diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp | 1013 |
1 files changed, 0 insertions, 1013 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp deleted file mode 100644 index 2e4f6c1572..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp +++ /dev/null @@ -1,1013 +0,0 @@ -#include "b3GpuNarrowPhase.h" - -#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" -#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h" -#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h" -#include <string.h> -#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h" -#include "Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h" -#include "Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h" -#include "Bullet3Geometry/b3AabbUtil.h" -#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h" - -#include "b3GpuNarrowPhaseInternalData.h" -#include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h" - -b3GpuNarrowPhase::b3GpuNarrowPhase(cl_context ctx, cl_device_id device, cl_command_queue queue, const b3Config& config) - : m_data(0), m_planeBodyIndex(-1), m_static0Index(-1), m_context(ctx), m_device(device), m_queue(queue) -{ - m_data = new b3GpuNarrowPhaseInternalData(); - m_data->m_currentContactBuffer = 0; - - memset(m_data, 0, sizeof(b3GpuNarrowPhaseInternalData)); - - m_data->m_config = config; - - m_data->m_gpuSatCollision = new GpuSatCollision(ctx, device, queue); - - m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context, m_queue, config.m_maxTriConvexPairCapacity); - - //m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false); - //m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false); - - m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>(); - m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs); - m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyData>(); - m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies); - - m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaData>(); - m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies); - - m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx, queue, config.m_maxContactCapacity, true); - m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx, queue, config.m_maxContactCapacity, true); - - m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx, queue, config.m_maxConvexBodies, false); - m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx, queue, config.m_maxConvexShapes); - m_data->m_collidablesCPU.reserve(config.m_maxConvexShapes); - - m_data->m_localShapeAABBCPU = new b3AlignedObjectArray<b3SapAabb>; - m_data->m_localShapeAABBGPU = new b3OpenCLArray<b3SapAabb>(ctx, queue, config.m_maxConvexShapes); - - //m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false); - m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx, queue, config.m_maxConvexBodies, false); - - m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx, queue, config.m_maxConvexShapes * config.m_maxFacesPerShape, false); - m_data->m_convexFaces.reserve(config.m_maxConvexShapes * config.m_maxFacesPerShape); - - m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx, queue, config.m_maxCompoundChildShapes, false); - - m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronData>(ctx, queue, config.m_maxConvexShapes, false); - m_data->m_convexPolyhedra.reserve(config.m_maxConvexShapes); - - m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexUniqueEdges, true); - m_data->m_uniqueEdges.reserve(config.m_maxConvexUniqueEdges); - - m_data->m_convexVerticesGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexVertices, true); - m_data->m_convexVertices.reserve(config.m_maxConvexVertices); - - m_data->m_convexIndicesGPU = new b3OpenCLArray<int>(ctx, queue, config.m_maxConvexIndices, true); - m_data->m_convexIndices.reserve(config.m_maxConvexIndices); - - m_data->m_worldVertsB1GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace); - m_data->m_clippingFacesOutGPU = new b3OpenCLArray<b3Int4>(ctx, queue, config.m_maxConvexBodies); - m_data->m_worldNormalsAGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies); - m_data->m_worldVertsA1GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace); - m_data->m_worldVertsB2GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace); - - m_data->m_convexData = new b3AlignedObjectArray<b3ConvexUtility*>(); - - m_data->m_convexData->resize(config.m_maxConvexShapes); - m_data->m_convexPolyhedra.resize(config.m_maxConvexShapes); - - m_data->m_numAcceleratedShapes = 0; - m_data->m_numAcceleratedRigidBodies = 0; - - m_data->m_subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context, this->m_queue); - m_data->m_treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context, this->m_queue); - m_data->m_bvhInfoGPU = new b3OpenCLArray<b3BvhInfo>(this->m_context, this->m_queue); - - //m_data->m_contactCGPU = new b3OpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false); - //m_data->m_frictionCGPU = new b3OpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs); -} - -b3GpuNarrowPhase::~b3GpuNarrowPhase() -{ - delete m_data->m_gpuSatCollision; - - delete m_data->m_triangleConvexPairs; - //delete m_data->m_convexPairsOutGPU; - //delete m_data->m_planePairs; - delete m_data->m_pBufContactOutCPU; - delete m_data->m_bodyBufferCPU; - delete m_data->m_inertiaBufferCPU; - delete m_data->m_pBufContactBuffersGPU[0]; - delete m_data->m_pBufContactBuffersGPU[1]; - - delete m_data->m_inertiaBufferGPU; - delete m_data->m_collidablesGPU; - delete m_data->m_localShapeAABBCPU; - delete m_data->m_localShapeAABBGPU; - delete m_data->m_bodyBufferGPU; - delete m_data->m_convexFacesGPU; - delete m_data->m_gpuChildShapes; - delete m_data->m_convexPolyhedraGPU; - delete m_data->m_uniqueEdgesGPU; - delete m_data->m_convexVerticesGPU; - delete m_data->m_convexIndicesGPU; - delete m_data->m_worldVertsB1GPU; - delete m_data->m_clippingFacesOutGPU; - delete m_data->m_worldNormalsAGPU; - delete m_data->m_worldVertsA1GPU; - delete m_data->m_worldVertsB2GPU; - - delete m_data->m_bvhInfoGPU; - - for (int i = 0; i < m_data->m_bvhData.size(); i++) - { - delete m_data->m_bvhData[i]; - } - for (int i = 0; i < m_data->m_meshInterfaces.size(); i++) - { - delete m_data->m_meshInterfaces[i]; - } - m_data->m_meshInterfaces.clear(); - m_data->m_bvhData.clear(); - delete m_data->m_treeNodesGPU; - delete m_data->m_subTreesGPU; - - delete m_data->m_convexData; - delete m_data; -} - -int b3GpuNarrowPhase::allocateCollidable() -{ - int curSize = m_data->m_collidablesCPU.size(); - if (curSize < m_data->m_config.m_maxConvexShapes) - { - m_data->m_collidablesCPU.expand(); - return curSize; - } - else - { - b3Error("allocateCollidable out-of-range %d\n", m_data->m_config.m_maxConvexShapes); - } - return -1; -} - -int b3GpuNarrowPhase::registerSphereShape(float radius) -{ - int collidableIndex = allocateCollidable(); - if (collidableIndex < 0) - return collidableIndex; - - b3Collidable& col = getCollidableCpu(collidableIndex); - col.m_shapeType = SHAPE_SPHERE; - col.m_shapeIndex = 0; - col.m_radius = radius; - - if (col.m_shapeIndex >= 0) - { - b3SapAabb aabb; - b3Vector3 myAabbMin = b3MakeVector3(-radius, -radius, -radius); - b3Vector3 myAabbMax = b3MakeVector3(radius, radius, radius); - - aabb.m_min[0] = myAabbMin[0]; //s_convexHeightField->m_aabb.m_min.x; - aabb.m_min[1] = myAabbMin[1]; //s_convexHeightField->m_aabb.m_min.y; - aabb.m_min[2] = myAabbMin[2]; //s_convexHeightField->m_aabb.m_min.z; - aabb.m_minIndices[3] = 0; - - aabb.m_max[0] = myAabbMax[0]; //s_convexHeightField->m_aabb.m_max.x; - aabb.m_max[1] = myAabbMax[1]; //s_convexHeightField->m_aabb.m_max.y; - aabb.m_max[2] = myAabbMax[2]; //s_convexHeightField->m_aabb.m_max.z; - aabb.m_signedMaxIndices[3] = 0; - - m_data->m_localShapeAABBCPU->push_back(aabb); - // m_data->m_localShapeAABBGPU->push_back(aabb); - clFinish(m_queue); - } - - return collidableIndex; -} - -int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant) -{ - int faceOffset = m_data->m_convexFaces.size(); - b3GpuFace& face = m_data->m_convexFaces.expand(); - face.m_plane = b3MakeVector3(faceNormal.x, faceNormal.y, faceNormal.z, faceConstant); - return faceOffset; -} - -int b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float planeConstant) -{ - int collidableIndex = allocateCollidable(); - if (collidableIndex < 0) - return collidableIndex; - - b3Collidable& col = getCollidableCpu(collidableIndex); - col.m_shapeType = SHAPE_PLANE; - col.m_shapeIndex = registerFace(planeNormal, planeConstant); - col.m_radius = planeConstant; - - if (col.m_shapeIndex >= 0) - { - b3SapAabb aabb; - aabb.m_min[0] = -1e30f; - aabb.m_min[1] = -1e30f; - aabb.m_min[2] = -1e30f; - aabb.m_minIndices[3] = 0; - - aabb.m_max[0] = 1e30f; - aabb.m_max[1] = 1e30f; - aabb.m_max[2] = 1e30f; - aabb.m_signedMaxIndices[3] = 0; - - m_data->m_localShapeAABBCPU->push_back(aabb); - // m_data->m_localShapeAABBGPU->push_back(aabb); - clFinish(m_queue); - } - - return collidableIndex; -} - -int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr, b3Collidable& col) -{ - m_data->m_convexData->resize(m_data->m_numAcceleratedShapes + 1); - m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1); - - b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1); - convex.mC = convexPtr->mC; - convex.mE = convexPtr->mE; - convex.m_extents = convexPtr->m_extents; - convex.m_localCenter = convexPtr->m_localCenter; - convex.m_radius = convexPtr->m_radius; - - convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size(); - int edgeOffset = m_data->m_uniqueEdges.size(); - convex.m_uniqueEdgesOffset = edgeOffset; - - m_data->m_uniqueEdges.resize(edgeOffset + convex.m_numUniqueEdges); - - //convex data here - int i; - for (i = 0; i < convexPtr->m_uniqueEdges.size(); i++) - { - m_data->m_uniqueEdges[edgeOffset + i] = convexPtr->m_uniqueEdges[i]; - } - - int faceOffset = m_data->m_convexFaces.size(); - convex.m_faceOffset = faceOffset; - convex.m_numFaces = convexPtr->m_faces.size(); - - m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces); - - for (i = 0; i < convexPtr->m_faces.size(); i++) - { - m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0], - convexPtr->m_faces[i].m_plane[1], - convexPtr->m_faces[i].m_plane[2], - convexPtr->m_faces[i].m_plane[3]); - - int indexOffset = m_data->m_convexIndices.size(); - int numIndices = convexPtr->m_faces[i].m_indices.size(); - m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices; - m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset; - m_data->m_convexIndices.resize(indexOffset + numIndices); - for (int p = 0; p < numIndices; p++) - { - m_data->m_convexIndices[indexOffset + p] = convexPtr->m_faces[i].m_indices[p]; - } - } - - convex.m_numVertices = convexPtr->m_vertices.size(); - int vertexOffset = m_data->m_convexVertices.size(); - convex.m_vertexOffset = vertexOffset; - - m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices); - for (int i = 0; i < convexPtr->m_vertices.size(); i++) - { - m_data->m_convexVertices[vertexOffset + i] = convexPtr->m_vertices[i]; - } - - (*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr; - - return m_data->m_numAcceleratedShapes++; -} - -int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling) -{ - b3AlignedObjectArray<b3Vector3> verts; - - unsigned char* vts = (unsigned char*)vertices; - for (int i = 0; i < numVertices; i++) - { - float* vertex = (float*)&vts[i * strideInBytes]; - verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2])); - } - - b3ConvexUtility* utilPtr = new b3ConvexUtility(); - bool merge = true; - if (numVertices) - { - utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge); - } - - int collidableIndex = registerConvexHullShape(utilPtr); - delete utilPtr; - return collidableIndex; -} - -int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr) -{ - int collidableIndex = allocateCollidable(); - if (collidableIndex < 0) - return collidableIndex; - - b3Collidable& col = getCollidableCpu(collidableIndex); - col.m_shapeType = SHAPE_CONVEX_HULL; - col.m_shapeIndex = -1; - - { - b3Vector3 localCenter = b3MakeVector3(0, 0, 0); - for (int i = 0; i < utilPtr->m_vertices.size(); i++) - localCenter += utilPtr->m_vertices[i]; - localCenter *= (1.f / utilPtr->m_vertices.size()); - utilPtr->m_localCenter = localCenter; - - col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr, col); - } - - if (col.m_shapeIndex >= 0) - { - b3SapAabb aabb; - - b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f); - b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f); - - for (int i = 0; i < utilPtr->m_vertices.size(); i++) - { - myAabbMin.setMin(utilPtr->m_vertices[i]); - myAabbMax.setMax(utilPtr->m_vertices[i]); - } - aabb.m_min[0] = myAabbMin[0]; - aabb.m_min[1] = myAabbMin[1]; - aabb.m_min[2] = myAabbMin[2]; - aabb.m_minIndices[3] = 0; - - aabb.m_max[0] = myAabbMax[0]; - aabb.m_max[1] = myAabbMax[1]; - aabb.m_max[2] = myAabbMax[2]; - aabb.m_signedMaxIndices[3] = 0; - - m_data->m_localShapeAABBCPU->push_back(aabb); - // m_data->m_localShapeAABBGPU->push_back(aabb); - } - - return collidableIndex; -} - -int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes) -{ - int collidableIndex = allocateCollidable(); - if (collidableIndex < 0) - return collidableIndex; - - b3Collidable& col = getCollidableCpu(collidableIndex); - col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS; - col.m_shapeIndex = m_data->m_cpuChildShapes.size(); - col.m_compoundBvhIndex = m_data->m_bvhInfoCPU.size(); - - { - b3Assert(col.m_shapeIndex + childShapes->size() < m_data->m_config.m_maxCompoundChildShapes); - for (int i = 0; i < childShapes->size(); i++) - { - m_data->m_cpuChildShapes.push_back(childShapes->at(i)); - } - } - - col.m_numChildShapes = childShapes->size(); - - b3SapAabb aabbLocalSpace; - b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f); - b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f); - - b3AlignedObjectArray<b3Aabb> childLocalAabbs; - childLocalAabbs.resize(childShapes->size()); - - //compute local AABB of the compound of all children - for (int i = 0; i < childShapes->size(); i++) - { - int childColIndex = childShapes->at(i).m_shapeIndex; - //b3Collidable& childCol = getCollidableCpu(childColIndex); - b3SapAabb aabbLoc = m_data->m_localShapeAABBCPU->at(childColIndex); - - b3Vector3 childLocalAabbMin = b3MakeVector3(aabbLoc.m_min[0], aabbLoc.m_min[1], aabbLoc.m_min[2]); - b3Vector3 childLocalAabbMax = b3MakeVector3(aabbLoc.m_max[0], aabbLoc.m_max[1], aabbLoc.m_max[2]); - b3Vector3 aMin, aMax; - b3Scalar margin(0.f); - b3Transform childTr; - childTr.setIdentity(); - - childTr.setOrigin(childShapes->at(i).m_childPosition); - childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation)); - b3TransformAabb(childLocalAabbMin, childLocalAabbMax, margin, childTr, aMin, aMax); - myAabbMin.setMin(aMin); - myAabbMax.setMax(aMax); - childLocalAabbs[i].m_min[0] = aMin[0]; - childLocalAabbs[i].m_min[1] = aMin[1]; - childLocalAabbs[i].m_min[2] = aMin[2]; - childLocalAabbs[i].m_min[3] = 0; - childLocalAabbs[i].m_max[0] = aMax[0]; - childLocalAabbs[i].m_max[1] = aMax[1]; - childLocalAabbs[i].m_max[2] = aMax[2]; - childLocalAabbs[i].m_max[3] = 0; - } - - aabbLocalSpace.m_min[0] = myAabbMin[0]; //s_convexHeightField->m_aabb.m_min.x; - aabbLocalSpace.m_min[1] = myAabbMin[1]; //s_convexHeightField->m_aabb.m_min.y; - aabbLocalSpace.m_min[2] = myAabbMin[2]; //s_convexHeightField->m_aabb.m_min.z; - aabbLocalSpace.m_minIndices[3] = 0; - - aabbLocalSpace.m_max[0] = myAabbMax[0]; //s_convexHeightField->m_aabb.m_max.x; - aabbLocalSpace.m_max[1] = myAabbMax[1]; //s_convexHeightField->m_aabb.m_max.y; - aabbLocalSpace.m_max[2] = myAabbMax[2]; //s_convexHeightField->m_aabb.m_max.z; - aabbLocalSpace.m_signedMaxIndices[3] = 0; - - m_data->m_localShapeAABBCPU->push_back(aabbLocalSpace); - - b3QuantizedBvh* bvh = new b3QuantizedBvh; - bvh->setQuantizationValues(myAabbMin, myAabbMax); - QuantizedNodeArray& nodes = bvh->getLeafNodeArray(); - int numNodes = childShapes->size(); - - for (int i = 0; i < numNodes; i++) - { - b3QuantizedBvhNode node; - b3Vector3 aabbMin, aabbMax; - aabbMin = (b3Vector3&)childLocalAabbs[i].m_min; - aabbMax = (b3Vector3&)childLocalAabbs[i].m_max; - - bvh->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0); - bvh->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1); - int partId = 0; - node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | i; - nodes.push_back(node); - } - bvh->buildInternal(); - - int numSubTrees = bvh->getSubtreeInfoArray().size(); - - //void setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin=b3Scalar(1.0)); - //QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; } - ///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized - //void buildInternal(); - - b3BvhInfo bvhInfo; - - bvhInfo.m_aabbMin = bvh->m_bvhAabbMin; - bvhInfo.m_aabbMax = bvh->m_bvhAabbMax; - bvhInfo.m_quantization = bvh->m_bvhQuantization; - bvhInfo.m_numNodes = numNodes; - bvhInfo.m_numSubTrees = numSubTrees; - bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size(); - bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size(); - - int numNewNodes = bvh->getQuantizedNodeArray().size(); - - for (int i = 0; i < numNewNodes - 1; i++) - { - if (bvh->getQuantizedNodeArray()[i].isLeafNode()) - { - int orgIndex = bvh->getQuantizedNodeArray()[i].getTriangleIndex(); - - b3Vector3 nodeMinVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMin); - b3Vector3 nodeMaxVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMax); - - for (int c = 0; c < 3; c++) - { - if (childLocalAabbs[orgIndex].m_min[c] < nodeMinVec[c]) - { - printf("min org (%f) and new (%f) ? at i:%d,c:%d\n", childLocalAabbs[i].m_min[c], nodeMinVec[c], i, c); - } - if (childLocalAabbs[orgIndex].m_max[c] > nodeMaxVec[c]) - { - printf("max org (%f) and new (%f) ? at i:%d,c:%d\n", childLocalAabbs[i].m_max[c], nodeMaxVec[c], i, c); - } - } - } - } - - m_data->m_bvhInfoCPU.push_back(bvhInfo); - - int numNewSubtrees = bvh->getSubtreeInfoArray().size(); - m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size() + numNewSubtrees); - for (int i = 0; i < numNewSubtrees; i++) - { - m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]); - } - int numNewTreeNodes = bvh->getQuantizedNodeArray().size(); - - for (int i = 0; i < numNewTreeNodes; i++) - { - m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]); - } - - // m_data->m_localShapeAABBGPU->push_back(aabbWS); - clFinish(m_queue); - return collidableIndex; -} - -int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling1) -{ - b3Vector3 scaling = b3MakeVector3(scaling1[0], scaling1[1], scaling1[2]); - - int collidableIndex = allocateCollidable(); - if (collidableIndex < 0) - return collidableIndex; - - b3Collidable& col = getCollidableCpu(collidableIndex); - - col.m_shapeType = SHAPE_CONCAVE_TRIMESH; - col.m_shapeIndex = registerConcaveMeshShape(vertices, indices, col, scaling); - col.m_bvhIndex = m_data->m_bvhInfoCPU.size(); - - b3SapAabb aabb; - b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f); - b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f); - - for (int i = 0; i < vertices->size(); i++) - { - b3Vector3 vtx(vertices->at(i) * scaling); - myAabbMin.setMin(vtx); - myAabbMax.setMax(vtx); - } - aabb.m_min[0] = myAabbMin[0]; - aabb.m_min[1] = myAabbMin[1]; - aabb.m_min[2] = myAabbMin[2]; - aabb.m_minIndices[3] = 0; - - aabb.m_max[0] = myAabbMax[0]; - aabb.m_max[1] = myAabbMax[1]; - aabb.m_max[2] = myAabbMax[2]; - aabb.m_signedMaxIndices[3] = 0; - - m_data->m_localShapeAABBCPU->push_back(aabb); - // m_data->m_localShapeAABBGPU->push_back(aabb); - - b3OptimizedBvh* bvh = new b3OptimizedBvh(); - //void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax) - - bool useQuantizedAabbCompression = true; - b3TriangleIndexVertexArray* meshInterface = new b3TriangleIndexVertexArray(); - m_data->m_meshInterfaces.push_back(meshInterface); - b3IndexedMesh mesh; - mesh.m_numTriangles = indices->size() / 3; - mesh.m_numVertices = vertices->size(); - mesh.m_vertexBase = (const unsigned char*)&vertices->at(0).x; - mesh.m_vertexStride = sizeof(b3Vector3); - mesh.m_triangleIndexStride = 3 * sizeof(int); // or sizeof(int) - mesh.m_triangleIndexBase = (const unsigned char*)&indices->at(0); - - meshInterface->addIndexedMesh(mesh); - bvh->build(meshInterface, useQuantizedAabbCompression, (b3Vector3&)aabb.m_min, (b3Vector3&)aabb.m_max); - m_data->m_bvhData.push_back(bvh); - int numNodes = bvh->getQuantizedNodeArray().size(); - //b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue,numNodes); - int numSubTrees = bvh->getSubtreeInfoArray().size(); - - b3BvhInfo bvhInfo; - - bvhInfo.m_aabbMin = bvh->m_bvhAabbMin; - bvhInfo.m_aabbMax = bvh->m_bvhAabbMax; - bvhInfo.m_quantization = bvh->m_bvhQuantization; - bvhInfo.m_numNodes = numNodes; - bvhInfo.m_numSubTrees = numSubTrees; - bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size(); - bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size(); - - m_data->m_bvhInfoCPU.push_back(bvhInfo); - - int numNewSubtrees = bvh->getSubtreeInfoArray().size(); - m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size() + numNewSubtrees); - for (int i = 0; i < numNewSubtrees; i++) - { - m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]); - } - int numNewTreeNodes = bvh->getQuantizedNodeArray().size(); - - for (int i = 0; i < numNewTreeNodes; i++) - { - m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]); - } - - return collidableIndex; -} - -int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling1) -{ - b3Vector3 scaling = b3MakeVector3(scaling1[0], scaling1[1], scaling1[2]); - - m_data->m_convexData->resize(m_data->m_numAcceleratedShapes + 1); - m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1); - - b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1); - convex.mC = b3MakeVector3(0, 0, 0); - convex.mE = b3MakeVector3(0, 0, 0); - convex.m_extents = b3MakeVector3(0, 0, 0); - convex.m_localCenter = b3MakeVector3(0, 0, 0); - convex.m_radius = 0.f; - - convex.m_numUniqueEdges = 0; - int edgeOffset = m_data->m_uniqueEdges.size(); - convex.m_uniqueEdgesOffset = edgeOffset; - - int faceOffset = m_data->m_convexFaces.size(); - convex.m_faceOffset = faceOffset; - - convex.m_numFaces = indices->size() / 3; - m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces); - m_data->m_convexIndices.reserve(convex.m_numFaces * 3); - for (int i = 0; i < convex.m_numFaces; i++) - { - if (i % 256 == 0) - { - //printf("i=%d out of %d", i,convex.m_numFaces); - } - b3Vector3 vert0(vertices->at(indices->at(i * 3)) * scaling); - b3Vector3 vert1(vertices->at(indices->at(i * 3 + 1)) * scaling); - b3Vector3 vert2(vertices->at(indices->at(i * 3 + 2)) * scaling); - - b3Vector3 normal = ((vert1 - vert0).cross(vert2 - vert0)).normalize(); - b3Scalar c = -(normal.dot(vert0)); - - m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector4(normal.x, normal.y, normal.z, c); - int indexOffset = m_data->m_convexIndices.size(); - int numIndices = 3; - m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices; - m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset; - m_data->m_convexIndices.resize(indexOffset + numIndices); - for (int p = 0; p < numIndices; p++) - { - int vi = indices->at(i * 3 + p); - m_data->m_convexIndices[indexOffset + p] = vi; //convexPtr->m_faces[i].m_indices[p]; - } - } - - convex.m_numVertices = vertices->size(); - int vertexOffset = m_data->m_convexVertices.size(); - convex.m_vertexOffset = vertexOffset; - m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices); - for (int i = 0; i < vertices->size(); i++) - { - m_data->m_convexVertices[vertexOffset + i] = vertices->at(i) * scaling; - } - - (*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0; - - return m_data->m_numAcceleratedShapes++; -} - -cl_mem b3GpuNarrowPhase::getBodiesGpu() -{ - return (cl_mem)m_data->m_bodyBufferGPU->getBufferCL(); -} - -const struct b3RigidBodyData* b3GpuNarrowPhase::getBodiesCpu() const -{ - return &m_data->m_bodyBufferCPU->at(0); -}; - -int b3GpuNarrowPhase::getNumBodiesGpu() const -{ - return m_data->m_bodyBufferGPU->size(); -} - -cl_mem b3GpuNarrowPhase::getBodyInertiasGpu() -{ - return (cl_mem)m_data->m_inertiaBufferGPU->getBufferCL(); -} - -int b3GpuNarrowPhase::getNumBodyInertiasGpu() const -{ - return m_data->m_inertiaBufferGPU->size(); -} - -b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex) -{ - return m_data->m_collidablesCPU[collidableIndex]; -} - -const b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex) const -{ - return m_data->m_collidablesCPU[collidableIndex]; -} - -cl_mem b3GpuNarrowPhase::getCollidablesGpu() -{ - return m_data->m_collidablesGPU->getBufferCL(); -} - -const struct b3Collidable* b3GpuNarrowPhase::getCollidablesCpu() const -{ - if (m_data->m_collidablesCPU.size()) - return &m_data->m_collidablesCPU[0]; - return 0; -} - -const struct b3SapAabb* b3GpuNarrowPhase::getLocalSpaceAabbsCpu() const -{ - if (m_data->m_localShapeAABBCPU->size()) - { - return &m_data->m_localShapeAABBCPU->at(0); - } - return 0; -} - -cl_mem b3GpuNarrowPhase::getAabbLocalSpaceBufferGpu() -{ - return m_data->m_localShapeAABBGPU->getBufferCL(); -} -int b3GpuNarrowPhase::getNumCollidablesGpu() const -{ - return m_data->m_collidablesGPU->size(); -} - -int b3GpuNarrowPhase::getNumContactsGpu() const -{ - return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size(); -} -cl_mem b3GpuNarrowPhase::getContactsGpu() -{ - return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->getBufferCL(); -} - -const b3Contact4* b3GpuNarrowPhase::getContactsCPU() const -{ - m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->copyToHost(*m_data->m_pBufContactOutCPU); - return &m_data->m_pBufContactOutCPU->at(0); -} - -void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects) -{ - cl_mem aabbsLocalSpace = m_data->m_localShapeAABBGPU->getBufferCL(); - - int nContactOut = 0; - - //swap buffer - m_data->m_currentContactBuffer = 1 - m_data->m_currentContactBuffer; - - //int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size(); - - int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity; - int numTriConvexPairsOut = 0; - - b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context, m_queue); - broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs, numBroadphasePairs); - - b3OpenCLArray<b3Aabb> clAabbArrayWorldSpace(this->m_context, this->m_queue); - clAabbArrayWorldSpace.setFromOpenCLBuffer(aabbsWorldSpace, numObjects); - - b3OpenCLArray<b3Aabb> clAabbArrayLocalSpace(this->m_context, this->m_queue); - clAabbArrayLocalSpace.setFromOpenCLBuffer(aabbsLocalSpace, numObjects); - - m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT( - &broadphasePairsGPU, numBroadphasePairs, - m_data->m_bodyBufferGPU, - m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer], - nContactOut, - m_data->m_pBufContactBuffersGPU[1 - m_data->m_currentContactBuffer], - m_data->m_config.m_maxContactCapacity, - m_data->m_config.m_compoundPairCapacity, - *m_data->m_convexPolyhedraGPU, - *m_data->m_convexVerticesGPU, - *m_data->m_uniqueEdgesGPU, - *m_data->m_convexFacesGPU, - *m_data->m_convexIndicesGPU, - *m_data->m_collidablesGPU, - *m_data->m_gpuChildShapes, - clAabbArrayWorldSpace, - clAabbArrayLocalSpace, - *m_data->m_worldVertsB1GPU, - *m_data->m_clippingFacesOutGPU, - *m_data->m_worldNormalsAGPU, - *m_data->m_worldVertsA1GPU, - *m_data->m_worldVertsB2GPU, - m_data->m_bvhData, - m_data->m_treeNodesGPU, - m_data->m_subTreesGPU, - m_data->m_bvhInfoGPU, - numObjects, - maxTriConvexPairCapacity, - *m_data->m_triangleConvexPairs, - numTriConvexPairsOut); - - /*b3AlignedObjectArray<b3Int4> broadphasePairsCPU; - broadphasePairsGPU.copyToHost(broadphasePairsCPU); - printf("checking pairs\n"); - */ -} - -const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const -{ - return m_data->m_localShapeAABBCPU->at(collidableIndex); -} - -int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMinPtr, const float* aabbMaxPtr, bool writeToGpu) -{ - b3Vector3 aabbMin = b3MakeVector3(aabbMinPtr[0], aabbMinPtr[1], aabbMinPtr[2]); - b3Vector3 aabbMax = b3MakeVector3(aabbMaxPtr[0], aabbMaxPtr[1], aabbMaxPtr[2]); - - if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies)) - { - b3Error("registerRigidBody: exceeding the number of rigid bodies, %d > %d \n", m_data->m_numAcceleratedRigidBodies, m_data->m_config.m_maxConvexBodies); - return -1; - } - - m_data->m_bodyBufferCPU->resize(m_data->m_numAcceleratedRigidBodies + 1); - - b3RigidBodyData& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies); - - float friction = 1.f; - float restitution = 0.f; - - body.m_frictionCoeff = friction; - body.m_restituitionCoeff = restitution; - body.m_angVel = b3MakeVector3(0, 0, 0); - body.m_linVel = b3MakeVector3(0, 0, 0); //.setZero(); - body.m_pos = b3MakeVector3(position[0], position[1], position[2]); - body.m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]); - body.m_collidableIdx = collidableIndex; - if (collidableIndex >= 0) - { - // body.m_shapeType = m_data->m_collidablesCPU.at(collidableIndex).m_shapeType; - } - else - { - // body.m_shapeType = CollisionShape::SHAPE_PLANE; - m_planeBodyIndex = m_data->m_numAcceleratedRigidBodies; - } - //body.m_shapeType = shapeType; - - body.m_invMass = mass ? 1.f / mass : 0.f; - - if (writeToGpu) - { - m_data->m_bodyBufferGPU->copyFromHostPointer(&body, 1, m_data->m_numAcceleratedRigidBodies); - } - - b3InertiaData& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies); - - if (mass == 0.f) - { - if (m_data->m_numAcceleratedRigidBodies == 0) - m_static0Index = 0; - - shapeInfo.m_initInvInertia.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0); - shapeInfo.m_invInertiaWorld.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0); - } - else - { - b3Assert(body.m_collidableIdx >= 0); - - //approximate using the aabb of the shape - - //Aabb aabb = (*m_data->m_shapePointers)[shapeIndex]->m_aabb; - b3Vector3 halfExtents = (aabbMax - aabbMin); //*0.5f;//fake larger inertia makes demos more stable ;-) - - b3Vector3 localInertia; - - float lx = 2.f * halfExtents[0]; - float ly = 2.f * halfExtents[1]; - float lz = 2.f * halfExtents[2]; - - localInertia.setValue((mass / 12.0f) * (ly * ly + lz * lz), - (mass / 12.0f) * (lx * lx + lz * lz), - (mass / 12.0f) * (lx * lx + ly * ly)); - - b3Vector3 invLocalInertia; - invLocalInertia[0] = 1.f / localInertia[0]; - invLocalInertia[1] = 1.f / localInertia[1]; - invLocalInertia[2] = 1.f / localInertia[2]; - invLocalInertia[3] = 0.f; - - shapeInfo.m_initInvInertia.setValue( - invLocalInertia[0], 0, 0, - 0, invLocalInertia[1], 0, - 0, 0, invLocalInertia[2]); - - b3Matrix3x3 m(body.m_quat); - - shapeInfo.m_invInertiaWorld = m.scaled(invLocalInertia) * m.transpose(); - } - - if (writeToGpu) - m_data->m_inertiaBufferGPU->copyFromHostPointer(&shapeInfo, 1, m_data->m_numAcceleratedRigidBodies); - - return m_data->m_numAcceleratedRigidBodies++; -} - -int b3GpuNarrowPhase::getNumRigidBodies() const -{ - return m_data->m_numAcceleratedRigidBodies; -} - -void b3GpuNarrowPhase::writeAllBodiesToGpu() -{ - if (m_data->m_localShapeAABBCPU->size()) - { - m_data->m_localShapeAABBGPU->copyFromHost(*m_data->m_localShapeAABBCPU); - } - - m_data->m_gpuChildShapes->copyFromHost(m_data->m_cpuChildShapes); - m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces); - m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra); - m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges); - m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices); - m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices); - m_data->m_bvhInfoGPU->copyFromHost(m_data->m_bvhInfoCPU); - m_data->m_treeNodesGPU->copyFromHost(m_data->m_treeNodesCPU); - m_data->m_subTreesGPU->copyFromHost(m_data->m_subTreesCPU); - - m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies); - m_data->m_inertiaBufferGPU->resize(m_data->m_numAcceleratedRigidBodies); - - if (m_data->m_numAcceleratedRigidBodies) - { - m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies); - m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies); - } - if (m_data->m_collidablesCPU.size()) - { - m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU); - } -} - -void b3GpuNarrowPhase::reset() -{ - m_data->m_numAcceleratedShapes = 0; - m_data->m_numAcceleratedRigidBodies = 0; - this->m_static0Index = -1; - m_data->m_uniqueEdges.resize(0); - m_data->m_convexVertices.resize(0); - m_data->m_convexPolyhedra.resize(0); - m_data->m_convexIndices.resize(0); - m_data->m_cpuChildShapes.resize(0); - m_data->m_convexFaces.resize(0); - m_data->m_collidablesCPU.resize(0); - m_data->m_localShapeAABBCPU->resize(0); - m_data->m_bvhData.resize(0); - m_data->m_treeNodesCPU.resize(0); - m_data->m_subTreesCPU.resize(0); - m_data->m_bvhInfoCPU.resize(0); -} - -void b3GpuNarrowPhase::readbackAllBodiesToCpu() -{ - m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies); -} - -void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation, int bodyIndex) -{ - if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size()) - { - m_data->m_bodyBufferCPU->at(bodyIndex).m_pos = b3MakeVector3(position[0], position[1], position[2]); - m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]); - } - else - { - b3Warning("setObjectVelocityCpu out of range.\n"); - } -} -void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex) -{ - if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size()) - { - m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel = b3MakeVector3(linVel[0], linVel[1], linVel[2]); - m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel = b3MakeVector3(angVel[0], angVel[1], angVel[2]); - } - else - { - b3Warning("setObjectVelocityCpu out of range.\n"); - } -} - -bool b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const -{ - if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size()) - { - position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x; - position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y; - position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z; - position[3] = 1.f; //or 1 - - orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x; - orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y; - orientation[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.z; - orientation[3] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.w; - return true; - } - - b3Warning("getObjectTransformFromCpu out of range.\n"); - return false; -} |