact4Data* c = contactsOut + dstIdx; - c->m_worldNormalOnB = -normal; - c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); - c->m_batchIdx = idx; - int bodyA = pairs[pairIndex].x; - int bodyB = pairs[pairIndex].y; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB; - c->m_childIndexA = -1; - c->m_childIndexB = -1; - for (int i=0;i<nContacts;i++) - { - c->m_worldPosB[i] = localPoints[contactIdx[i]]; - } - GET_NPOINTS(*c) = nContacts; - } - } -} - - -void trInverse(float4 translationIn, Quaternion orientationIn, - float4* translationOut, Quaternion* orientationOut) -{ - *orientationOut = qtInvert(orientationIn); - *translationOut = qtRotate(*orientationOut, -translationIn); -} - -void trMul(float4 translationA, Quaternion orientationA, - float4 translationB, Quaternion orientationB, - float4* translationOut, Quaternion* orientationOut) -{ - *orientationOut = qtMul(orientationA,orientationB); - *translationOut = transform(&translationB,&translationA,&orientationA); -} - - - - -__kernel void clipHullHullKernel( __global int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Collidable_t* collidables, - __global const b3ConvexPolyhedronData_t* convexShapes, - __global const float4* vertices, - __global const float4* uniqueEdges, - __global const b3GpuFace_t* faces, - __global const int* indices, - __global const float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global struct b3Contact4Data* restrict globalContactsOut, - counter32_t nGlobalContactsOut, - int numPairs, - int contactCapacity) -{ - - int i = get_global_id(0); - int pairIndex = i; - - float4 worldVertsB1[64]; - float4 worldVertsB2[64]; - int capacityWorldVerts = 64; - - float4 localContactsOut[64]; - int localContactCapacity=64; - - float minDist = -1e30f; - float maxDist = 0.02f; - - if (i<numPairs) - { - - int bodyIndexA = pairs[i].x; - int bodyIndexB = pairs[i].y; - - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - if (hasSeparatingAxis[i]) - { - - - int shapeIndexA = collidables[collidableIndexA].m_shapeIndex; - int shapeIndexB = collidables[collidableIndexB].m_shapeIndex; - - - - - int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i], - &convexShapes[shapeIndexA], &convexShapes[shapeIndexB], - rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat, - rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat, - worldVertsB1,worldVertsB2,capacityWorldVerts, - minDist, maxDist, - vertices,faces,indices, - localContactsOut,localContactCapacity); - - if (numLocalContactsOut>0) - { - float4 normal = -separatingNormals[i]; - int nPoints = numLocalContactsOut; - float4* pointsIn = localContactsOut; - int contactIdx[4];// = {-1,-1,-1,-1}; - - contactIdx[0] = -1; - contactIdx[1] = -1; - contactIdx[2] = -1; - contactIdx[3] = -1; - - int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx); - - - int mprContactIndex = pairs[pairIndex].z; - - int dstIdx = mprContactIndex; - if (dstIdx<0) - { - AppendInc( nGlobalContactsOut, dstIdx ); - } - - if (dstIdx<contactCapacity) - { - pairs[pairIndex].z = dstIdx; - - __global struct b3Contact4Data* c = globalContactsOut+ dstIdx; - c->m_worldNormalOnB = -normal; - c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); - c->m_batchIdx = pairIndex; - int bodyA = pairs[pairIndex].x; - int bodyB = pairs[pairIndex].y; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB; - c->m_childIndexA = -1; - c->m_childIndexB = -1; - - for (int i=0;i<nReducedContacts;i++) - { - //this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact - if (i>0||(mprContactIndex<0)) - { - c->m_worldPosB[i] = pointsIn[contactIdx[i]]; - } - } - GET_NPOINTS(*c) = nReducedContacts; - } - - }// if (numContactsOut>0) - }// if (hasSeparatingAxis[i]) - }// if (i<numPairs) - -} - - -__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Collidable_t* collidables, - __global const b3ConvexPolyhedronData_t* convexShapes, - __global const float4* vertices, - __global const float4* uniqueEdges, - __global const b3GpuFace_t* faces, - __global const int* indices, - __global const b3GpuChildShape_t* gpuChildShapes, - __global const float4* gpuCompoundSepNormalsOut, - __global const int* gpuHasCompoundSepNormalsOut, - __global struct b3Contact4Data* restrict globalContactsOut, - counter32_t nGlobalContactsOut, - int numCompoundPairs, int maxContactCapacity) -{ - - int i = get_global_id(0); - int pairIndex = i; - - float4 worldVertsB1[64]; - float4 worldVertsB2[64]; - int capacityWorldVerts = 64; - - float4 localContactsOut[64]; - int localContactCapacity=64; - - float minDist = -1e30f; - float maxDist = 0.02f; - - if (i<numCompoundPairs) - { - - if (gpuHasCompoundSepNormalsOut[i]) - { - - int bodyIndexA = gpuCompoundPairs[i].x; - int bodyIndexB = gpuCompoundPairs[i].y; - - int childShapeIndexA = gpuCompoundPairs[i].z; - int childShapeIndexB = gpuCompoundPairs[i].w; - - int collidableIndexA = -1; - int collidableIndexB = -1; - - float4 ornA = rigidBodies[bodyIndexA].m_quat; - float4 posA = rigidBodies[bodyIndexA].m_pos; - - float4 ornB = rigidBodies[bodyIndexB].m_quat; - float4 posB = rigidBodies[bodyIndexB].m_pos; - - if (childShapeIndexA >= 0) - { - collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex; - float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition; - float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation; - float4 newPosA = qtRotate(ornA,childPosA)+posA; - float4 newOrnA = qtMul(ornA,childOrnA); - posA = newPosA; - ornA = newOrnA; - } else - { - collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - } - - if (childShapeIndexB>=0) - { - collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex; - float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition; - float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation; - float4 newPosB = transform(&childPosB,&posB,&ornB); - float4 newOrnB = qtMul(ornB,childOrnB); - posB = newPosB; - ornB = newOrnB; - } else - { - collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - } - - int shapeIndexA = collidables[collidableIndexA].m_shapeIndex; - int shapeIndexB = collidables[collidableIndexB].m_shapeIndex; - - int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i], - &convexShapes[shapeIndexA], &convexShapes[shapeIndexB], - posA,ornA, - posB,ornB, - worldVertsB1,worldVertsB2,capacityWorldVerts, - minDist, maxDist, - vertices,faces,indices, - localContactsOut,localContactCapacity); - - if (numLocalContactsOut>0) - { - float4 normal = -gpuCompoundSepNormalsOut[i]; - int nPoints = numLocalContactsOut; - float4* pointsIn = localContactsOut; - int contactIdx[4];// = {-1,-1,-1,-1}; - - contactIdx[0] = -1; - contactIdx[1] = -1; - contactIdx[2] = -1; - contactIdx[3] = -1; - - int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx); - - int dstIdx; - AppendInc( nGlobalContactsOut, dstIdx ); - if ((dstIdx+nReducedContacts) < maxContactCapacity) - { - __global struct b3Contact4Data* c = globalContactsOut+ dstIdx; - c->m_worldNormalOnB = -normal; - c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); - c->m_batchIdx = pairIndex; - int bodyA = gpuCompoundPairs[pairIndex].x; - int bodyB = gpuCompoundPairs[pairIndex].y; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB; - c->m_childIndexA = childShapeIndexA; - c->m_childIndexB = childShapeIndexB; - for (int i=0;i<nReducedContacts;i++) - { - c->m_worldPosB[i] = pointsIn[contactIdx[i]]; - } - GET_NPOINTS(*c) = nReducedContacts; - } - - }// if (numContactsOut>0) - }// if (gpuHasCompoundSepNormalsOut[i]) - }// if (i<numCompoundPairs) - -} - - - -__kernel void sphereSphereCollisionKernel( __global const int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Collidable_t* collidables, - __global const float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global struct b3Contact4Data* restrict globalContactsOut, - counter32_t nGlobalContactsOut, - int contactCapacity, - int numPairs) -{ - - int i = get_global_id(0); - int pairIndex = i; - - if (i<numPairs) - { - int bodyIndexA = pairs[i].x; - int bodyIndexB = pairs[i].y; - - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE && - collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE) - { - //sphere-sphere - float radiusA = collidables[collidableIndexA].m_radius; - float radiusB = collidables[collidableIndexB].m_radius; - float4 posA = rigidBodies[bodyIndexA].m_pos; - float4 posB = rigidBodies[bodyIndexB].m_pos; - - float4 diff = posA-posB; - float len = length(diff); - - ///iff distance positive, don't generate a new contact - if ( len <= (radiusA+radiusB)) - { - ///distance (negative means penetration) - float dist = len - (radiusA+radiusB); - float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f); - if (len > 0.00001) - { - normalOnSurfaceB = diff / len; - } - float4 contactPosB = posB + normalOnSurfaceB*radiusB; - contactPosB.w = dist; - - int dstIdx; - AppendInc( nGlobalContactsOut, dstIdx ); - if (dstIdx < contactCapacity) - { - __global struct b3Contact4Data* c = &globalContactsOut[dstIdx]; - c->m_worldNormalOnB = -normalOnSurfaceB; - c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); - c->m_batchIdx = pairIndex; - int bodyA = pairs[pairIndex].x; - int bodyB = pairs[pairIndex].y; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB; - c->m_worldPosB[0] = contactPosB; - c->m_childIndexA = -1; - c->m_childIndexB = -1; - - GET_NPOINTS(*c) = 1; - }//if (dstIdx < numPairs) - }//if ( len <= (radiusA+radiusB)) - }//SHAPE_SPHERE SHAPE_SPHERE - }//if (i<numPairs) -} - -__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Collidable_t* collidables, - __global const b3ConvexPolyhedronData_t* convexShapes, - __global const float4* vertices, - __global const float4* uniqueEdges, - __global const b3GpuFace_t* faces, - __global const int* indices, - __global const b3GpuChildShape_t* gpuChildShapes, - __global const float4* separatingNormals, - __global struct b3Contact4Data* restrict globalContactsOut, - counter32_t nGlobalContactsOut, - int contactCapacity, - int numConcavePairs) -{ - - int i = get_global_id(0); - int pairIndex = i; - - float4 worldVertsB1[64]; - float4 worldVertsB2[64]; - int capacityWorldVerts = 64; - - float4 localContactsOut[64]; - int localContactCapacity=64; - - float minDist = -1e30f; - float maxDist = 0.02f; - - if (i<numConcavePairs) - { - //negative value means that the pair is invalid - if (concavePairsIn[i].w<0) - return; - - int bodyIndexA = concavePairsIn[i].x; - int bodyIndexB = concavePairsIn[i].y; - int f = concavePairsIn[i].z; - int childShapeIndexA = f; - - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - int shapeIndexA = collidables[collidableIndexA].m_shapeIndex; - int shapeIndexB = collidables[collidableIndexB].m_shapeIndex; - - /////////////////////////////////////////////////////////////// - - - bool overlap = false; - - b3ConvexPolyhedronData_t convexPolyhedronA; - - //add 3 vertices of the triangle - convexPolyhedronA.m_numVertices = 3; - convexPolyhedronA.m_vertexOffset = 0; - float4 localCenter = make_float4(0.f,0.f,0.f,0.f); - - b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f]; - - float4 verticesA[3]; - for (int i=0;i<3;i++) - { - int index = indices[face.m_indexOffset+i]; - float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index]; - verticesA[i] = vert; - localCenter += vert; - } - - float dmin = FLT_MAX; - - int localCC=0; - - //a triangle has 3 unique edges - convexPolyhedronA.m_numUniqueEdges = 3; - convexPolyhedronA.m_uniqueEdgesOffset = 0; - float4 uniqueEdgesA[3]; - - uniqueEdgesA[0] = (verticesA[1]-verticesA[0]); - uniqueEdgesA[1] = (verticesA[2]-verticesA[1]); - uniqueEdgesA[2] = (verticesA[0]-verticesA[2]); - - - convexPolyhedronA.m_faceOffset = 0; - - float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f); - - b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES]; - int indicesA[3+3+2+2+2]; - int curUsedIndices=0; - int fidx=0; - - //front size of triangle - { - facesA[fidx].m_indexOffset=curUsedIndices; - indicesA[0] = 0; - indicesA[1] = 1; - indicesA[2] = 2; - curUsedIndices+=3; - float c = face.m_plane.w; - facesA[fidx].m_plane.x = normal.x; - facesA[fidx].m_plane.y = normal.y; - facesA[fidx].m_plane.z = normal.z; - facesA[fidx].m_plane.w = c; - facesA[fidx].m_numIndices=3; - } - fidx++; - //back size of triangle - { - facesA[fidx].m_indexOffset=curUsedIndices; - indicesA[3]=2; - indicesA[4]=1; - indicesA[5]=0; - curUsedIndices+=3; - float c = dot3F4(normal,verticesA[0]); - float c1 = -face.m_plane.w; - facesA[fidx].m_plane.x = -normal.x; - facesA[fidx].m_plane.y = -normal.y; - facesA[fidx].m_plane.z = -normal.z; - facesA[fidx].m_plane.w = c; - facesA[fidx].m_numIndices=3; - } - fidx++; - - bool addEdgePlanes = true; - if (addEdgePlanes) - { - int numVertices=3; - int prevVertex = numVertices-1; - for (int i=0;i<numVertices;i++) - { - float4 v0 = verticesA[i]; - float4 v1 = verticesA[prevVertex]; - - float4 edgeNormal = normalize(cross(normal,v1-v0)); - float c = -dot3F4(edgeNormal,v0); - - facesA[fidx].m_numIndices = 2; - facesA[fidx].m_indexOffset=curUsedIndices; - indicesA[curUsedIndices++]=i; - indicesA[curUsedIndices++]=prevVertex; - - facesA[fidx].m_plane.x = edgeNormal.x; - facesA[fidx].m_plane.y = edgeNormal.y; - facesA[fidx].m_plane.z = edgeNormal.z; - facesA[fidx].m_plane.w = c; - fidx++; - prevVertex = i; - } - } - convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES; - convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f); - - - float4 posA = rigidBodies[bodyIndexA].m_pos; - posA.w = 0.f; - float4 posB = rigidBodies[bodyIndexB].m_pos; - posB.w = 0.f; - float4 ornA = rigidBodies[bodyIndexA].m_quat; - float4 ornB =rigidBodies[bodyIndexB].m_quat; - - - float4 sepAxis = separatingNormals[i]; - - int shapeTypeB = collidables[collidableIndexB].m_shapeType; - int childShapeIndexB =-1; - if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS) - { - /////////////////// - ///compound shape support - - childShapeIndexB = concavePairsIn[pairIndex].w; - int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex; - shapeIndexB = collidables[childColIndexB].m_shapeIndex; - float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition; - float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation; - float4 newPosB = transform(&childPosB,&posB,&ornB); - float4 newOrnB = qtMul(ornB,childOrnB); - posB = newPosB; - ornB = newOrnB; - - } - - //////////////////////////////////////// - - - - int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis, - &convexPolyhedronA, &convexShapes[shapeIndexB], - posA,ornA, - posB,ornB, - worldVertsB1,worldVertsB2,capacityWorldVerts, - minDist, maxDist, - &verticesA,&facesA,&indicesA, - vertices,faces,indices, - localContactsOut,localContactCapacity); - - if (numLocalContactsOut>0) - { - float4 normal = -separatingNormals[i]; - int nPoints = numLocalContactsOut; - float4* pointsIn = localContactsOut; - int contactIdx[4];// = {-1,-1,-1,-1}; - - contactIdx[0] = -1; - contactIdx[1] = -1; - contactIdx[2] = -1; - contactIdx[3] = -1; - - int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx); - - int dstIdx; - AppendInc( nGlobalContactsOut, dstIdx ); - if (dstIdx<contactCapacity) - { - __global struct b3Contact4Data* c = globalContactsOut+ dstIdx; - c->m_worldNormalOnB = -normal; - c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); - c->m_batchIdx = pairIndex; - int bodyA = concavePairsIn[pairIndex].x; - int bodyB = concavePairsIn[pairIndex].y; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB; - c->m_childIndexA = childShapeIndexA; - c->m_childIndexB = childShapeIndexB; - for (int i=0;i<nReducedContacts;i++) - { - c->m_worldPosB[i] = pointsIn[contactIdx[i]]; - } - GET_NPOINTS(*c) = nReducedContacts; - } - - }// if (numContactsOut>0) - }// if (i<numPairs) -} - - - - - - -int findClippingFaces(const float4 separatingNormal, - __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, - const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, - __global float4* worldVertsA1, - __global float4* worldNormalsA1, - __global float4* worldVertsB1, - int capacityWorldVerts, - const float minDist, float maxDist, - __global const float4* vertices, - __global const b3GpuFace_t* faces, - __global const int* indices, - __global int4* clippingFaces, int pairIndex) -{ - int numContactsOut = 0; - int numWorldVertsB1= 0; - - - int closestFaceB=-1; - float dmax = -FLT_MAX; - - { - for(int face=0;face<hullB->m_numFaces;face++) - { - const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, - faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f); - const float4 WorldNormal = qtRotate(ornB, Normal); - float d = dot3F4(WorldNormal,separatingNormal); - if (d > dmax) - { - dmax = d; - closestFaceB = face; - } - } - } - - { - const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB]; - const int numVertices = polyB.m_numIndices; - for(int e0=0;e0<numVertices;e0++) - { - const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]]; - worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB); - } - } - - int closestFaceA=-1; - { - float dmin = FLT_MAX; - for(int face=0;face<hullA->m_numFaces;face++) - { - const float4 Normal = make_float4( - faces[hullA->m_faceOffset+face].m_plane.x, - faces[hullA->m_faceOffset+face].m_plane.y, - faces[hullA->m_faceOffset+face].m_plane.z, - 0.f); - const float4 faceANormalWS = qtRotate(ornA,Normal); - - float d = dot3F4(faceANormalWS,separatingNormal); - if (d < dmin) - { - dmin = d; - closestFaceA = face; - worldNormalsA1[pairIndex] = faceANormalWS; - } - } - } - - int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices; - for(int e0=0;e0<numVerticesA;e0++) - { - const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]]; - worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA); - } - - clippingFaces[pairIndex].x = closestFaceA; - clippingFaces[pairIndex].y = closestFaceB; - clippingFaces[pairIndex].z = numVerticesA; - clippingFaces[pairIndex].w = numWorldVertsB1; - - - return numContactsOut; -} - - - -int clipFaces(__global float4* worldVertsA1, - __global float4* worldNormalsA1, - __global float4* worldVertsB1, - __global float4* worldVertsB2, - int capacityWorldVertsB2, - const float minDist, float maxDist, - __global int4* clippingFaces, - int pairIndex) -{ - int numContactsOut = 0; - - int closestFaceA = clippingFaces[pairIndex].x; - int closestFaceB = clippingFaces[pairIndex].y; - int numVertsInA = clippingFaces[pairIndex].z; - int numVertsInB = clippingFaces[pairIndex].w; - - int numVertsOut = 0; - - if (closestFaceA<0) - return numContactsOut; - - __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2]; - __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2]; - - - - // clip polygon to back of planes of all faces of hull A that are adjacent to witness face - - for(int e0=0;e0<numVertsInA;e0++) - { - const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0]; - const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)]; - const float4 WorldEdge0 = aw - bw; - float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex]; - float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1); - float4 worldA1 = aw; - float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1); - float4 planeNormalWS = planeNormalWS1; - float planeEqWS=planeEqWS1; - numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut); - __global float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsInB = numVertsOut; - numVertsOut = 0; - } - - //float4 planeNormalWS = worldNormalsA1[pairIndex]; - //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]); - - - - /*for (int i=0;i<numVertsInB;i++) - { - pVtxOut[i] = pVtxIn[i]; - }*/ - - - - - //numVertsInB=0; - - float4 planeNormalWS = worldNormalsA1[pairIndex]; - float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]); - - for (int i=0;i<numVertsInB;i++) - { - float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS; - if (depth <=minDist) - { - depth = minDist; - } - - if (depth <=maxDist) - { - float4 pointInWorld = pVtxIn[i]; - pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth); - } - } - - clippingFaces[pairIndex].w =numContactsOut; - - - return numContactsOut; - -} - - - - -__kernel void findClippingFacesKernel( __global const int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Collidable_t* collidables, - __global const b3ConvexPolyhedronData_t* convexShapes, - __global const float4* vertices, - __global const float4* uniqueEdges, - __global const b3GpuFace_t* faces, - __global const int* indices, - __global const float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global int4* clippingFacesOut, - __global float4* worldVertsA1, - __global float4* worldNormalsA1, - __global float4* worldVertsB1, - int capacityWorldVerts, - int numPairs - ) -{ - - int i = get_global_id(0); - int pairIndex = i; - - - float minDist = -1e30f; - float maxDist = 0.02f; - - if (i<numPairs) - { - - if (hasSeparatingAxis[i]) - { - - int bodyIndexA = pairs[i].x; - int bodyIndexB = pairs[i].y; - - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - int shapeIndexA = collidables[collidableIndexA].m_shapeIndex; - int shapeIndexB = collidables[collidableIndexB].m_shapeIndex; - - - - int numLocalContactsOut = findClippingFaces(separatingNormals[i], - &convexShapes[shapeIndexA], &convexShapes[shapeIndexB], - rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat, - rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat, - worldVertsA1, - worldNormalsA1, - worldVertsB1,capacityWorldVerts, - minDist, maxDist, - vertices,faces,indices, - clippingFacesOut,i); - - - }// if (hasSeparatingAxis[i]) - }// if (i<numPairs) - -} - - - - -__kernel void clipFacesAndFindContactsKernel( __global const float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global int4* clippingFacesOut, - __global float4* worldVertsA1, - __global float4* worldNormalsA1, - __global float4* worldVertsB1, - __global float4* worldVertsB2, - int vertexFaceCapacity, - int numPairs, - int debugMode - ) -{ - int i = get_global_id(0); - int pairIndex = i; - - - float minDist = -1e30f; - float maxDist = 0.02f; - - if (i<numPairs) - { - - if (hasSeparatingAxis[i]) - { - -// int bodyIndexA = pairs[i].x; - // int bodyIndexB = pairs[i].y; - - int numLocalContactsOut = 0; - - int capacityWorldVertsB2 = vertexFaceCapacity; - - __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2]; - __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2]; - - - { - __global int4* clippingFaces = clippingFacesOut; - - - int closestFaceA = clippingFaces[pairIndex].x; - int closestFaceB = clippingFaces[pairIndex].y; - int numVertsInA = clippingFaces[pairIndex].z; - int numVertsInB = clippingFaces[pairIndex].w; - - int numVertsOut = 0; - - if (closestFaceA>=0) - { - - - - // clip polygon to back of planes of all faces of hull A that are adjacent to witness face - - for(int e0=0;e0<numVertsInA;e0++) - { - const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0]; - const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)]; - const float4 WorldEdge0 = aw - bw; - float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex]; - float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1); - float4 worldA1 = aw; - float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1); - float4 planeNormalWS = planeNormalWS1; - float planeEqWS=planeEqWS1; - numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut); - __global float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsInB = numVertsOut; - numVertsOut = 0; - } - - float4 planeNormalWS = worldNormalsA1[pairIndex]; - float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]); - - for (int i=0;i<numVertsInB;i++) - { - float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS; - if (depth <=minDist) - { - depth = minDist; - } - - if (depth <=maxDist) - { - float4 pointInWorld = pVtxIn[i]; - pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth); - } - } - - } - clippingFaces[pairIndex].w =numLocalContactsOut; - - - } - - for (int i=0;i<numLocalContactsOut;i++) - pVtxIn[i] = pVtxOut[i]; - - }// if (hasSeparatingAxis[i]) - }// if (i<numPairs) - -} - - - - - -__kernel void newContactReductionKernel( __global int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global struct b3Contact4Data* globalContactsOut, - __global int4* clippingFaces, - __global float4* worldVertsB2, - volatile __global int* nGlobalContactsOut, - int vertexFaceCapacity, - int contactCapacity, - int numPairs - ) -{ - int i = get_global_id(0); - int pairIndex = i; - - int4 contactIdx; - contactIdx=make_int4(0,1,2,3); - - if (i<numPairs) - { - - if (hasSeparatingAxis[i]) - { - - - - - int nPoints = clippingFaces[pairIndex].w; - - if (nPoints>0) - { - - __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity]; - float4 normal = -separatingNormals[i]; - - int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx); - - int mprContactIndex = pairs[pairIndex].z; - - int dstIdx = mprContactIndex; - - if (dstIdx<0) - { - AppendInc( nGlobalContactsOut, dstIdx ); - } -//#if 0 - - if (dstIdx < contactCapacity) - { - - __global struct b3Contact4Data* c = &globalContactsOut[dstIdx]; - c->m_worldNormalOnB = -normal; - c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff); - c->m_batchIdx = pairIndex; - int bodyA = pairs[pairIndex].x; - int bodyB = pairs[pairIndex].y; - - pairs[pairIndex].w = dstIdx; - - c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB; - c->m_childIndexA =-1; - c->m_childIndexB =-1; - - switch (nReducedContacts) - { - case 4: - c->m_worldPosB[3] = pointsIn[contactIdx.w]; - case 3: - c->m_worldPosB[2] = pointsIn[contactIdx.z]; - case 2: - c->m_worldPosB[1] = pointsIn[contactIdx.y]; - case 1: - if (mprContactIndex<0)//test - c->m_worldPosB[0] = pointsIn[contactIdx.x]; - default: - { - } - }; - - GET_NPOINTS(*c) = nReducedContacts; - - } - - -//#endif - - }// if (numContactsOut>0) - }// if (hasSeparatingAxis[i]) - }// if (i<numPairs) - - - -} |