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-rw-r--r--thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl1220
1 files changed, 1220 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl
new file mode 100644
index 0000000000..31ca43b8cd
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl
@@ -0,0 +1,1220 @@
+
+//keep this enum in sync with the CPU version (in btCollidable.h)
+//written by Erwin Coumans
+
+
+#define SHAPE_CONVEX_HULL 3
+#define SHAPE_CONCAVE_TRIMESH 5
+#define TRIANGLE_NUM_CONVEX_FACES 5
+#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
+
+#define B3_MAX_STACK_DEPTH 256
+
+
+typedef unsigned int u32;
+
+///keep this in sync with btCollidable.h
+typedef struct
+{
+ union {
+ int m_numChildShapes;
+ int m_bvhIndex;
+ };
+ union
+ {
+ float m_radius;
+ int m_compoundBvhIndex;
+ };
+
+ int m_shapeType;
+ int m_shapeIndex;
+
+} btCollidableGpu;
+
+#define MAX_NUM_PARTS_IN_BITS 10
+
+///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
+///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
+typedef struct
+{
+ //12 bytes
+ unsigned short int m_quantizedAabbMin[3];
+ unsigned short int m_quantizedAabbMax[3];
+ //4 bytes
+ int m_escapeIndexOrTriangleIndex;
+} b3QuantizedBvhNode;
+
+typedef struct
+{
+ float4 m_aabbMin;
+ float4 m_aabbMax;
+ float4 m_quantization;
+ int m_numNodes;
+ int m_numSubTrees;
+ int m_nodeOffset;
+ int m_subTreeOffset;
+
+} b3BvhInfo;
+
+
+int getTriangleIndex(const b3QuantizedBvhNode* rootNode)
+{
+ unsigned int x=0;
+ unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
+ // Get only the lower bits where the triangle index is stored
+ return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
+}
+
+int getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
+{
+ unsigned int x=0;
+ unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
+ // Get only the lower bits where the triangle index is stored
+ return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
+}
+
+int isLeafNode(const b3QuantizedBvhNode* rootNode)
+{
+ //skipindex is negative (internal node), triangleindex >=0 (leafnode)
+ return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
+}
+
+int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)
+{
+ //skipindex is negative (internal node), triangleindex >=0 (leafnode)
+ return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
+}
+
+int getEscapeIndex(const b3QuantizedBvhNode* rootNode)
+{
+ return -rootNode->m_escapeIndexOrTriangleIndex;
+}
+
+int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
+{
+ return -rootNode->m_escapeIndexOrTriangleIndex;
+}
+
+
+typedef struct
+{
+ //12 bytes
+ unsigned short int m_quantizedAabbMin[3];
+ unsigned short int m_quantizedAabbMax[3];
+ //4 bytes, points to the root of the subtree
+ int m_rootNodeIndex;
+ //4 bytes
+ int m_subtreeSize;
+ int m_padding[3];
+} b3BvhSubtreeInfo;
+
+
+
+
+
+
+
+typedef struct
+{
+ float4 m_childPosition;
+ float4 m_childOrientation;
+ int m_shapeIndex;
+ int m_unused0;
+ int m_unused1;
+ int m_unused2;
+} btGpuChildShape;
+
+
+typedef struct
+{
+ float4 m_pos;
+ float4 m_quat;
+ float4 m_linVel;
+ float4 m_angVel;
+
+ u32 m_collidableIdx;
+ float m_invMass;
+ float m_restituitionCoeff;
+ float m_frictionCoeff;
+} BodyData;
+
+
+typedef struct
+{
+ float4 m_localCenter;
+ float4 m_extents;
+ float4 mC;
+ float4 mE;
+
+ float m_radius;
+ int m_faceOffset;
+ int m_numFaces;
+ int m_numVertices;
+
+ int m_vertexOffset;
+ int m_uniqueEdgesOffset;
+ int m_numUniqueEdges;
+ int m_unused;
+} ConvexPolyhedronCL;
+
+typedef struct
+{
+ union
+ {
+ float4 m_min;
+ float m_minElems[4];
+ int m_minIndices[4];
+ };
+ union
+ {
+ float4 m_max;
+ float m_maxElems[4];
+ int m_maxIndices[4];
+ };
+} btAabbCL;
+
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+#include "Bullet3Common/shared/b3Int2.h"
+
+
+
+typedef struct
+{
+ float4 m_plane;
+ int m_indexOffset;
+ int m_numIndices;
+} btGpuFace;
+
+#define make_float4 (float4)
+
+
+__inline
+float4 cross3(float4 a, float4 b)
+{
+ return cross(a,b);
+
+
+// float4 a1 = make_float4(a.xyz,0.f);
+// float4 b1 = make_float4(b.xyz,0.f);
+
+// return cross(a1,b1);
+
+//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);
+
+ // float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);
+
+ //return c;
+}
+
+__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)
+{
+ v = make_float4(v.xyz,0.f);
+ 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 void projectLocal(const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn,
+const float4* dir, const float4* vertices, float* min, float* max)
+{
+ min[0] = FLT_MAX;
+ max[0] = -FLT_MAX;
+ int numVerts = hull->m_numVertices;
+
+ const float4 localDir = qtInvRotate(orn,*dir);
+ float offset = dot(pos,*dir);
+ for(int i=0;i<numVerts;i++)
+ {
+ float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
+ if(dp < min[0])
+ min[0] = dp;
+ if(dp > max[0])
+ max[0] = dp;
+ }
+ if(min[0]>max[0])
+ {
+ float tmp = min[0];
+ min[0] = max[0];
+ max[0] = tmp;
+ }
+ min[0] += offset;
+ max[0] += offset;
+}
+
+inline void project(__global const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn,
+const float4* dir, __global const float4* vertices, float* min, float* max)
+{
+ min[0] = FLT_MAX;
+ max[0] = -FLT_MAX;
+ int numVerts = hull->m_numVertices;
+
+ const float4 localDir = qtInvRotate(orn,*dir);
+ float offset = dot(pos,*dir);
+ for(int i=0;i<numVerts;i++)
+ {
+ float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
+ if(dp < min[0])
+ min[0] = dp;
+ if(dp > max[0])
+ max[0] = dp;
+ }
+ if(min[0]>max[0])
+ {
+ float tmp = min[0];
+ min[0] = max[0];
+ max[0] = tmp;
+ }
+ min[0] += offset;
+ max[0] += offset;
+}
+
+inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
+ const float4 posA,const float4 ornA,
+ const float4 posB,const float4 ornB,
+ float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)
+{
+ float Min0,Max0;
+ float Min1,Max1;
+ projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
+ project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);
+
+ if(Max0<Min1 || Max1<Min0)
+ return false;
+
+ float d0 = Max0 - Min1;
+ float d1 = Max1 - Min0;
+ *depth = d0<d1 ? d0:d1;
+ return true;
+}
+
+
+
+
+inline bool IsAlmostZero(const float4 v)
+{
+ if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)
+ return false;
+ return true;
+}
+
+
+
+bool findSeparatingAxisLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
+ const float4 posA1,
+ const float4 ornA,
+ const float4 posB1,
+ const float4 ornB,
+ const float4 DeltaC2,
+
+ const float4* verticesA,
+ const float4* uniqueEdgesA,
+ const btGpuFace* facesA,
+ const int* indicesA,
+
+ __global const float4* verticesB,
+ __global const float4* uniqueEdgesB,
+ __global const btGpuFace* facesB,
+ __global const int* indicesB,
+ float4* sep,
+ float* dmin)
+{
+
+
+ float4 posA = posA1;
+ posA.w = 0.f;
+ float4 posB = posB1;
+ posB.w = 0.f;
+ int curPlaneTests=0;
+ {
+ int numFacesA = hullA->m_numFaces;
+ // Test normals from hullA
+ for(int i=0;i<numFacesA;i++)
+ {
+ const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
+ float4 faceANormalWS = qtRotate(ornA,normal);
+ if (dot3F4(DeltaC2,faceANormalWS)<0)
+ faceANormalWS*=-1.f;
+ curPlaneTests++;
+ float d;
+ if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
+ return false;
+ if(d<*dmin)
+ {
+ *dmin = d;
+ *sep = faceANormalWS;
+ }
+ }
+ }
+ if((dot3F4(-DeltaC2,*sep))>0.0f)
+ {
+ *sep = -(*sep);
+ }
+ return true;
+}
+
+bool findSeparatingAxisLocalB( __global const ConvexPolyhedronCL* hullA, const ConvexPolyhedronCL* hullB,
+ const float4 posA1,
+ const float4 ornA,
+ const float4 posB1,
+ const float4 ornB,
+ const float4 DeltaC2,
+ __global const float4* verticesA,
+ __global const float4* uniqueEdgesA,
+ __global const btGpuFace* facesA,
+ __global const int* indicesA,
+ const float4* verticesB,
+ const float4* uniqueEdgesB,
+ const btGpuFace* facesB,
+ const int* indicesB,
+ float4* sep,
+ float* dmin)
+{
+
+
+ float4 posA = posA1;
+ posA.w = 0.f;
+ float4 posB = posB1;
+ posB.w = 0.f;
+ int curPlaneTests=0;
+ {
+ int numFacesA = hullA->m_numFaces;
+ // Test normals from hullA
+ for(int i=0;i<numFacesA;i++)
+ {
+ const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
+ float4 faceANormalWS = qtRotate(ornA,normal);
+ if (dot3F4(DeltaC2,faceANormalWS)<0)
+ faceANormalWS *= -1.f;
+ curPlaneTests++;
+ float d;
+ if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))
+ return false;
+ if(d<*dmin)
+ {
+ *dmin = d;
+ *sep = faceANormalWS;
+ }
+ }
+ }
+ if((dot3F4(-DeltaC2,*sep))>0.0f)
+ {
+ *sep = -(*sep);
+ }
+ return true;
+}
+
+
+
+bool findSeparatingAxisEdgeEdgeLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
+ const float4 posA1,
+ const float4 ornA,
+ const float4 posB1,
+ const float4 ornB,
+ const float4 DeltaC2,
+ const float4* verticesA,
+ const float4* uniqueEdgesA,
+ const btGpuFace* facesA,
+ const int* indicesA,
+ __global const float4* verticesB,
+ __global const float4* uniqueEdgesB,
+ __global const btGpuFace* facesB,
+ __global const int* indicesB,
+ float4* sep,
+ float* dmin)
+{
+
+
+ float4 posA = posA1;
+ posA.w = 0.f;
+ float4 posB = posB1;
+ posB.w = 0.f;
+
+ int curPlaneTests=0;
+
+ int curEdgeEdge = 0;
+ // Test edges
+ for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
+ {
+ const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
+ float4 edge0World = qtRotate(ornA,edge0);
+
+ for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
+ {
+ const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
+ float4 edge1World = qtRotate(ornB,edge1);
+
+
+ float4 crossje = cross3(edge0World,edge1World);
+
+ curEdgeEdge++;
+ if(!IsAlmostZero(crossje))
+ {
+ crossje = normalize3(crossje);
+ if (dot3F4(DeltaC2,crossje)<0)
+ crossje *= -1.f;
+
+ float dist;
+ bool result = true;
+ {
+ float Min0,Max0;
+ float Min1,Max1;
+ projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
+ project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
+
+ if(Max0<Min1 || Max1<Min0)
+ result = false;
+
+ float d0 = Max0 - Min1;
+ float d1 = Max1 - Min0;
+ dist = d0<d1 ? d0:d1;
+ result = true;
+
+ }
+
+
+ if(dist<*dmin)
+ {
+ *dmin = dist;
+ *sep = crossje;
+ }
+ }
+ }
+
+ }
+
+
+ if((dot3F4(-DeltaC2,*sep))>0.0f)
+ {
+ *sep = -(*sep);
+ }
+ return true;
+}
+
+
+
+inline int findClippingFaces(const float4 separatingNormal,
+ const ConvexPolyhedronCL* hullA,
+ __global const ConvexPolyhedronCL* 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,
+ const float4* verticesA,
+ const btGpuFace* facesA,
+ const int* indicesA,
+ __global const float4* verticesB,
+ __global const btGpuFace* facesB,
+ __global const int* indicesB,
+ __global int4* clippingFaces, int pairIndex)
+{
+ int numContactsOut = 0;
+ int numWorldVertsB1= 0;
+
+
+ int closestFaceB=0;
+ 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 btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];
+ int numVertices = polyB.m_numIndices;
+ if (numVertices>capacityWorldVerts)
+ numVertices = capacityWorldVerts;
+ if (numVertices<0)
+ numVertices = 0;
+
+ for(int e0=0;e0<numVertices;e0++)
+ {
+ if (e0<capacityWorldVerts)
+ {
+ const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
+ worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
+ }
+ }
+ }
+
+ int closestFaceA=0;
+ {
+ 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;
+ worldNormalsA1[pairIndex] = faceANormalWS;
+ }
+ }
+ }
+
+ int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
+ if (numVerticesA>capacityWorldVerts)
+ numVerticesA = capacityWorldVerts;
+ if (numVerticesA<0)
+ numVerticesA=0;
+
+ for(int e0=0;e0<numVerticesA;e0++)
+ {
+ if (e0<capacityWorldVerts)
+ {
+ const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[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;
+}
+
+
+
+
+// work-in-progress
+__kernel void findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* vertices,
+ __global const float4* uniqueEdges,
+ __global const btGpuFace* faces,
+ __global const int* indices,
+ __global const btGpuChildShape* gpuChildShapes,
+ __global btAabbCL* aabbs,
+ __global float4* concaveSeparatingNormalsOut,
+ __global int* concaveHasSeparatingNormals,
+ __global int4* clippingFacesOut,
+ __global float4* worldVertsA1GPU,
+ __global float4* worldNormalsAGPU,
+ __global float4* worldVertsB1GPU,
+ __global float* dmins,
+ int vertexFaceCapacity,
+ int numConcavePairs
+ )
+{
+
+ int i = get_global_id(0);
+ if (i>=numConcavePairs)
+ return;
+
+ concaveHasSeparatingNormals[i] = 0;
+
+ int pairIdx = i;
+
+ int bodyIndexA = concavePairs[i].x;
+ int bodyIndexB = concavePairs[i].y;
+
+ int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
+ int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
+
+ int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
+ int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
+
+ if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
+ collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
+ {
+ concavePairs[pairIdx].w = -1;
+ return;
+ }
+
+
+
+ int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+ int numActualConcaveConvexTests = 0;
+
+ int f = concavePairs[i].z;
+
+ bool overlap = false;
+
+ ConvexPolyhedronCL 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);
+
+ btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
+ float4 triMinAabb, triMaxAabb;
+ btAabbCL triAabb;
+ triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
+ triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.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;
+
+ triAabb.m_min = min(triAabb.m_min,vert);
+ triAabb.m_max = max(triAabb.m_max,vert);
+
+ }
+
+ overlap = true;
+ overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
+ overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
+ overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
+
+ if (overlap)
+ {
+ float dmin = FLT_MAX;
+ int hasSeparatingAxis=5;
+ float4 sepAxis=make_float4(1,2,3,4);
+
+ int localCC=0;
+ numActualConcaveConvexTests++;
+
+ //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);
+
+ btGpuFace 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 = dot(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 = -dot(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;
+
+
+
+
+ ///////////////////
+ ///compound shape support
+
+ if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+ {
+ int compoundChild = concavePairs[pairIdx].w;
+ int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
+ int childColIndexB = 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;
+ shapeIndexB = collidables[childColIndexB].m_shapeIndex;
+ }
+ //////////////////
+
+ float4 c0local = convexPolyhedronA.m_localCenter;
+ float4 c0 = transform(&c0local, &posA, &ornA);
+ float4 c1local = convexShapes[shapeIndexB].m_localCenter;
+ float4 c1 = transform(&c1local,&posB,&ornB);
+ const float4 DeltaC2 = c0 - c1;
+
+
+ bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
+ posA,ornA,
+ posB,ornB,
+ DeltaC2,
+ verticesA,uniqueEdgesA,facesA,indicesA,
+ vertices,uniqueEdges,faces,indices,
+ &sepAxis,&dmin);
+ hasSeparatingAxis = 4;
+ if (!sepA)
+ {
+ hasSeparatingAxis = 0;
+ } else
+ {
+ bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,
+ posB,ornB,
+ posA,ornA,
+ DeltaC2,
+ vertices,uniqueEdges,faces,indices,
+ verticesA,uniqueEdgesA,facesA,indicesA,
+ &sepAxis,&dmin);
+
+ if (!sepB)
+ {
+ hasSeparatingAxis = 0;
+ } else
+ {
+ hasSeparatingAxis = 1;
+ }
+ }
+
+ if (hasSeparatingAxis)
+ {
+ dmins[i] = dmin;
+ concaveSeparatingNormalsOut[pairIdx]=sepAxis;
+ concaveHasSeparatingNormals[i]=1;
+
+ } else
+ {
+ //mark this pair as in-active
+ concavePairs[pairIdx].w = -1;
+ }
+ }
+ else
+ {
+ //mark this pair as in-active
+ concavePairs[pairIdx].w = -1;
+ }
+}
+
+
+
+
+// work-in-progress
+__kernel void findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* vertices,
+ __global const float4* uniqueEdges,
+ __global const btGpuFace* faces,
+ __global const int* indices,
+ __global const btGpuChildShape* gpuChildShapes,
+ __global btAabbCL* aabbs,
+ __global float4* concaveSeparatingNormalsOut,
+ __global int* concaveHasSeparatingNormals,
+ __global int4* clippingFacesOut,
+ __global float4* worldVertsA1GPU,
+ __global float4* worldNormalsAGPU,
+ __global float4* worldVertsB1GPU,
+ __global float* dmins,
+ int vertexFaceCapacity,
+ int numConcavePairs
+ )
+{
+
+ int i = get_global_id(0);
+ if (i>=numConcavePairs)
+ return;
+
+ if (!concaveHasSeparatingNormals[i])
+ return;
+
+ int pairIdx = i;
+
+ int bodyIndexA = concavePairs[i].x;
+ int bodyIndexB = concavePairs[i].y;
+
+ int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
+ int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
+
+ int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
+ int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
+
+
+ int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+ int numActualConcaveConvexTests = 0;
+
+ int f = concavePairs[i].z;
+
+ bool overlap = false;
+
+ ConvexPolyhedronCL 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);
+
+ btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
+ float4 triMinAabb, triMaxAabb;
+ btAabbCL triAabb;
+ triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
+ triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.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;
+
+ triAabb.m_min = min(triAabb.m_min,vert);
+ triAabb.m_max = max(triAabb.m_max,vert);
+
+ }
+
+ overlap = true;
+ overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
+ overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
+ overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
+
+ if (overlap)
+ {
+ float dmin = dmins[i];
+ int hasSeparatingAxis=5;
+ float4 sepAxis=make_float4(1,2,3,4);
+ sepAxis = concaveSeparatingNormalsOut[pairIdx];
+
+ int localCC=0;
+ numActualConcaveConvexTests++;
+
+ //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);
+
+ btGpuFace 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 = dot(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 = -dot(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;
+
+
+
+
+ ///////////////////
+ ///compound shape support
+
+ if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+ {
+ int compoundChild = concavePairs[pairIdx].w;
+ int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
+ int childColIndexB = 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;
+ shapeIndexB = collidables[childColIndexB].m_shapeIndex;
+ }
+ //////////////////
+
+ float4 c0local = convexPolyhedronA.m_localCenter;
+ float4 c0 = transform(&c0local, &posA, &ornA);
+ float4 c1local = convexShapes[shapeIndexB].m_localCenter;
+ float4 c1 = transform(&c1local,&posB,&ornB);
+ const float4 DeltaC2 = c0 - c1;
+
+
+ {
+ bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
+ posA,ornA,
+ posB,ornB,
+ DeltaC2,
+ verticesA,uniqueEdgesA,facesA,indicesA,
+ vertices,uniqueEdges,faces,indices,
+ &sepAxis,&dmin);
+
+ if (!sepEE)
+ {
+ hasSeparatingAxis = 0;
+ } else
+ {
+ hasSeparatingAxis = 1;
+ }
+ }
+
+
+ if (hasSeparatingAxis)
+ {
+ sepAxis.w = dmin;
+ dmins[i] = dmin;
+ concaveSeparatingNormalsOut[pairIdx]=sepAxis;
+ concaveHasSeparatingNormals[i]=1;
+
+ float minDist = -1e30f;
+ float maxDist = 0.02f;
+
+
+ findClippingFaces(sepAxis,
+ &convexPolyhedronA,
+ &convexShapes[shapeIndexB],
+ posA,ornA,
+ posB,ornB,
+ worldVertsA1GPU,
+ worldNormalsAGPU,
+ worldVertsB1GPU,
+ vertexFaceCapacity,
+ minDist, maxDist,
+ verticesA,
+ facesA,
+ indicesA,
+ vertices,
+ faces,
+ indices,
+ clippingFacesOut, pairIdx);
+
+
+ } else
+ {
+ //mark this pair as in-active
+ concavePairs[pairIdx].w = -1;
+ }
+ }
+ else
+ {
+ //mark this pair as in-active
+ concavePairs[pairIdx].w = -1;
+ }
+
+ concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points
+}
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-18 17:11:54 +0000