diff options
Diffstat (limited to 'thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision')
24 files changed, 0 insertions, 4738 deletions
diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Config.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Config.h deleted file mode 100644 index 65d4a21613..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Config.h +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef B3_CONFIG_H -#define B3_CONFIG_H - -struct b3Config -{ - int m_maxConvexBodies; - int m_maxConvexShapes; - int m_maxBroadphasePairs; - int m_maxContactCapacity; - int m_compoundPairCapacity; - - int m_maxVerticesPerFace; - int m_maxFacesPerShape; - int m_maxConvexVertices; - int m_maxConvexIndices; - int m_maxConvexUniqueEdges; - - int m_maxCompoundChildShapes; - - int m_maxTriConvexPairCapacity; - - b3Config() - :m_maxConvexBodies(128*1024), - m_maxVerticesPerFace(64), - m_maxFacesPerShape(12), - m_maxConvexVertices(8192), - m_maxConvexIndices(81920), - m_maxConvexUniqueEdges(8192), - m_maxCompoundChildShapes(8192), - m_maxTriConvexPairCapacity(256*1024) - { - m_maxConvexShapes = m_maxConvexBodies; - m_maxBroadphasePairs = 16*m_maxConvexBodies; - m_maxContactCapacity = m_maxBroadphasePairs; - m_compoundPairCapacity = 1024*1024; - } -}; - - -#endif//B3_CONFIG_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h deleted file mode 100644 index fb25165673..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h +++ /dev/null @@ -1,46 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_CONTACT4_H -#define B3_CONTACT4_H - -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" - -B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data -{ - B3_DECLARE_ALIGNED_ALLOCATOR(); - - int getBodyA()const {return abs(m_bodyAPtrAndSignBit);} - int getBodyB()const {return abs(m_bodyBPtrAndSignBit);} - bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;} - bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;} - // todo. make it safer - int& getBatchIdx() { return m_batchIdx; } - const int& getBatchIdx() const { return m_batchIdx; } - float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); } - void setRestituitionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); } - float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); } - void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); } - - //float& getNPoints() { return m_worldNormal[3]; } - int getNPoints() const { return (int) m_worldNormalOnB.w; } - - float getPenetration(int idx) const { return m_worldPosB[idx].w; } - - bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); } -}; - -#endif //B3_CONTACT4_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp deleted file mode 100644 index 55706fa631..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp +++ /dev/null @@ -1,520 +0,0 @@ -/* -Copyright (c) 2012 Advanced Micro Devices, Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Originally written by Erwin Coumans - - -#include "b3ConvexUtility.h" -#include "Bullet3Geometry/b3ConvexHullComputer.h" -#include "Bullet3Geometry/b3GrahamScan2dConvexHull.h" -#include "Bullet3Common/b3Quaternion.h" -#include "Bullet3Common/b3HashMap.h" - - - - - -b3ConvexUtility::~b3ConvexUtility() -{ -} - -bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles) -{ - - - - b3ConvexHullComputer conv; - conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3),numPoints,0.f,0.f); - - b3AlignedObjectArray<b3Vector3> faceNormals; - int numFaces = conv.faces.size(); - faceNormals.resize(numFaces); - b3ConvexHullComputer* convexUtil = &conv; - - - b3AlignedObjectArray<b3MyFace> tmpFaces; - tmpFaces.resize(numFaces); - - int numVertices = convexUtil->vertices.size(); - m_vertices.resize(numVertices); - for (int p=0;p<numVertices;p++) - { - m_vertices[p] = convexUtil->vertices[p]; - } - - - for (int i=0;i<numFaces;i++) - { - int face = convexUtil->faces[i]; - //printf("face=%d\n",face); - const b3ConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face]; - const b3ConvexHullComputer::Edge* edge = firstEdge; - - b3Vector3 edges[3]; - int numEdges = 0; - //compute face normals - - do - { - - int src = edge->getSourceVertex(); - tmpFaces[i].m_indices.push_back(src); - int targ = edge->getTargetVertex(); - b3Vector3 wa = convexUtil->vertices[src]; - - b3Vector3 wb = convexUtil->vertices[targ]; - b3Vector3 newEdge = wb-wa; - newEdge.normalize(); - if (numEdges<2) - edges[numEdges++] = newEdge; - - edge = edge->getNextEdgeOfFace(); - } while (edge!=firstEdge); - - b3Scalar planeEq = 1e30f; - - - if (numEdges==2) - { - faceNormals[i] = edges[0].cross(edges[1]); - faceNormals[i].normalize(); - tmpFaces[i].m_plane[0] = faceNormals[i].getX(); - tmpFaces[i].m_plane[1] = faceNormals[i].getY(); - tmpFaces[i].m_plane[2] = faceNormals[i].getZ(); - tmpFaces[i].m_plane[3] = planeEq; - - } - else - { - b3Assert(0);//degenerate? - faceNormals[i].setZero(); - } - - for (int v=0;v<tmpFaces[i].m_indices.size();v++) - { - b3Scalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]); - if (planeEq>eq) - { - planeEq=eq; - } - } - tmpFaces[i].m_plane[3] = -planeEq; - } - - //merge coplanar faces and copy them to m_polyhedron - - b3Scalar faceWeldThreshold= 0.999f; - b3AlignedObjectArray<int> todoFaces; - for (int i=0;i<tmpFaces.size();i++) - todoFaces.push_back(i); - - while (todoFaces.size()) - { - b3AlignedObjectArray<int> coplanarFaceGroup; - int refFace = todoFaces[todoFaces.size()-1]; - - coplanarFaceGroup.push_back(refFace); - b3MyFace& faceA = tmpFaces[refFace]; - todoFaces.pop_back(); - - b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]); - for (int j=todoFaces.size()-1;j>=0;j--) - { - int i = todoFaces[j]; - b3MyFace& faceB = tmpFaces[i]; - b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]); - if (faceNormalA.dot(faceNormalB)>faceWeldThreshold) - { - coplanarFaceGroup.push_back(i); - todoFaces.remove(i); - } - } - - - bool did_merge = false; - if (coplanarFaceGroup.size()>1) - { - //do the merge: use Graham Scan 2d convex hull - - b3AlignedObjectArray<b3GrahamVector3> orgpoints; - b3Vector3 averageFaceNormal = b3MakeVector3(0,0,0); - - for (int i=0;i<coplanarFaceGroup.size();i++) - { -// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]); - - b3MyFace& face = tmpFaces[coplanarFaceGroup[i]]; - b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0],face.m_plane[1],face.m_plane[2]); - averageFaceNormal+=faceNormal; - for (int f=0;f<face.m_indices.size();f++) - { - int orgIndex = face.m_indices[f]; - b3Vector3 pt = m_vertices[orgIndex]; - - bool found = false; - - for (int i=0;i<orgpoints.size();i++) - { - //if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001)) - if (orgpoints[i].m_orgIndex == orgIndex) - { - found=true; - break; - } - } - if (!found) - orgpoints.push_back(b3GrahamVector3(pt,orgIndex)); - } - } - - - - b3MyFace combinedFace; - for (int i=0;i<4;i++) - combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i]; - - b3AlignedObjectArray<b3GrahamVector3> hull; - - averageFaceNormal.normalize(); - b3GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal); - - for (int i=0;i<hull.size();i++) - { - combinedFace.m_indices.push_back(hull[i].m_orgIndex); - for(int k = 0; k < orgpoints.size(); k++) - { - if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) - { - orgpoints[k].m_orgIndex = -1; // invalidate... - break; - } - } - } - - // are there rejected vertices? - bool reject_merge = false; - - - - for(int i = 0; i < orgpoints.size(); i++) { - if(orgpoints[i].m_orgIndex == -1) - continue; // this is in the hull... - // this vertex is rejected -- is anybody else using this vertex? - for(int j = 0; j < tmpFaces.size(); j++) { - - b3MyFace& face = tmpFaces[j]; - // is this a face of the current coplanar group? - bool is_in_current_group = false; - for(int k = 0; k < coplanarFaceGroup.size(); k++) { - if(coplanarFaceGroup[k] == j) { - is_in_current_group = true; - break; - } - } - if(is_in_current_group) // ignore this face... - continue; - // does this face use this rejected vertex? - for(int v = 0; v < face.m_indices.size(); v++) { - if(face.m_indices[v] == orgpoints[i].m_orgIndex) { - // this rejected vertex is used in another face -- reject merge - reject_merge = true; - break; - } - } - if(reject_merge) - break; - } - if(reject_merge) - break; - } - - if (!reject_merge) - { - // do this merge! - did_merge = true; - m_faces.push_back(combinedFace); - } - } - if(!did_merge) - { - for (int i=0;i<coplanarFaceGroup.size();i++) - { - b3MyFace face = tmpFaces[coplanarFaceGroup[i]]; - m_faces.push_back(face); - } - - } - - - - } - - initialize(); - - return true; -} - - - - - - -inline bool IsAlmostZero(const b3Vector3& v) -{ - if(fabsf(v.getX())>1e-6 || fabsf(v.getY())>1e-6 || fabsf(v.getZ())>1e-6) return false; - return true; -} - -struct b3InternalVertexPair -{ - b3InternalVertexPair(short int v0,short int v1) - :m_v0(v0), - m_v1(v1) - { - if (m_v1>m_v0) - b3Swap(m_v0,m_v1); - } - short int m_v0; - short int m_v1; - int getHash() const - { - return m_v0+(m_v1<<16); - } - bool equals(const b3InternalVertexPair& other) const - { - return m_v0==other.m_v0 && m_v1==other.m_v1; - } -}; - -struct b3InternalEdge -{ - b3InternalEdge() - :m_face0(-1), - m_face1(-1) - { - } - short int m_face0; - short int m_face1; -}; - -// - -#ifdef TEST_INTERNAL_OBJECTS -bool b3ConvexUtility::testContainment() const -{ - for(int p=0;p<8;p++) - { - b3Vector3 LocalPt; - if(p==0) LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]); - else if(p==1) LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]); - else if(p==2) LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]); - else if(p==3) LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]); - else if(p==4) LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]); - else if(p==5) LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]); - else if(p==6) LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]); - else if(p==7) LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]); - - for(int i=0;i<m_faces.size();i++) - { - const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]); - const b3Scalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3]; - if(d>0.0f) - return false; - } - } - return true; -} -#endif - -void b3ConvexUtility::initialize() -{ - - b3HashMap<b3InternalVertexPair,b3InternalEdge> edges; - - b3Scalar TotalArea = 0.0f; - - m_localCenter.setValue(0, 0, 0); - for(int i=0;i<m_faces.size();i++) - { - int numVertices = m_faces[i].m_indices.size(); - int NbTris = numVertices; - for(int j=0;j<NbTris;j++) - { - int k = (j+1)%numVertices; - b3InternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]); - b3InternalEdge* edptr = edges.find(vp); - b3Vector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0]; - edge.normalize(); - - bool found = false; - b3Vector3 diff,diff2; - - for (int p=0;p<m_uniqueEdges.size();p++) - { - diff = m_uniqueEdges[p]-edge; - diff2 = m_uniqueEdges[p]+edge; - - // if ((diff.length2()==0.f) || - // (diff2.length2()==0.f)) - - if (IsAlmostZero(diff) || - IsAlmostZero(diff2)) - { - found = true; - break; - } - } - - if (!found) - { - m_uniqueEdges.push_back(edge); - } - - if (edptr) - { - //TBD: figure out why I added this assert -// b3Assert(edptr->m_face0>=0); - // b3Assert(edptr->m_face1<0); - edptr->m_face1 = i; - } else - { - b3InternalEdge ed; - ed.m_face0 = i; - edges.insert(vp,ed); - } - } - } - -#ifdef USE_CONNECTED_FACES - for(int i=0;i<m_faces.size();i++) - { - int numVertices = m_faces[i].m_indices.size(); - m_faces[i].m_connectedFaces.resize(numVertices); - - for(int j=0;j<numVertices;j++) - { - int k = (j+1)%numVertices; - b3InternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]); - b3InternalEdge* edptr = edges.find(vp); - b3Assert(edptr); - b3Assert(edptr->m_face0>=0); - b3Assert(edptr->m_face1>=0); - - int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0; - m_faces[i].m_connectedFaces[j] = connectedFace; - } - } -#endif//USE_CONNECTED_FACES - - for(int i=0;i<m_faces.size();i++) - { - int numVertices = m_faces[i].m_indices.size(); - int NbTris = numVertices-2; - - const b3Vector3& p0 = m_vertices[m_faces[i].m_indices[0]]; - for(int j=1;j<=NbTris;j++) - { - int k = (j+1)%numVertices; - const b3Vector3& p1 = m_vertices[m_faces[i].m_indices[j]]; - const b3Vector3& p2 = m_vertices[m_faces[i].m_indices[k]]; - b3Scalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f; - b3Vector3 Center = (p0+p1+p2)/3.0f; - m_localCenter += Area * Center; - TotalArea += Area; - } - } - m_localCenter /= TotalArea; - - - - -#ifdef TEST_INTERNAL_OBJECTS - if(1) - { - m_radius = FLT_MAX; - for(int i=0;i<m_faces.size();i++) - { - const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]); - const b3Scalar dist = b3Fabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]); - if(dist<m_radius) - m_radius = dist; - } - - - b3Scalar MinX = FLT_MAX; - b3Scalar MinY = FLT_MAX; - b3Scalar MinZ = FLT_MAX; - b3Scalar MaxX = -FLT_MAX; - b3Scalar MaxY = -FLT_MAX; - b3Scalar MaxZ = -FLT_MAX; - for(int i=0; i<m_vertices.size(); i++) - { - const b3Vector3& pt = m_vertices[i]; - if(pt.getX()<MinX) MinX = pt.getX(); - if(pt.getX()>MaxX) MaxX = pt.getX(); - if(pt.getY()<MinY) MinY = pt.getY(); - if(pt.getY()>MaxY) MaxY = pt.getY(); - if(pt.getZ()<MinZ) MinZ = pt.getZ(); - if(pt.getZ()>MaxZ) MaxZ = pt.getZ(); - } - mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ); - mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ); - - - -// const b3Scalar r = m_radius / sqrtf(2.0f); - const b3Scalar r = m_radius / sqrtf(3.0f); - const int LargestExtent = mE.maxAxis(); - const b3Scalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f; - m_extents[0] = m_extents[1] = m_extents[2] = r; - m_extents[LargestExtent] = mE[LargestExtent]*0.5f; - bool FoundBox = false; - for(int j=0;j<1024;j++) - { - if(testContainment()) - { - FoundBox = true; - break; - } - - m_extents[LargestExtent] -= Step; - } - if(!FoundBox) - { - m_extents[0] = m_extents[1] = m_extents[2] = r; - } - else - { - // Refine the box - const b3Scalar Step = (m_radius - r)/1024.0f; - const int e0 = (1<<LargestExtent) & 3; - const int e1 = (1<<e0) & 3; - - for(int j=0;j<1024;j++) - { - const b3Scalar Saved0 = m_extents[e0]; - const b3Scalar Saved1 = m_extents[e1]; - m_extents[e0] += Step; - m_extents[e1] += Step; - - if(!testContainment()) - { - m_extents[e0] = Saved0; - m_extents[e1] = Saved1; - break; - } - } - } - } -#endif -} diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h deleted file mode 100644 index 86c4151f8c..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h +++ /dev/null @@ -1,62 +0,0 @@ - -/* -Copyright (c) 2012 Advanced Micro Devices, Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Originally written by Erwin Coumans - -#ifndef _BT_CONVEX_UTILITY_H -#define _BT_CONVEX_UTILITY_H - -#include "Bullet3Common/b3AlignedObjectArray.h" -#include "Bullet3Common/b3Transform.h" - - - - -struct b3MyFace -{ - b3AlignedObjectArray<int> m_indices; - b3Scalar m_plane[4]; -}; - -B3_ATTRIBUTE_ALIGNED16(class) b3ConvexUtility -{ - public: - B3_DECLARE_ALIGNED_ALLOCATOR(); - - b3Vector3 m_localCenter; - b3Vector3 m_extents; - b3Vector3 mC; - b3Vector3 mE; - b3Scalar m_radius; - - b3AlignedObjectArray<b3Vector3> m_vertices; - b3AlignedObjectArray<b3MyFace> m_faces; - b3AlignedObjectArray<b3Vector3> m_uniqueEdges; - - - b3ConvexUtility() - { - } - virtual ~b3ConvexUtility(); - - bool initializePolyhedralFeatures(const b3Vector3* orgVertices, int numVertices, bool mergeCoplanarTriangles=true); - - void initialize(); - bool testContainment() const; - - - -}; -#endif -
\ No newline at end of file diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp deleted file mode 100644 index c3134b2c65..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp +++ /dev/null @@ -1,323 +0,0 @@ -#include "b3CpuNarrowPhase.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h" - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h" - - -struct b3CpuNarrowPhaseInternalData -{ - b3AlignedObjectArray<b3Aabb> m_localShapeAABBCPU; - b3AlignedObjectArray<b3Collidable> m_collidablesCPU; - b3AlignedObjectArray<b3ConvexUtility*> m_convexData; - b3Config m_config; - - - b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra; - b3AlignedObjectArray<b3Vector3> m_uniqueEdges; - b3AlignedObjectArray<b3Vector3> m_convexVertices; - b3AlignedObjectArray<int> m_convexIndices; - b3AlignedObjectArray<b3GpuFace> m_convexFaces; - - b3AlignedObjectArray<b3Contact4Data> m_contacts; - - int m_numAcceleratedShapes; -}; - - -const b3AlignedObjectArray<b3Contact4Data>& b3CpuNarrowPhase::getContacts() const -{ - return m_data->m_contacts; -} - -b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex) -{ - return m_data->m_collidablesCPU[collidableIndex]; -} - -const b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex) const -{ - return m_data->m_collidablesCPU[collidableIndex]; -} - - -b3CpuNarrowPhase::b3CpuNarrowPhase(const struct b3Config& config) -{ - m_data = new b3CpuNarrowPhaseInternalData; - m_data->m_config = config; - m_data->m_numAcceleratedShapes = 0; -} - -b3CpuNarrowPhase::~b3CpuNarrowPhase() -{ - delete m_data; -} - -void b3CpuNarrowPhase::computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies) -{ - int nPairs = pairs.size(); - int numContacts = 0; - int maxContactCapacity = m_data->m_config.m_maxContactCapacity; - m_data->m_contacts.resize(maxContactCapacity); - - for (int i=0;i<nPairs;i++) - { - int bodyIndexA = pairs[i].x; - int bodyIndexB = pairs[i].y; - int collidableIndexA = bodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = bodies[bodyIndexB].m_collidableIdx; - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_SPHERE && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL) - { -// computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); - } - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_SPHERE) - { -// computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); - //printf("convex-sphere\n"); - - } - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE) - { -// computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); -// printf("convex-plane\n"); - - } - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL) - { -// computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); -// printf("plane-convex\n"); - - } - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) - { -// computeContactCompoundCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], hostAabbsWorldSpace,hostAabbsLocalSpace,hostVertices,hostUniqueEdges,hostIndices,hostFaces,&hostContacts[0], -// nContacts,maxContactCapacity,treeNodesCPU,subTreesCPU,bvhInfoCPU); -// printf("convex-plane\n"); - - } - - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE) - { -// computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); -// printf("convex-plane\n"); - - } - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) - { -// computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0], -// &m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity); -// printf("plane-convex\n"); - - } - - if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL && - m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL) - { - //printf("pairs[i].z=%d\n",pairs[i].z); - //int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies, - // m_data->m_collidablesCPU,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts); - int contactIndex = b3ContactConvexConvexSAT(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies, - m_data->m_collidablesCPU,m_data->m_convexPolyhedra,m_data->m_convexVertices,m_data->m_uniqueEdges,m_data->m_convexIndices,m_data->m_convexFaces,m_data->m_contacts,numContacts,maxContactCapacity); - - - if (contactIndex>=0) - { - pairs[i].z = contactIndex; - } -// printf("plane-convex\n"); - - } - - - } - - m_data->m_contacts.resize(numContacts); -} - -int b3CpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr) -{ - int collidableIndex = allocateCollidable(); - if (collidableIndex<0) - return collidableIndex; - - - b3Collidable& col = m_data->m_collidablesCPU[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) - { - b3Aabb 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); - - } - - return collidableIndex; -} - -int b3CpuNarrowPhase::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 b3CpuNarrowPhase::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 b3CpuNarrowPhase::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++; -} - -const b3Aabb& b3CpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const -{ - return m_data->m_localShapeAABBCPU[collidableIndex]; -} diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h deleted file mode 100644 index 528be3346d..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h +++ /dev/null @@ -1,105 +0,0 @@ -#ifndef B3_CPU_NARROWPHASE_H -#define B3_CPU_NARROWPHASE_H - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Common/b3AlignedObjectArray.h" -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Common/shared/b3Int4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" - -class b3CpuNarrowPhase -{ -protected: - - struct b3CpuNarrowPhaseInternalData* m_data; - int m_acceleratedCompanionShapeIndex; - int m_planeBodyIndex; - int m_static0Index; - - int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr,b3Collidable& col); - int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling); - -public: - - - - - b3CpuNarrowPhase(const struct b3Config& config); - - virtual ~b3CpuNarrowPhase(void); - - int registerSphereShape(float radius); - int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant); - - int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes); - int registerFace(const b3Vector3& faceNormal, float faceConstant); - - int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling); - - //do they need to be merged? - - int registerConvexHullShape(b3ConvexUtility* utilPtr); - int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling); - - //int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu); - void setObjectTransform(const float* position, const float* orientation , int bodyIndex); - - void writeAllBodiesToGpu(); - void reset(); - void readbackAllBodiesToCpu(); - bool getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const; - - void setObjectTransformCpu(float* position, float* orientation , int bodyIndex); - void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex); - - - //virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects); - virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies); - - - - const struct b3RigidBodyData* getBodiesCpu() const; - //struct b3RigidBodyData* getBodiesCpu(); - - int getNumBodiesGpu() const; - - - int getNumBodyInertiasGpu() const; - - - const struct b3Collidable* getCollidablesCpu() const; - int getNumCollidablesGpu() const; - - - /*const struct b3Contact4* getContactsCPU() const; - - - int getNumContactsGpu() const; - */ - - const b3AlignedObjectArray<b3Contact4Data>& getContacts() const; - - - int getNumRigidBodies() const; - - int allocateCollidable(); - - int getStatic0Index() const - { - return m_static0Index; - } - b3Collidable& getCollidableCpu(int collidableIndex); - const b3Collidable& getCollidableCpu(int collidableIndex) const; - - const b3CpuNarrowPhaseInternalData* getInternalData() const - { - return m_data; - } - - const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const; -}; - -#endif //B3_CPU_NARROWPHASE_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h deleted file mode 100644 index fba8bd07a4..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h +++ /dev/null @@ -1,24 +0,0 @@ - -#ifndef B3_RAYCAST_INFO_H -#define B3_RAYCAST_INFO_H - -#include "Bullet3Common/b3Vector3.h" - -B3_ATTRIBUTE_ALIGNED16(struct) b3RayInfo -{ - b3Vector3 m_from; - b3Vector3 m_to; -}; - -B3_ATTRIBUTE_ALIGNED16(struct) b3RayHit -{ - b3Scalar m_hitFraction; - int m_hitBody; - int m_hitResult1; - int m_hitResult2; - b3Vector3 m_hitPoint; - b3Vector3 m_hitNormal; -}; - -#endif //B3_RAYCAST_INFO_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h deleted file mode 100644 index d58f71802f..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h +++ /dev/null @@ -1,30 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_RIGID_BODY_CL -#define B3_RIGID_BODY_CL - -#include "Bullet3Common/b3Scalar.h" -#include "Bullet3Common/b3Matrix3x3.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" - - -inline float b3GetInvMass(const b3RigidBodyData& body) -{ - return body.m_invMass; -} - - -#endif//B3_RIGID_BODY_CL diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h deleted file mode 100644 index 8788ccbb47..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h +++ /dev/null @@ -1,20 +0,0 @@ - -#ifndef B3_BVH_SUBTREE_INFO_DATA_H -#define B3_BVH_SUBTREE_INFO_DATA_H - -typedef struct b3BvhSubtreeInfoData b3BvhSubtreeInfoData_t; - -struct b3BvhSubtreeInfoData -{ - //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]; -}; - -#endif //B3_BVH_SUBTREE_INFO_DATA_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h deleted file mode 100644 index 2618da24bc..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h +++ /dev/null @@ -1,126 +0,0 @@ - - -#include "Bullet3Common/shared/b3Int4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h" - - - -// work-in-progress -void b3BvhTraversal( __global const b3Int4* pairs, - __global const b3RigidBodyData* rigidBodies, - __global const b3Collidable* collidables, - __global b3Aabb* aabbs, - __global b3Int4* concavePairsOut, - __global volatile int* numConcavePairsOut, - __global const b3BvhSubtreeInfo* subtreeHeadersRoot, - __global const b3QuantizedBvhNode* quantizedNodesRoot, - __global const b3BvhInfo* bvhInfos, - int numPairs, - int maxNumConcavePairsCapacity, - int id) -{ - - int bodyIndexA = pairs[id].x; - int bodyIndexB = pairs[id].y; - int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx; - int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; - - //once the broadphase avoids static-static pairs, we can remove this test - if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0)) - { - return; - } - - if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH) - return; - - int shapeTypeB = collidables[collidableIndexB].m_shapeType; - - if (shapeTypeB!=SHAPE_CONVEX_HULL && - shapeTypeB!=SHAPE_SPHERE && - shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS - ) - return; - - b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes]; - - b3Float4 bvhAabbMin = bvhInfo.m_aabbMin; - b3Float4 bvhAabbMax = bvhInfo.m_aabbMax; - b3Float4 bvhQuantization = bvhInfo.m_quantization; - int numSubtreeHeaders = bvhInfo.m_numSubTrees; - __global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset]; - __global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset]; - - - unsigned short int quantizedQueryAabbMin[3]; - unsigned short int quantizedQueryAabbMax[3]; - b3QuantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_minVec,false,bvhAabbMin, bvhAabbMax,bvhQuantization); - b3QuantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_maxVec,true ,bvhAabbMin, bvhAabbMax,bvhQuantization); - - for (int i=0;i<numSubtreeHeaders;i++) - { - b3BvhSubtreeInfoData subtree = subtreeHeaders[i]; - - int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); - if (overlap != 0) - { - int startNodeIndex = subtree.m_rootNodeIndex; - int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize; - int curIndex = startNodeIndex; - int escapeIndex; - int isLeafNode; - int aabbOverlap; - while (curIndex < endNodeIndex) - { - b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex]; - aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax); - isLeafNode = b3IsLeaf(&rootNode); - if (aabbOverlap) - { - if (isLeafNode) - { - int triangleIndex = b3GetTriangleIndex(&rootNode); - if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS) - { - int numChildrenB = collidables[collidableIndexB].m_numChildShapes; - int pairIdx = b3AtomicAdd (numConcavePairsOut,numChildrenB); - for (int b=0;b<numChildrenB;b++) - { - if ((pairIdx+b)<maxNumConcavePairsCapacity) - { - int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b; - b3Int4 newPair = b3MakeInt4(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB); - concavePairsOut[pairIdx+b] = newPair; - } - } - } else - { - int pairIdx = b3AtomicInc(numConcavePairsOut); - if (pairIdx<maxNumConcavePairsCapacity) - { - b3Int4 newPair = b3MakeInt4(bodyIndexA,bodyIndexB,triangleIndex,0); - concavePairsOut[pairIdx] = newPair; - } - } - } - curIndex++; - } else - { - if (isLeafNode) - { - curIndex++; - } else - { - escapeIndex = b3GetEscapeIndex(&rootNode); - curIndex += escapeIndex; - } - } - } - } - } - -}
\ No newline at end of file diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h deleted file mode 100644 index 8009e7d6e0..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h +++ /dev/null @@ -1,188 +0,0 @@ -#ifndef B3_CLIP_FACES_H -#define B3_CLIP_FACES_H - - -#include "Bullet3Common/shared/b3Int4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" - - -inline b3Float4 b3Lerp3(b3Float4ConstArg a,b3Float4ConstArg b, float t) -{ - return b3MakeFloat4( 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 b3Float4* pVtxIn, int numVertsIn, b3Float4ConstArg planeNormalWS,float planeEqWS, __global b3Float4* ppVtxOut) -{ - - int ve; - float ds, de; - int numVertsOut = 0; - //double-check next test - // if (numVertsIn < 2) - // return 0; - - b3Float4 firstVertex=pVtxIn[numVertsIn-1]; - b3Float4 endVertex = pVtxIn[0]; - - ds = b3Dot(planeNormalWS,firstVertex)+planeEqWS; - - for (ve = 0; ve < numVertsIn; ve++) - { - endVertex=pVtxIn[ve]; - de = b3Dot(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++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - } - } - else - { - if (de<0) - { - // Start >= 0, end < 0 so output intersection and end - ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - ppVtxOut[numVertsOut++] = endVertex; - } - } - firstVertex = endVertex; - ds = de; - } - return numVertsOut; -} - - -__kernel void clipFacesAndFindContactsKernel( __global const b3Float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global b3Int4* clippingFacesOut, - __global b3Float4* worldVertsA1, - __global b3Float4* worldNormalsA1, - __global b3Float4* worldVertsB1, - __global b3Float4* worldVertsB2, - int vertexFaceCapacity, - int pairIndex - ) -{ -// int i = get_global_id(0); - //int pairIndex = i; - int i = pairIndex; - - 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 b3Float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2]; - __global b3Float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2]; - - - { - __global b3Int4* 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 b3Float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0]; - const b3Float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)]; - const b3Float4 WorldEdge0 = aw - bw; - b3Float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex]; - b3Float4 planeNormalWS1 = -b3Cross(WorldEdge0,worldPlaneAnormal1); - b3Float4 worldA1 = aw; - float planeEqWS1 = -b3Dot(worldA1,planeNormalWS1); - b3Float4 planeNormalWS = planeNormalWS1; - float planeEqWS=planeEqWS1; - numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut); - __global b3Float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsInB = numVertsOut; - numVertsOut = 0; - } - - b3Float4 planeNormalWS = worldNormalsA1[pairIndex]; - float planeEqWS=-b3Dot(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]); - - for (int i=0;i<numVertsInB;i++) - { - float depth = b3Dot(planeNormalWS,pVtxIn[i])+planeEqWS; - if (depth <=minDist) - { - depth = minDist; - } -/* - static float maxDepth = 0.f; - if (depth < maxDepth) - { - maxDepth = depth; - if (maxDepth < -10) - { - printf("error at framecount %d?\n",myframecount); - } - printf("maxDepth = %f\n", maxDepth); - - } -*/ - if (depth <=maxDist) - { - b3Float4 pointInWorld = pVtxIn[i]; - pVtxOut[numLocalContactsOut++] = b3MakeFloat4(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) - -} - -#endif //B3_CLIP_FACES_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h deleted file mode 100644 index 77cdc7b7a9..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h +++ /dev/null @@ -1,76 +0,0 @@ - -#ifndef B3_COLLIDABLE_H -#define B3_COLLIDABLE_H - - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Common/shared/b3Quat.h" - -enum b3ShapeTypes -{ - SHAPE_HEIGHT_FIELD=1, - - SHAPE_CONVEX_HULL=3, - SHAPE_PLANE=4, - SHAPE_CONCAVE_TRIMESH=5, - SHAPE_COMPOUND_OF_CONVEX_HULLS=6, - SHAPE_SPHERE=7, - MAX_NUM_SHAPE_TYPES, -}; - -typedef struct b3Collidable b3Collidable_t; - - -struct b3Collidable -{ - union { - int m_numChildShapes; - int m_bvhIndex; - }; - union - { - float m_radius; - int m_compoundBvhIndex; - }; - - int m_shapeType; - union - { - int m_shapeIndex; - float m_height; - }; -}; - -typedef struct b3GpuChildShape b3GpuChildShape_t; -struct b3GpuChildShape -{ - b3Float4 m_childPosition; - b3Quat m_childOrientation; - union - { - int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS - int m_capsuleAxis; - }; - union - { - float m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES - int m_numChildShapes;//used for compound shape - }; - union - { - float m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES - int m_collidableShapeIndex; - }; - int m_shapeType; -}; - -struct b3CompoundOverlappingPair -{ - int m_bodyIndexA; - int m_bodyIndexB; -// int m_pairType; - int m_childShapeIndexA; - int m_childShapeIndexB; -}; - -#endif //B3_COLLIDABLE_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h deleted file mode 100644 index dfd45cc566..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h +++ /dev/null @@ -1,40 +0,0 @@ -#ifndef B3_CONTACT4DATA_H -#define B3_CONTACT4DATA_H - -#include "Bullet3Common/shared/b3Float4.h" - -typedef struct b3Contact4Data b3Contact4Data_t; - -struct b3Contact4Data -{ - b3Float4 m_worldPosB[4]; -// b3Float4 m_localPosA[4]; -// b3Float4 m_localPosB[4]; - b3Float4 m_worldNormalOnB; // w: m_nPoints - unsigned short m_restituitionCoeffCmp; - unsigned short m_frictionCoeffCmp; - int m_batchIdx; - int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr - int m_bodyBPtrAndSignBit; - - int m_childIndexA; - int m_childIndexB; - int m_unused1; - int m_unused2; - - -}; - -inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact) -{ - return (int)contact->m_worldNormalOnB.w; -}; - -inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints) -{ - contact->m_worldNormalOnB.w = (float)numPoints; -}; - - - -#endif //B3_CONTACT4DATA_H
\ No newline at end of file diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h deleted file mode 100644 index f295f01a6c..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h +++ /dev/null @@ -1,520 +0,0 @@ - -#ifndef B3_CONTACT_CONVEX_CONVEX_SAT_H -#define B3_CONTACT_CONVEX_CONVEX_SAT_H - - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h" - -#define B3_MAX_VERTS 1024 - - - -inline b3Float4 b3Lerp3(const b3Float4& a,const b3Float4& b, float t) -{ - return b3MakeVector3( 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 -inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS,float planeEqWS, b3Float4* ppVtxOut) -{ - - int ve; - float ds, de; - int numVertsOut = 0; - if (numVertsIn < 2) - return 0; - - b3Float4 firstVertex=pVtxIn[numVertsIn-1]; - b3Float4 endVertex = pVtxIn[0]; - - ds = b3Dot3F4(planeNormalWS,firstVertex)+planeEqWS; - - for (ve = 0; ve < numVertsIn; ve++) - { - endVertex=pVtxIn[ve]; - - de = b3Dot3F4(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++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - } - } - else - { - if (de<0) - { - // Start >= 0, end < 0 so output intersection and end - ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) ); - ppVtxOut[numVertsOut++] = endVertex; - } - } - firstVertex = endVertex; - ds = de; - } - return numVertsOut; -} - - -inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA, - const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1, - b3Float4* worldVertsB2, int capacityWorldVertsB2, - const float minDist, float maxDist, - const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA, - //const b3Float4* verticesB, const b3GpuFace* facesB, const int* indicesB, - b3Float4* contactsOut, - int contactCapacity) -{ - int numContactsOut = 0; - - b3Float4* pVtxIn = worldVertsB1; - b3Float4* 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 b3Float4 Normal = b3MakeVector3( - 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 b3Float4 faceANormalWS = b3QuatRotate(ornA,Normal); - - float d = b3Dot3F4(faceANormalWS,separatingNormal); - if (d < dmin) - { - dmin = d; - closestFaceA = face; - } - } - } - if (closestFaceA<0) - return numContactsOut; - - b3GpuFace 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 numContacts = numWorldVertsB1; - int numVerticesA = polyA.m_numIndices; - for(int e0=0;e0<numVerticesA;e0++) - { - const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]]; - const b3Float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]]; - const b3Float4 edge0 = a - b; - const b3Float4 WorldEdge0 = b3QuatRotate(ornA,edge0); - b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f); - b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA,planeNormalA); - - b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0,worldPlaneAnormal1); - b3Float4 worldA1 = b3TransformPoint(a,posA,ornA); - float planeEqWS1 = -b3Dot3F4(worldA1,planeNormalWS1); - - b3Float4 planeNormalWS = planeNormalWS1; - float planeEqWS=planeEqWS1; - - //clip face - //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS); - numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut); - - //btSwap(pVtxIn,pVtxOut); - b3Float4* tmp = pVtxOut; - pVtxOut = pVtxIn; - pVtxIn = tmp; - numVertsIn = numVertsOut; - numVertsOut = 0; - } - - - // only keep points that are behind the witness face - { - b3Float4 localPlaneNormal = b3MakeFloat4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f); - float localPlaneEq = polyA.m_plane.w; - b3Float4 planeNormalWS = b3QuatRotate(ornA,localPlaneNormal); - float planeEqWS=localPlaneEq-b3Dot3F4(planeNormalWS,posA); - for (int i=0;i<numVertsIn;i++) - { - float depth = b3Dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS; - if (depth <=minDist) - { - depth = minDist; - } - if (numContactsOut<contactCapacity) - { - if (depth <=maxDist) - { - b3Float4 pointInWorld = pVtxIn[i]; - //resultOut.addContactPoint(separatingNormal,point,depth); - contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth); - //printf("depth=%f\n",depth); - } - } else - { - b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut,contactCapacity); - } - } - } - - return numContactsOut; -} - - - -inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal, - const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3Float4& posA, const b3Quaternion& ornA,const b3Float4& posB, const b3Quaternion& ornB, - b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts, - const float minDist, float maxDist, - const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA, - const b3AlignedObjectArray<b3Float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB, - - b3Float4* contactsOut, - int contactCapacity) -{ - int numContactsOut = 0; - int numWorldVertsB1= 0; - - B3_PROFILE("clipHullAgainstHull"); - - //float curMaxDist=maxDist; - int closestFaceB=-1; - float dmax = -FLT_MAX; - - { - //B3_PROFILE("closestFaceB"); - if (hullB.m_numFaces!=1) - { - //printf("wtf\n"); - } - static bool once = true; - //printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z); - - for(int face=0;face<hullB.m_numFaces;face++) - { -#ifdef BT_DEBUG_SAT_FACE - if (once) - printf("face %d\n",face); - const b3GpuFace* faceB = &facesB[hullB.m_faceOffset+face]; - if (once) - { - for (int i=0;i<faceB->m_numIndices;i++) - { - b3Float4 vert = verticesB[hullB.m_vertexOffset+indicesB[faceB->m_indexOffset+i]]; - printf("vert[%d] = %f,%f,%f\n",i,vert.x,vert.y,vert.z); - } - } -#endif //BT_DEBUG_SAT_FACE - //if (facesB[hullB.m_faceOffset+face].m_numIndices>2) - { - const b3Float4 Normal = b3MakeVector3(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 b3Float4 WorldNormal = b3QuatRotate(ornB, Normal); -#ifdef BT_DEBUG_SAT_FACE - if (once) - printf("faceNormal = %f,%f,%f\n",Normal.x,Normal.y,Normal.z); -#endif - float d = b3Dot3F4(WorldNormal,separatingNormal); - if (d > dmax) - { - dmax = d; - closestFaceB = face; - } - } - } - once = false; - } - - - b3Assert(closestFaceB>=0); - { - //B3_PROFILE("worldVertsB1"); - const b3GpuFace& polyB = facesB[hullB.m_faceOffset+closestFaceB]; - const int numVertices = polyB.m_numIndices; - for(int e0=0;e0<numVertices;e0++) - { - const b3Float4& b = verticesB[hullB.m_vertexOffset+indicesB[polyB.m_indexOffset+e0]]; - worldVertsB1[numWorldVertsB1++] = b3TransformPoint(b,posB,ornB); - } - } - - if (closestFaceB>=0) - { - //B3_PROFILE("clipFaceAgainstHull"); - numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA, - posA,ornA, - worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist, - verticesA, facesA, indicesA, - contactsOut,contactCapacity); - } - - return numContactsOut; -} - - - - -inline int b3ClipHullHullSingle( - int bodyIndexA, int bodyIndexB, - const b3Float4& posA, - const b3Quaternion& ornA, - const b3Float4& posB, - const b3Quaternion& ornB, - - int collidableIndexA, int collidableIndexB, - - const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf, - b3AlignedObjectArray<b3Contact4Data>* globalContactOut, - int& nContacts, - - const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA, - const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB, - - const b3AlignedObjectArray<b3Vector3>& verticesA, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, - const b3AlignedObjectArray<b3GpuFace>& facesA, - const b3AlignedObjectArray<int>& indicesA, - - const b3AlignedObjectArray<b3Vector3>& verticesB, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB, - const b3AlignedObjectArray<b3GpuFace>& facesB, - const b3AlignedObjectArray<int>& indicesB, - - const b3AlignedObjectArray<b3Collidable>& hostCollidablesA, - const b3AlignedObjectArray<b3Collidable>& hostCollidablesB, - const b3Vector3& sepNormalWorldSpace, - int maxContactCapacity ) -{ - int contactIndex = -1; - b3ConvexPolyhedronData hullA, hullB; - - b3Collidable colA = hostCollidablesA[collidableIndexA]; - hullA = hostConvexDataA[colA.m_shapeIndex]; - //printf("numvertsA = %d\n",hullA.m_numVertices); - - - b3Collidable colB = hostCollidablesB[collidableIndexB]; - hullB = hostConvexDataB[colB.m_shapeIndex]; - //printf("numvertsB = %d\n",hullB.m_numVertices); - - - b3Float4 contactsOut[B3_MAX_VERTS]; - int localContactCapacity = B3_MAX_VERTS; - -#ifdef _WIN32 - b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x)); - b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x)); -#endif - - - { - - b3Float4 worldVertsB1[B3_MAX_VERTS]; - b3Float4 worldVertsB2[B3_MAX_VERTS]; - int capacityWorldVerts = B3_MAX_VERTS; - - b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z,0.f); - int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex; - int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex; - - b3Scalar minDist = -1; - b3Scalar maxDist = 0.; - - - - b3Transform trA,trB; - { - //B3_PROFILE("b3TransformPoint computation"); - //trA.setIdentity(); - trA.setOrigin(b3MakeVector3(posA.x,posA.y,posA.z)); - trA.setRotation(b3Quaternion(ornA.x,ornA.y,ornA.z,ornA.w)); - - //trB.setIdentity(); - trB.setOrigin(b3MakeVector3(posB.x,posB.y,posB.z)); - trB.setRotation(b3Quaternion(ornB.x,ornB.y,ornB.z,ornB.w)); - } - - b3Quaternion trAorn = trA.getRotation(); - b3Quaternion trBorn = trB.getRotation(); - - int numContactsOut = b3ClipHullAgainstHull(hostNormal, - hostConvexDataA.at(shapeA), - hostConvexDataB.at(shapeB), - (b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn, - (b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn, - worldVertsB1,worldVertsB2,capacityWorldVerts, - minDist, maxDist, - verticesA, facesA,indicesA, - verticesB, facesB,indicesB, - - contactsOut,localContactCapacity); - - if (numContactsOut>0) - { - B3_PROFILE("overlap"); - - b3Float4 normalOnSurfaceB = (b3Float4&)hostNormal; -// b3Float4 centerOut; - - b3Int4 contactIdx; - contactIdx.x = 0; - contactIdx.y = 1; - contactIdx.z = 2; - contactIdx.w = 3; - - int numPoints = 0; - - { - B3_PROFILE("extractManifold"); - numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx); - } - - b3Assert(numPoints); - - if (nContacts<maxContactCapacity) - { - contactIndex = nContacts; - globalContactOut->expand(); - b3Contact4Data& contact = globalContactOut->at(nContacts); - contact.m_batchIdx = 0;//i; - contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA; - contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB; - - contact.m_frictionCoeffCmp = 45874; - contact.m_restituitionCoeffCmp = 0; - - // float distance = 0.f; - for (int p=0;p<numPoints;p++) - { - contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B - contact.m_worldNormalOnB = normalOnSurfaceB; - } - //printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints); - contact.m_worldNormalOnB.w = (b3Scalar)numPoints; - nContacts++; - } else - { - b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts,maxContactCapacity); - } - } - } - return contactIndex; -} - - - - - -inline int b3ContactConvexConvexSAT( - int pairIndex, - int bodyIndexA, int bodyIndexB, - int collidableIndexA, int collidableIndexB, - const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies, - const b3AlignedObjectArray<b3Collidable>& collidables, - const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes, - const b3AlignedObjectArray<b3Float4>& convexVertices, - const b3AlignedObjectArray<b3Float4>& uniqueEdges, - const b3AlignedObjectArray<int>& convexIndices, - const b3AlignedObjectArray<b3GpuFace>& faces, - b3AlignedObjectArray<b3Contact4Data>& globalContactsOut, - int& nGlobalContactsOut, - int maxContactCapacity) -{ - int contactIndex = -1; - - - b3Float4 posA = rigidBodies[bodyIndexA].m_pos; - b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat; - b3Float4 posB = rigidBodies[bodyIndexB].m_pos; - b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat; - - - b3ConvexPolyhedronData hullA, hullB; - - b3Float4 sepNormalWorldSpace; - - - - b3Collidable colA = collidables[collidableIndexA]; - hullA = convexShapes[colA.m_shapeIndex]; - //printf("numvertsA = %d\n",hullA.m_numVertices); - - - b3Collidable colB = collidables[collidableIndexB]; - hullB = convexShapes[colB.m_shapeIndex]; - //printf("numvertsB = %d\n",hullB.m_numVertices); - - - - -#ifdef _WIN32 - b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x)); - b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x)); -#endif - - bool foundSepAxis = b3FindSeparatingAxis(hullA,hullB, - posA, - ornA, - posB, - ornB, - - convexVertices,uniqueEdges,faces,convexIndices, - convexVertices,uniqueEdges,faces,convexIndices, - - sepNormalWorldSpace - ); - - - if (foundSepAxis) - { - - - contactIndex = b3ClipHullHullSingle( - bodyIndexA, bodyIndexB, - posA,ornA, - posB,ornB, - collidableIndexA, collidableIndexB, - &rigidBodies, - &globalContactsOut, - nGlobalContactsOut, - - convexShapes, - convexShapes, - - convexVertices, - uniqueEdges, - faces, - convexIndices, - - convexVertices, - uniqueEdges, - faces, - convexIndices, - - collidables, - collidables, - sepNormalWorldSpace, - maxContactCapacity); - - } - - return contactIndex; -} - -#endif //B3_CONTACT_CONVEX_CONVEX_SAT_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h deleted file mode 100644 index a3fa82287b..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h +++ /dev/null @@ -1,162 +0,0 @@ - -#ifndef B3_CONTACT_SPHERE_SPHERE_H -#define B3_CONTACT_SPHERE_SPHERE_H - - - - - -void computeContactSphereConvex(int pairIndex, - int bodyIndexA, int bodyIndexB, - int collidableIndexA, int collidableIndexB, - const b3RigidBodyData* rigidBodies, - const b3Collidable* collidables, - const b3ConvexPolyhedronData* convexShapes, - const b3Vector3* convexVertices, - const int* convexIndices, - const b3GpuFace* faces, - b3Contact4* globalContactsOut, - int& nGlobalContactsOut, - int maxContactCapacity) -{ - - float radius = collidables[collidableIndexA].m_radius; - float4 spherePos1 = rigidBodies[bodyIndexA].m_pos; - b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat; - - - - float4 pos = rigidBodies[bodyIndexB].m_pos; - - - b3Quaternion quat = rigidBodies[bodyIndexB].m_quat; - - b3Transform tr; - tr.setIdentity(); - tr.setOrigin(pos); - tr.setRotation(quat); - b3Transform trInv = tr.inverse(); - - float4 spherePos = trInv(spherePos1); - - int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx; - int shapeIndex = collidables[collidableIndex].m_shapeIndex; - int numFaces = convexShapes[shapeIndex].m_numFaces; - float4 closestPnt = b3MakeVector3(0, 0, 0, 0); - float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0); - float minDist = -1000000.f; // TODO: What is the largest/smallest float? - bool bCollide = true; - int region = -1; - float4 localHitNormal; - for ( int f = 0; f < numFaces; f++ ) - { - b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f]; - float4 planeEqn; - float4 localPlaneNormal = b3MakeVector3(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f); - float4 n1 = localPlaneNormal;//quatRotate(quat,localPlaneNormal); - planeEqn = n1; - planeEqn[3] = face.m_plane.w; - - float4 pntReturn; - float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn); - - if ( dist > radius) - { - bCollide = false; - break; - } - - if ( dist > 0 ) - { - //might hit an edge or vertex - b3Vector3 out; - - bool isInPoly = IsPointInPolygon(spherePos, - &face, - &convexVertices[convexShapes[shapeIndex].m_vertexOffset], - convexIndices, - &out); - if (isInPoly) - { - if (dist>minDist) - { - minDist = dist; - closestPnt = pntReturn; - localHitNormal = planeEqn; - region=1; - } - } else - { - b3Vector3 tmp = spherePos-out; - b3Scalar l2 = tmp.length2(); - if (l2<radius*radius) - { - dist = b3Sqrt(l2); - if (dist>minDist) - { - minDist = dist; - closestPnt = out; - localHitNormal = tmp/dist; - region=2; - } - - } else - { - bCollide = false; - break; - } - } - } - else - { - if ( dist > minDist ) - { - minDist = dist; - closestPnt = pntReturn; - localHitNormal = planeEqn; - region=3; - } - } - } - static int numChecks = 0; - numChecks++; - - if (bCollide && minDist > -10000) - { - - float4 normalOnSurfaceB1 = tr.getBasis()*localHitNormal;//-hitNormalWorld; - float4 pOnB1 = tr(closestPnt); - //printf("dist ,%f,",minDist); - float actualDepth = minDist-radius; - if (actualDepth<0) - { - //printf("actualDepth = ,%f,", actualDepth); - //printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z); - //printf("region=,%d,\n", region); - pOnB1[3] = actualDepth; - - int dstIdx; -// dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx ); - - if (nGlobalContactsOut < maxContactCapacity) - { - dstIdx=nGlobalContactsOut; - nGlobalContactsOut++; - - b3Contact4* c = &globalContactsOut[dstIdx]; - c->m_worldNormalOnB = normalOnSurfaceB1; - c->setFrictionCoeff(0.7); - c->setRestituitionCoeff(0.f); - - c->m_batchIdx = pairIndex; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB; - c->m_worldPosB[0] = pOnB1; - int numPoints = 1; - c->m_worldNormalOnB.w = (b3Scalar)numPoints; - }//if (dstIdx < numPairs) - } - }//if (hasCollision) - -} -#endif //B3_CONTACT_SPHERE_SPHERE_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h deleted file mode 100644 index 5c5f4e297f..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h +++ /dev/null @@ -1,40 +0,0 @@ - -#ifndef B3_CONVEX_POLYHEDRON_DATA_H -#define B3_CONVEX_POLYHEDRON_DATA_H - - - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Common/shared/b3Quat.h" - -typedef struct b3GpuFace b3GpuFace_t; -struct b3GpuFace -{ - b3Float4 m_plane; - int m_indexOffset; - int m_numIndices; - int m_unusedPadding1; - int m_unusedPadding2; -}; - -typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t; - -struct b3ConvexPolyhedronData -{ - b3Float4 m_localCenter; - b3Float4 m_extents; - b3Float4 mC; - b3Float4 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; -}; - -#endif //B3_CONVEX_POLYHEDRON_DATA_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h deleted file mode 100644 index 89993f3565..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h +++ /dev/null @@ -1,832 +0,0 @@ -#ifndef B3_FIND_CONCAVE_SEPARATING_AXIS_H -#define B3_FIND_CONCAVE_SEPARATING_AXIS_H - -#define B3_TRIANGLE_NUM_CONVEX_FACES 5 - - -#include "Bullet3Common/shared/b3Int4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" - - -inline void b3Project(__global const b3ConvexPolyhedronData* hull, b3Float4ConstArg pos, b3QuatConstArg orn, -const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max) -{ - min[0] = FLT_MAX; - max[0] = -FLT_MAX; - int numVerts = hull->m_numVertices; - - const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),*dir); - float offset = b3Dot(pos,*dir); - for(int i=0;i<numVerts;i++) - { - float dp = b3Dot(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 b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, - b3Float4ConstArg posA,b3QuatConstArg ornA, - b3Float4ConstArg posB,b3QuatConstArg ornB, - b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB,float* depth) -{ - float Min0,Max0; - float Min1,Max1; - b3Project(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0); - b3Project(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; -} - - -bool b3FindSeparatingAxis( const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, - b3Float4ConstArg posA1, - b3QuatConstArg ornA, - b3Float4ConstArg posB1, - b3QuatConstArg ornB, - b3Float4ConstArg DeltaC2, - - const b3Float4* verticesA, - const b3Float4* uniqueEdgesA, - const b3GpuFace* facesA, - const int* indicesA, - - __global const b3Float4* verticesB, - __global const b3Float4* uniqueEdgesB, - __global const b3GpuFace* facesB, - __global const int* indicesB, - b3Float4* sep, - float* dmin) -{ - - - b3Float4 posA = posA1; - posA.w = 0.f; - b3Float4 posB = posB1; - posB.w = 0.f; -/* - static int maxFaceVertex = 0; - - int curFaceVertexAB = hullA->m_numFaces*hullB->m_numVertices; - curFaceVertexAB+= hullB->m_numFaces*hullA->m_numVertices; - - if (curFaceVertexAB>maxFaceVertex) - { - maxFaceVertex = curFaceVertexAB; - printf("curFaceVertexAB = %d\n",curFaceVertexAB); - printf("hullA->m_numFaces = %d\n",hullA->m_numFaces); - printf("hullA->m_numVertices = %d\n",hullA->m_numVertices); - printf("hullB->m_numVertices = %d\n",hullB->m_numVertices); - } -*/ - - int curPlaneTests=0; - { - int numFacesA = hullA->m_numFaces; - // Test normals from hullA - for(int i=0;i<numFacesA;i++) - { - const b3Float4 normal = facesA[hullA->m_faceOffset+i].m_plane; - b3Float4 faceANormalWS = b3QuatRotate(ornA,normal); - if (b3Dot(DeltaC2,faceANormalWS)<0) - faceANormalWS*=-1.f; - curPlaneTests++; - float d; - if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d)) - return false; - if(d<*dmin) - { - *dmin = d; - *sep = faceANormalWS; - } - } - } - if((b3Dot(-DeltaC2,*sep))>0.0f) - { - *sep = -(*sep); - } - return true; -} - - -b3Vector3 unitSphere162[]= -{ - b3MakeVector3(0.000000,-1.000000,0.000000), -b3MakeVector3(0.203181,-0.967950,0.147618), -b3MakeVector3(-0.077607,-0.967950,0.238853), -b3MakeVector3(0.723607,-0.447220,0.525725), -b3MakeVector3(0.609547,-0.657519,0.442856), -b3MakeVector3(0.812729,-0.502301,0.295238), -b3MakeVector3(-0.251147,-0.967949,0.000000), -b3MakeVector3(-0.077607,-0.967950,-0.238853), -b3MakeVector3(0.203181,-0.967950,-0.147618), -b3MakeVector3(0.860698,-0.251151,0.442858), -b3MakeVector3(-0.276388,-0.447220,0.850649), -b3MakeVector3(-0.029639,-0.502302,0.864184), -b3MakeVector3(-0.155215,-0.251152,0.955422), -b3MakeVector3(-0.894426,-0.447216,0.000000), -b3MakeVector3(-0.831051,-0.502299,0.238853), -b3MakeVector3(-0.956626,-0.251149,0.147618), -b3MakeVector3(-0.276388,-0.447220,-0.850649), -b3MakeVector3(-0.483971,-0.502302,-0.716565), -b3MakeVector3(-0.436007,-0.251152,-0.864188), -b3MakeVector3(0.723607,-0.447220,-0.525725), -b3MakeVector3(0.531941,-0.502302,-0.681712), -b3MakeVector3(0.687159,-0.251152,-0.681715), -b3MakeVector3(0.687159,-0.251152,0.681715), -b3MakeVector3(-0.436007,-0.251152,0.864188), -b3MakeVector3(-0.956626,-0.251149,-0.147618), -b3MakeVector3(-0.155215,-0.251152,-0.955422), -b3MakeVector3(0.860698,-0.251151,-0.442858), -b3MakeVector3(0.276388,0.447220,0.850649), -b3MakeVector3(0.483971,0.502302,0.716565), -b3MakeVector3(0.232822,0.657519,0.716563), -b3MakeVector3(-0.723607,0.447220,0.525725), -b3MakeVector3(-0.531941,0.502302,0.681712), -b3MakeVector3(-0.609547,0.657519,0.442856), -b3MakeVector3(-0.723607,0.447220,-0.525725), -b3MakeVector3(-0.812729,0.502301,-0.295238), -b3MakeVector3(-0.609547,0.657519,-0.442856), -b3MakeVector3(0.276388,0.447220,-0.850649), -b3MakeVector3(0.029639,0.502302,-0.864184), -b3MakeVector3(0.232822,0.657519,-0.716563), -b3MakeVector3(0.894426,0.447216,0.000000), -b3MakeVector3(0.831051,0.502299,-0.238853), -b3MakeVector3(0.753442,0.657515,0.000000), -b3MakeVector3(-0.232822,-0.657519,0.716563), -b3MakeVector3(-0.162456,-0.850654,0.499995), -b3MakeVector3(0.052790,-0.723612,0.688185), -b3MakeVector3(0.138199,-0.894429,0.425321), -b3MakeVector3(0.262869,-0.525738,0.809012), -b3MakeVector3(0.361805,-0.723611,0.587779), -b3MakeVector3(0.531941,-0.502302,0.681712), -b3MakeVector3(0.425323,-0.850654,0.309011), -b3MakeVector3(0.812729,-0.502301,-0.295238), -b3MakeVector3(0.609547,-0.657519,-0.442856), -b3MakeVector3(0.850648,-0.525736,0.000000), -b3MakeVector3(0.670817,-0.723611,-0.162457), -b3MakeVector3(0.670817,-0.723610,0.162458), -b3MakeVector3(0.425323,-0.850654,-0.309011), -b3MakeVector3(0.447211,-0.894428,0.000001), -b3MakeVector3(-0.753442,-0.657515,0.000000), -b3MakeVector3(-0.525730,-0.850652,0.000000), -b3MakeVector3(-0.638195,-0.723609,0.262864), -b3MakeVector3(-0.361801,-0.894428,0.262864), -b3MakeVector3(-0.688189,-0.525736,0.499997), -b3MakeVector3(-0.447211,-0.723610,0.525729), -b3MakeVector3(-0.483971,-0.502302,0.716565), -b3MakeVector3(-0.232822,-0.657519,-0.716563), -b3MakeVector3(-0.162456,-0.850654,-0.499995), -b3MakeVector3(-0.447211,-0.723611,-0.525727), -b3MakeVector3(-0.361801,-0.894429,-0.262863), -b3MakeVector3(-0.688189,-0.525736,-0.499997), -b3MakeVector3(-0.638195,-0.723609,-0.262863), -b3MakeVector3(-0.831051,-0.502299,-0.238853), -b3MakeVector3(0.361804,-0.723612,-0.587779), -b3MakeVector3(0.138197,-0.894429,-0.425321), -b3MakeVector3(0.262869,-0.525738,-0.809012), -b3MakeVector3(0.052789,-0.723611,-0.688186), -b3MakeVector3(-0.029639,-0.502302,-0.864184), -b3MakeVector3(0.956626,0.251149,0.147618), -b3MakeVector3(0.956626,0.251149,-0.147618), -b3MakeVector3(0.951058,-0.000000,0.309013), -b3MakeVector3(1.000000,0.000000,0.000000), -b3MakeVector3(0.947213,-0.276396,0.162458), -b3MakeVector3(0.951058,0.000000,-0.309013), -b3MakeVector3(0.947213,-0.276396,-0.162458), -b3MakeVector3(0.155215,0.251152,0.955422), -b3MakeVector3(0.436007,0.251152,0.864188), -b3MakeVector3(-0.000000,-0.000000,1.000000), -b3MakeVector3(0.309017,0.000000,0.951056), -b3MakeVector3(0.138199,-0.276398,0.951055), -b3MakeVector3(0.587786,0.000000,0.809017), -b3MakeVector3(0.447216,-0.276398,0.850648), -b3MakeVector3(-0.860698,0.251151,0.442858), -b3MakeVector3(-0.687159,0.251152,0.681715), -b3MakeVector3(-0.951058,-0.000000,0.309013), -b3MakeVector3(-0.809018,0.000000,0.587783), -b3MakeVector3(-0.861803,-0.276396,0.425324), -b3MakeVector3(-0.587786,0.000000,0.809017), -b3MakeVector3(-0.670819,-0.276397,0.688191), -b3MakeVector3(-0.687159,0.251152,-0.681715), -b3MakeVector3(-0.860698,0.251151,-0.442858), -b3MakeVector3(-0.587786,-0.000000,-0.809017), -b3MakeVector3(-0.809018,-0.000000,-0.587783), -b3MakeVector3(-0.670819,-0.276397,-0.688191), -b3MakeVector3(-0.951058,0.000000,-0.309013), -b3MakeVector3(-0.861803,-0.276396,-0.425324), -b3MakeVector3(0.436007,0.251152,-0.864188), -b3MakeVector3(0.155215,0.251152,-0.955422), -b3MakeVector3(0.587786,-0.000000,-0.809017), -b3MakeVector3(0.309017,-0.000000,-0.951056), -b3MakeVector3(0.447216,-0.276398,-0.850648), -b3MakeVector3(0.000000,0.000000,-1.000000), -b3MakeVector3(0.138199,-0.276398,-0.951055), -b3MakeVector3(0.670820,0.276396,0.688190), -b3MakeVector3(0.809019,-0.000002,0.587783), -b3MakeVector3(0.688189,0.525736,0.499997), -b3MakeVector3(0.861804,0.276394,0.425323), -b3MakeVector3(0.831051,0.502299,0.238853), -b3MakeVector3(-0.447216,0.276397,0.850649), -b3MakeVector3(-0.309017,-0.000001,0.951056), -b3MakeVector3(-0.262869,0.525738,0.809012), -b3MakeVector3(-0.138199,0.276397,0.951055), -b3MakeVector3(0.029639,0.502302,0.864184), -b3MakeVector3(-0.947213,0.276396,-0.162458), -b3MakeVector3(-1.000000,0.000001,0.000000), -b3MakeVector3(-0.850648,0.525736,-0.000000), -b3MakeVector3(-0.947213,0.276397,0.162458), -b3MakeVector3(-0.812729,0.502301,0.295238), -b3MakeVector3(-0.138199,0.276397,-0.951055), -b3MakeVector3(-0.309016,-0.000000,-0.951057), -b3MakeVector3(-0.262869,0.525738,-0.809012), -b3MakeVector3(-0.447215,0.276397,-0.850649), -b3MakeVector3(-0.531941,0.502302,-0.681712), -b3MakeVector3(0.861804,0.276396,-0.425322), -b3MakeVector3(0.809019,0.000000,-0.587782), -b3MakeVector3(0.688189,0.525736,-0.499997), -b3MakeVector3(0.670821,0.276397,-0.688189), -b3MakeVector3(0.483971,0.502302,-0.716565), -b3MakeVector3(0.077607,0.967950,0.238853), -b3MakeVector3(0.251147,0.967949,0.000000), -b3MakeVector3(0.000000,1.000000,0.000000), -b3MakeVector3(0.162456,0.850654,0.499995), -b3MakeVector3(0.361800,0.894429,0.262863), -b3MakeVector3(0.447209,0.723612,0.525728), -b3MakeVector3(0.525730,0.850652,0.000000), -b3MakeVector3(0.638194,0.723610,0.262864), -b3MakeVector3(-0.203181,0.967950,0.147618), -b3MakeVector3(-0.425323,0.850654,0.309011), -b3MakeVector3(-0.138197,0.894430,0.425320), -b3MakeVector3(-0.361804,0.723612,0.587778), -b3MakeVector3(-0.052790,0.723612,0.688185), -b3MakeVector3(-0.203181,0.967950,-0.147618), -b3MakeVector3(-0.425323,0.850654,-0.309011), -b3MakeVector3(-0.447210,0.894429,0.000000), -b3MakeVector3(-0.670817,0.723611,-0.162457), -b3MakeVector3(-0.670817,0.723611,0.162457), -b3MakeVector3(0.077607,0.967950,-0.238853), -b3MakeVector3(0.162456,0.850654,-0.499995), -b3MakeVector3(-0.138197,0.894430,-0.425320), -b3MakeVector3(-0.052790,0.723612,-0.688185), -b3MakeVector3(-0.361804,0.723612,-0.587778), -b3MakeVector3(0.361800,0.894429,-0.262863), -b3MakeVector3(0.638194,0.723610,-0.262864), -b3MakeVector3(0.447209,0.723612,-0.525728) -}; - - -bool b3FindSeparatingAxisEdgeEdge( const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, - b3Float4ConstArg posA1, - b3QuatConstArg ornA, - b3Float4ConstArg posB1, - b3QuatConstArg ornB, - b3Float4ConstArg DeltaC2, - const b3Float4* verticesA, - const b3Float4* uniqueEdgesA, - const b3GpuFace* facesA, - const int* indicesA, - __global const b3Float4* verticesB, - __global const b3Float4* uniqueEdgesB, - __global const b3GpuFace* facesB, - __global const int* indicesB, - b3Float4* sep, - float* dmin, - bool searchAllEdgeEdge) -{ - - - b3Float4 posA = posA1; - posA.w = 0.f; - b3Float4 posB = posB1; - posB.w = 0.f; - -// int curPlaneTests=0; - - int curEdgeEdge = 0; - // Test edges - static int maxEdgeTests = 0; - int curEdgeTests = hullA->m_numUniqueEdges * hullB->m_numUniqueEdges; - if (curEdgeTests >maxEdgeTests ) - { - maxEdgeTests = curEdgeTests ; - printf("maxEdgeTests = %d\n",maxEdgeTests ); - printf("hullA->m_numUniqueEdges = %d\n",hullA->m_numUniqueEdges); - printf("hullB->m_numUniqueEdges = %d\n",hullB->m_numUniqueEdges); - - } - - - if (searchAllEdgeEdge) - { - for(int e0=0;e0<hullA->m_numUniqueEdges;e0++) - { - const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0]; - b3Float4 edge0World = b3QuatRotate(ornA,edge0); - - for(int e1=0;e1<hullB->m_numUniqueEdges;e1++) - { - const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1]; - b3Float4 edge1World = b3QuatRotate(ornB,edge1); - - - b3Float4 crossje = b3Cross(edge0World,edge1World); - - curEdgeEdge++; - if(!b3IsAlmostZero(crossje)) - { - crossje = b3Normalized(crossje); - if (b3Dot(DeltaC2,crossje)<0) - crossje *= -1.f; - - float dist; - bool result = true; - { - float Min0,Max0; - float Min1,Max1; - b3Project(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0); - b3Project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1); - - if(Max0<Min1 || Max1<Min0) - return false; - - float d0 = Max0 - Min1; - float d1 = Max1 - Min0; - dist = d0<d1 ? d0:d1; - result = true; - - } - - - if(dist<*dmin) - { - *dmin = dist; - *sep = crossje; - } - } - } - - } - } else - { - int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3); - //printf("numDirections =%d\n",numDirections ); - - - for(int i=0;i<numDirections;i++) - { - b3Float4 crossje = unitSphere162[i]; - { - //if (b3Dot(DeltaC2,crossje)>0) - { - float dist; - bool result = true; - { - float Min0,Max0; - float Min1,Max1; - b3Project(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0); - b3Project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1); - - if(Max0<Min1 || Max1<Min0) - return false; - - float d0 = Max0 - Min1; - float d1 = Max1 - Min0; - dist = d0<d1 ? d0:d1; - result = true; - - } - - - if(dist<*dmin) - { - *dmin = dist; - *sep = crossje; - } - } - } - } - - } - - - if((b3Dot(-DeltaC2,*sep))>0.0f) - { - *sep = -(*sep); - } - return true; -} - - - -inline int b3FindClippingFaces(b3Float4ConstArg separatingNormal, - __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, - b3Float4ConstArg posA, b3QuatConstArg ornA,b3Float4ConstArg posB, b3QuatConstArg ornB, - __global b3Float4* worldVertsA1, - __global b3Float4* worldNormalsA1, - __global b3Float4* worldVertsB1, - int capacityWorldVerts, - const float minDist, float maxDist, - __global const b3Float4* verticesA, - __global const b3GpuFace_t* facesA, - __global const int* indicesA, - __global const b3Float4* verticesB, - __global const b3GpuFace_t* facesB, - __global const int* indicesB, - - __global b3Int4* 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 b3Float4 Normal = b3MakeFloat4(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 b3Float4 WorldNormal = b3QuatRotate(ornB, Normal); - float d = b3Dot(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 b3Float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]]; - worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = b3TransformPoint(b,posB,ornB); - } - } - - int closestFaceA=-1; - { - float dmin = FLT_MAX; - for(int face=0;face<hullA->m_numFaces;face++) - { - const b3Float4 Normal = b3MakeFloat4( - 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 b3Float4 faceANormalWS = b3QuatRotate(ornA,Normal); - - float d = b3Dot(faceANormalWS,separatingNormal); - if (d < dmin) - { - dmin = d; - closestFaceA = face; - worldNormalsA1[pairIndex] = faceANormalWS; - } - } - } - - int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices; - for(int e0=0;e0<numVerticesA;e0++) - { - const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]]; - worldVertsA1[pairIndex*capacityWorldVerts+e0] = b3TransformPoint(a, posA,ornA); - } - - clippingFaces[pairIndex].x = closestFaceA; - clippingFaces[pairIndex].y = closestFaceB; - clippingFaces[pairIndex].z = numVerticesA; - clippingFaces[pairIndex].w = numWorldVertsB1; - - - return numContactsOut; -} - - - - -__kernel void b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs, - __global const b3RigidBodyData* rigidBodies, - __global const b3Collidable* collidables, - __global const b3ConvexPolyhedronData* convexShapes, - __global const b3Float4* vertices, - __global const b3Float4* uniqueEdges, - __global const b3GpuFace* faces, - __global const int* indices, - __global const b3GpuChildShape* gpuChildShapes, - __global b3Aabb* aabbs, - __global b3Float4* concaveSeparatingNormalsOut, - __global b3Int4* clippingFacesOut, - __global b3Vector3* worldVertsA1Out, - __global b3Vector3* worldNormalsA1Out, - __global b3Vector3* worldVertsB1Out, - __global int* hasSeparatingNormals, - int vertexFaceCapacity, - int numConcavePairs, - int pairIdx - ) -{ - int i = pairIdx; -/* int i = get_global_id(0); - if (i>=numConcavePairs) - 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; - - if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&& - collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS) - { - concavePairs[pairIdx].w = -1; - return; - } - - hasSeparatingNormals[i] = 0; - -// int numFacesA = convexShapes[shapeIndexA].m_numFaces; - int numActualConcaveConvexTests = 0; - - int f = concavePairs[i].z; - - bool overlap = false; - - b3ConvexPolyhedronData convexPolyhedronA; - - //add 3 vertices of the triangle - convexPolyhedronA.m_numVertices = 3; - convexPolyhedronA.m_vertexOffset = 0; - b3Float4 localCenter = b3MakeFloat4(0.f,0.f,0.f,0.f); - - b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f]; - b3Aabb triAabb; - triAabb.m_minVec = b3MakeFloat4(1e30f,1e30f,1e30f,0.f); - triAabb.m_maxVec = b3MakeFloat4(-1e30f,-1e30f,-1e30f,0.f); - - b3Float4 verticesA[3]; - for (int i=0;i<3;i++) - { - int index = indices[face.m_indexOffset+i]; - b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index]; - verticesA[i] = vert; - localCenter += vert; - - triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec,vert); - triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec,vert); - - } - - overlap = true; - overlap = (triAabb.m_minVec.x > aabbs[bodyIndexB].m_maxVec.x || triAabb.m_maxVec.x < aabbs[bodyIndexB].m_minVec.x) ? false : overlap; - overlap = (triAabb.m_minVec.z > aabbs[bodyIndexB].m_maxVec.z || triAabb.m_maxVec.z < aabbs[bodyIndexB].m_minVec.z) ? false : overlap; - overlap = (triAabb.m_minVec.y > aabbs[bodyIndexB].m_maxVec.y || triAabb.m_maxVec.y < aabbs[bodyIndexB].m_minVec.y) ? false : overlap; - - if (overlap) - { - float dmin = FLT_MAX; - int hasSeparatingAxis=5; - b3Float4 sepAxis=b3MakeFloat4(1,2,3,4); - - // int localCC=0; - numActualConcaveConvexTests++; - - //a triangle has 3 unique edges - convexPolyhedronA.m_numUniqueEdges = 3; - convexPolyhedronA.m_uniqueEdgesOffset = 0; - b3Float4 uniqueEdgesA[3]; - - uniqueEdgesA[0] = (verticesA[1]-verticesA[0]); - uniqueEdgesA[1] = (verticesA[2]-verticesA[1]); - uniqueEdgesA[2] = (verticesA[0]-verticesA[2]); - - - convexPolyhedronA.m_faceOffset = 0; - - b3Float4 normal = b3MakeFloat4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f); - - b3GpuFace facesA[B3_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 = b3Dot(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++) - { - b3Float4 v0 = verticesA[i]; - b3Float4 v1 = verticesA[prevVertex]; - - b3Float4 edgeNormal = b3Normalized(b3Cross(normal,v1-v0)); - float c = -b3Dot(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 = B3_TRIANGLE_NUM_CONVEX_FACES; - convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f); - - - b3Float4 posA = rigidBodies[bodyIndexA].m_pos; - posA.w = 0.f; - b3Float4 posB = rigidBodies[bodyIndexB].m_pos; - posB.w = 0.f; - - b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat; - b3Quaternion 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; - b3Float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition; - b3Quaternion childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation; - b3Float4 newPosB = b3TransformPoint(childPosB,posB,ornB); - b3Quaternion newOrnB = b3QuatMul(ornB,childOrnB); - posB = newPosB; - ornB = newOrnB; - shapeIndexB = collidables[childColIndexB].m_shapeIndex; - } - ////////////////// - - b3Float4 c0local = convexPolyhedronA.m_localCenter; - b3Float4 c0 = b3TransformPoint(c0local, posA, ornA); - b3Float4 c1local = convexShapes[shapeIndexB].m_localCenter; - b3Float4 c1 = b3TransformPoint(c1local,posB,ornB); - const b3Float4 DeltaC2 = c0 - c1; - - - bool sepA = b3FindSeparatingAxis( &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 = b3FindSeparatingAxis( &convexShapes[shapeIndexB],&convexPolyhedronA, - posB,ornB, - posA,ornA, - DeltaC2, - vertices,uniqueEdges,faces,indices, - verticesA,uniqueEdgesA,facesA,indicesA, - &sepAxis,&dmin); - - if (!sepB) - { - hasSeparatingAxis = 0; - } else - { - bool sepEE = b3FindSeparatingAxisEdgeEdge( &convexPolyhedronA, &convexShapes[shapeIndexB], - posA,ornA, - posB,ornB, - DeltaC2, - verticesA,uniqueEdgesA,facesA,indicesA, - vertices,uniqueEdges,faces,indices, - &sepAxis,&dmin,true); - - if (!sepEE) - { - hasSeparatingAxis = 0; - } else - { - hasSeparatingAxis = 1; - } - } - } - - if (hasSeparatingAxis) - { - hasSeparatingNormals[i]=1; - sepAxis.w = dmin; - concaveSeparatingNormalsOut[pairIdx]=sepAxis; - - //now compute clipping faces A and B, and world-space clipping vertices A and B... - - float minDist = -1e30f; - float maxDist = 0.02f; - - b3FindClippingFaces(sepAxis, - &convexPolyhedronA, - &convexShapes[shapeIndexB], - posA,ornA, - posB,ornB, - worldVertsA1Out, - worldNormalsA1Out, - worldVertsB1Out, - 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; - } -} - - -#endif //B3_FIND_CONCAVE_SEPARATING_AXIS_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h deleted file mode 100644 index 332dbc278c..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h +++ /dev/null @@ -1,206 +0,0 @@ -#ifndef B3_FIND_SEPARATING_AXIS_H -#define B3_FIND_SEPARATING_AXIS_H - - -inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) -{ - min = FLT_MAX; - max = -FLT_MAX; - int numVerts = hull.m_numVertices; - - const b3Float4 localDir = b3QuatRotate(orn.inverse(),dir); - - b3Scalar offset = b3Dot3F4(pos,dir); - - for(int i=0;i<numVerts;i++) - { - //b3Vector3 pt = trans * vertices[m_vertexOffset+i]; - //b3Scalar dp = pt.dot(dir); - //b3Vector3 vertex = vertices[hull.m_vertexOffset+i]; - b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset+i],localDir); - //b3Assert(dp==dpL); - if(dp < min) min = dp; - if(dp > max) max = dp; - } - if(min>max) - { - b3Scalar tmp = min; - min = max; - max = tmp; - } - min += offset; - max += offset; -} - - -inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3Float4& posA,const b3Quaternion& ornA, - const b3Float4& posB,const b3Quaternion& ornB, - const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB,b3Scalar& depth) -{ - b3Scalar Min0,Max0; - b3Scalar Min1,Max1; - b3ProjectAxis(hullA,posA,ornA,sep_axis,verticesA, Min0, Max0); - b3ProjectAxis(hullB,posB,ornB, sep_axis,verticesB, Min1, Max1); - - if(Max0<Min1 || Max1<Min0) - return false; - - b3Scalar d0 = Max0 - Min1; - b3Assert(d0>=0.0f); - b3Scalar d1 = Max1 - Min0; - b3Assert(d1>=0.0f); - depth = d0<d1 ? d0:d1; - return true; -} - - -inline bool b3FindSeparatingAxis( const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3Float4& posA1, - const b3Quaternion& ornA, - const b3Float4& posB1, - const b3Quaternion& ornB, - const b3AlignedObjectArray<b3Vector3>& verticesA, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, - const b3AlignedObjectArray<b3GpuFace>& facesA, - const b3AlignedObjectArray<int>& indicesA, - const b3AlignedObjectArray<b3Vector3>& verticesB, - const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB, - const b3AlignedObjectArray<b3GpuFace>& facesB, - const b3AlignedObjectArray<int>& indicesB, - - b3Vector3& sep) -{ - B3_PROFILE("findSeparatingAxis"); - - b3Float4 posA = posA1; - posA.w = 0.f; - b3Float4 posB = posB1; - posB.w = 0.f; -//#ifdef TEST_INTERNAL_OBJECTS - b3Float4 c0local = (b3Float4&)hullA.m_localCenter; - - b3Float4 c0 = b3TransformPoint(c0local, posA, ornA); - b3Float4 c1local = (b3Float4&)hullB.m_localCenter; - b3Float4 c1 = b3TransformPoint(c1local,posB,ornB); - const b3Float4 deltaC2 = c0 - c1; -//#endif - - b3Scalar dmin = FLT_MAX; - int curPlaneTests=0; - - int numFacesA = hullA.m_numFaces; - // Test normals from hullA - for(int i=0;i<numFacesA;i++) - { - const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset+i].m_plane; - b3Float4 faceANormalWS = b3QuatRotate(ornA,normal); - - if (b3Dot3F4(deltaC2,faceANormalWS)<0) - faceANormalWS*=-1.f; - - curPlaneTests++; -#ifdef TEST_INTERNAL_OBJECTS - gExpectedNbTests++; - if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin)) - continue; - gActualNbTests++; -#endif - - - b3Scalar d; - if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,faceANormalWS, verticesA, verticesB,d)) - return false; - - if(d<dmin) - { - dmin = d; - sep = (b3Vector3&)faceANormalWS; - } - } - - int numFacesB = hullB.m_numFaces; - // Test normals from hullB - for(int i=0;i<numFacesB;i++) - { - b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset+i].m_plane; - b3Float4 WorldNormal = b3QuatRotate(ornB, normal); - - if (b3Dot3F4(deltaC2,WorldNormal)<0) - { - WorldNormal*=-1.f; - } - curPlaneTests++; -#ifdef TEST_INTERNAL_OBJECTS - gExpectedNbTests++; - if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin)) - continue; - gActualNbTests++; -#endif - - b3Scalar d; - if(!b3TestSepAxis(hullA, hullB,posA,ornA,posB,ornB,WorldNormal,verticesA,verticesB,d)) - return false; - - if(d<dmin) - { - dmin = d; - sep = (b3Vector3&)WorldNormal; - } - } - -// b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend; - - int curEdgeEdge = 0; - // Test edges - for(int e0=0;e0<hullA.m_numUniqueEdges;e0++) - { - const b3Float4& edge0 = (b3Float4&) uniqueEdgesA[hullA.m_uniqueEdgesOffset+e0]; - b3Float4 edge0World = b3QuatRotate(ornA,(b3Float4&)edge0); - - for(int e1=0;e1<hullB.m_numUniqueEdges;e1++) - { - const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset+e1]; - b3Float4 edge1World = b3QuatRotate(ornB,(b3Float4&)edge1); - - - b3Float4 crossje = b3Cross3(edge0World,edge1World); - - curEdgeEdge++; - if(!b3IsAlmostZero((b3Vector3&)crossje)) - { - crossje = b3FastNormalized3(crossje); - if (b3Dot3F4(deltaC2,crossje)<0) - crossje*=-1.f; - - -#ifdef TEST_INTERNAL_OBJECTS - gExpectedNbTests++; - if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin)) - continue; - gActualNbTests++; -#endif - - b3Scalar dist; - if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,crossje, verticesA,verticesB,dist)) - return false; - - if(dist<dmin) - { - dmin = dist; - sep = (b3Vector3&)crossje; - } - } - } - - } - - - if((b3Dot3F4(-deltaC2,(b3Float4&)sep))>0.0f) - sep = -sep; - - return true; -} - -#endif //B3_FIND_SEPARATING_AXIS_H - diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h deleted file mode 100644 index 6c3ad7c9dd..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h +++ /dev/null @@ -1,920 +0,0 @@ - -/*** - * --------------------------------- - * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz> - * - * This file was ported from mpr.c file, part of libccd. - * The Minkoski Portal Refinement implementation was ported - * to OpenCL by Erwin Coumans for the Bullet 3 Physics library. - * at http://github.com/erwincoumans/bullet3 - * - * Distributed under the OSI-approved BSD License (the "License"); - * see <http://www.opensource.org/licenses/bsd-license.php>. - * This software is distributed WITHOUT ANY WARRANTY; without even the - * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the License for more information. - */ - - - - -#ifndef B3_MPR_PENETRATION_H -#define B3_MPR_PENETRATION_H - -#include "Bullet3Common/shared/b3PlatformDefinitions.h" -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" - - - - -#ifdef __cplusplus -#define B3_MPR_SQRT sqrtf -#else -#define B3_MPR_SQRT sqrt -#endif -#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y)) -#define B3_MPR_FABS fabs - -#define B3_MPR_TOLERANCE 1E-6f -#define B3_MPR_MAX_ITERATIONS 1000 - -struct _b3MprSupport_t -{ - b3Float4 v; //!< Support point in minkowski sum - b3Float4 v1; //!< Support point in obj1 - b3Float4 v2; //!< Support point in obj2 -}; -typedef struct _b3MprSupport_t b3MprSupport_t; - -struct _b3MprSimplex_t -{ - b3MprSupport_t ps[4]; - int last; //!< index of last added point -}; -typedef struct _b3MprSimplex_t b3MprSimplex_t; - -inline b3MprSupport_t* b3MprSimplexPointW(b3MprSimplex_t *s, int idx) -{ - return &s->ps[idx]; -} - -inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size) -{ - s->last = size - 1; -} - - -inline int b3MprSimplexSize(const b3MprSimplex_t *s) -{ - return s->last + 1; -} - - -inline const b3MprSupport_t* b3MprSimplexPoint(const b3MprSimplex_t* s, int idx) -{ - // here is no check on boundaries - return &s->ps[idx]; -} - -inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s) -{ - *d = *s; -} - -inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a) -{ - b3MprSupportCopy(s->ps + pos, a); -} - - -inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2) -{ - b3MprSupport_t supp; - - b3MprSupportCopy(&supp, &s->ps[pos1]); - b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]); - b3MprSupportCopy(&s->ps[pos2], &supp); -} - - -inline int b3MprIsZero(float val) -{ - return B3_MPR_FABS(val) < FLT_EPSILON; -} - - - -inline int b3MprEq(float _a, float _b) -{ - float ab; - float a, b; - - ab = B3_MPR_FABS(_a - _b); - if (B3_MPR_FABS(ab) < FLT_EPSILON) - return 1; - - a = B3_MPR_FABS(_a); - b = B3_MPR_FABS(_b); - if (b > a){ - return ab < FLT_EPSILON * b; - }else{ - return ab < FLT_EPSILON * a; - } -} - - -inline int b3MprVec3Eq(const b3Float4* a, const b3Float4 *b) -{ - return b3MprEq((*a).x, (*b).x) - && b3MprEq((*a).y, (*b).y) - && b3MprEq((*a).z, (*b).z); -} - - - -inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global const b3ConvexPolyhedronData_t* hull, b3ConstArray(b3Float4) verticesA) -{ - b3Float4 supVec = b3MakeFloat4(0,0,0,0); - float maxDot = -B3_LARGE_FLOAT; - - if( 0 < hull->m_numVertices ) - { - const b3Float4 scaled = supportVec; - int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot); - return verticesA[hull->m_vertexOffset+index]; - } - - return supVec; - -} - - -B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, - b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, - b3ConstArray(b3Collidable_t) cpuCollidables, - b3ConstArray(b3Float4) cpuVertices, - __global b3Float4* sepAxis, - const b3Float4* _dir, b3Float4* outp, int logme) -{ - //dir is in worldspace, move to local space - - b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos; - b3Quat orn = cpuBodyBuf[bodyIndex].m_quat; - - b3Float4 dir = b3MakeFloat4((*_dir).x,(*_dir).y,(*_dir).z,0.f); - - const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),dir); - - - //find local support vertex - int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx; - - b3Assert(cpuCollidables[colIndex].m_shapeType==SHAPE_CONVEX_HULL); - __global const b3ConvexPolyhedronData_t* hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex]; - - b3Float4 pInA; - if (logme) - { - - - // b3Float4 supVec = b3MakeFloat4(0,0,0,0); - float maxDot = -B3_LARGE_FLOAT; - - if( 0 < hull->m_numVertices ) - { - const b3Float4 scaled = localDir; - int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot); - pInA = cpuVertices[hull->m_vertexOffset+index]; - - } - - - } else - { - pInA = b3LocalGetSupportVertex(localDir,hull,cpuVertices); - } - - //move vertex to world space - *outp = b3TransformPoint(pInA,pos,orn); - -} - -inline void b3MprSupport(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, - b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, - b3ConstArray(b3Collidable_t) cpuCollidables, - b3ConstArray(b3Float4) cpuVertices, - __global b3Float4* sepAxis, - const b3Float4* _dir, b3MprSupport_t *supp) -{ - b3Float4 dir; - dir = *_dir; - b3MprConvexSupport(pairIndex,bodyIndexA,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v1,0); - dir = *_dir*-1.f; - b3MprConvexSupport(pairIndex,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v2,0); - supp->v = supp->v1 - supp->v2; -} - - - - - - - - - -inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center) -{ - - center->v1 = cpuBodyBuf[bodyIndexA].m_pos; - center->v2 = cpuBodyBuf[bodyIndexB].m_pos; - center->v = center->v1 - center->v2; -} - -inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z) -{ - (*v).x = x; - (*v).y = y; - (*v).z = z; - (*v).w = 0.f; -} - -inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w) -{ - (*v).x += (*w).x; - (*v).y += (*w).y; - (*v).z += (*w).z; -} - -inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w) -{ - *v = *w; -} - -inline void b3MprVec3Scale(b3Float4 *d, float k) -{ - *d *= k; -} - -inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b) -{ - float dot; - - dot = b3Dot3F4(*a,*b); - return dot; -} - - -inline float b3MprVec3Len2(const b3Float4 *v) -{ - return b3MprVec3Dot(v, v); -} - -inline void b3MprVec3Normalize(b3Float4 *d) -{ - float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d)); - b3MprVec3Scale(d, k); -} - -inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b) -{ - *d = b3Cross3(*a,*b); - -} - - -inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w) -{ - *d = *v - *w; -} - -inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir) -{ - b3Float4 v2v1, v3v1; - - b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v, - &b3MprSimplexPoint(portal, 1)->v); - b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v, - &b3MprSimplexPoint(portal, 1)->v); - b3MprVec3Cross(dir, &v2v1, &v3v1); - b3MprVec3Normalize(dir); -} - - -inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal, - const b3Float4 *dir) -{ - float dot; - dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v); - return b3MprIsZero(dot) || dot > 0.f; -} - -inline int portalReachTolerance(const b3MprSimplex_t *portal, - const b3MprSupport_t *v4, - const b3Float4 *dir) -{ - float dv1, dv2, dv3, dv4; - float dot1, dot2, dot3; - - // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4} - - dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir); - dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir); - dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir); - dv4 = b3MprVec3Dot(&v4->v, dir); - - dot1 = dv4 - dv1; - dot2 = dv4 - dv2; - dot3 = dv4 - dv3; - - dot1 = B3_MPR_FMIN(dot1, dot2); - dot1 = B3_MPR_FMIN(dot1, dot3); - - return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE; -} - -inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal, - const b3MprSupport_t *v4, - const b3Float4 *dir) -{ - float dot; - dot = b3MprVec3Dot(&v4->v, dir); - return b3MprIsZero(dot) || dot > 0.f; -} - -inline void b3ExpandPortal(b3MprSimplex_t *portal, - const b3MprSupport_t *v4) -{ - float dot; - b3Float4 v4v0; - - b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v); - dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0); - if (dot > 0.f){ - dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0); - if (dot > 0.f){ - b3MprSimplexSet(portal, 1, v4); - }else{ - b3MprSimplexSet(portal, 3, v4); - } - }else{ - dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0); - if (dot > 0.f){ - b3MprSimplexSet(portal, 2, v4); - }else{ - b3MprSimplexSet(portal, 1, v4); - } - } -} - - - -B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, - b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, - b3ConstArray(b3Collidable_t) cpuCollidables, - b3ConstArray(b3Float4) cpuVertices, - __global b3Float4* sepAxis, - __global int* hasSepAxis, - b3MprSimplex_t *portal) -{ - b3Float4 dir, va, vb; - float dot; - int cont; - - - - // vertex 0 is center of portal - b3FindOrigin(bodyIndexA,bodyIndexB,cpuBodyBuf, b3MprSimplexPointW(portal, 0)); - // vertex 0 is center of portal - b3MprSimplexSetSize(portal, 1); - - - - b3Float4 zero = b3MakeFloat4(0,0,0,0); - b3Float4* b3mpr_vec3_origin = &zero; - - if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin)){ - // Portal's center lies on origin (0,0,0) => we know that objects - // intersect but we would need to know penetration info. - // So move center little bit... - b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f); - b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va); - } - - - // vertex 1 = support in direction of origin - b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v); - b3MprVec3Scale(&dir, -1.f); - b3MprVec3Normalize(&dir); - - - b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 1)); - - b3MprSimplexSetSize(portal, 2); - - // test if origin isn't outside of v1 - dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir); - - - if (b3MprIsZero(dot) || dot < 0.f) - return -1; - - - // vertex 2 - b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v, - &b3MprSimplexPoint(portal, 1)->v); - if (b3MprIsZero(b3MprVec3Len2(&dir))){ - if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin)){ - // origin lies on v1 - return 1; - }else{ - // origin lies on v0-v1 segment - return 2; - } - } - - b3MprVec3Normalize(&dir); - b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 2)); - - dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir); - if (b3MprIsZero(dot) || dot < 0.f) - return -1; - - b3MprSimplexSetSize(portal, 3); - - // vertex 3 direction - b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v, - &b3MprSimplexPoint(portal, 0)->v); - b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v, - &b3MprSimplexPoint(portal, 0)->v); - b3MprVec3Cross(&dir, &va, &vb); - b3MprVec3Normalize(&dir); - - // it is better to form portal faces to be oriented "outside" origin - dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v); - if (dot > 0.f){ - b3MprSimplexSwap(portal, 1, 2); - b3MprVec3Scale(&dir, -1.f); - } - - while (b3MprSimplexSize(portal) < 4){ - b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 3)); - - dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir); - if (b3MprIsZero(dot) || dot < 0.f) - return -1; - - cont = 0; - - // test if origin is outside (v1, v0, v3) - set v2 as v3 and - // continue - b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v, - &b3MprSimplexPoint(portal, 3)->v); - dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v); - if (dot < 0.f && !b3MprIsZero(dot)){ - b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3)); - cont = 1; - } - - if (!cont){ - // test if origin is outside (v3, v0, v2) - set v1 as v3 and - // continue - b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v, - &b3MprSimplexPoint(portal, 2)->v); - dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v); - if (dot < 0.f && !b3MprIsZero(dot)){ - b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3)); - cont = 1; - } - } - - if (cont){ - b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v, - &b3MprSimplexPoint(portal, 0)->v); - b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v, - &b3MprSimplexPoint(portal, 0)->v); - b3MprVec3Cross(&dir, &va, &vb); - b3MprVec3Normalize(&dir); - }else{ - b3MprSimplexSetSize(portal, 4); - } - } - - return 0; -} - - -B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, - b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, - b3ConstArray(b3Collidable_t) cpuCollidables, - b3ConstArray(b3Float4) cpuVertices, - __global b3Float4* sepAxis, - b3MprSimplex_t *portal) -{ - b3Float4 dir; - b3MprSupport_t v4; - - for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++) - //while (1) - { - // compute direction outside the portal (from v0 throught v1,v2,v3 - // face) - b3PortalDir(portal, &dir); - - // test if origin is inside the portal - if (portalEncapsulesOrigin(portal, &dir)) - return 0; - - // get next support point - - b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4); - - - // test if v4 can expand portal to contain origin and if portal - // expanding doesn't reach given tolerance - if (!portalCanEncapsuleOrigin(portal, &v4, &dir) - || portalReachTolerance(portal, &v4, &dir)) - { - return -1; - } - - // v1-v2-v3 triangle must be rearranged to face outside Minkowski - // difference (direction from v0). - b3ExpandPortal(portal, &v4); - } - - return -1; -} - -B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos) -{ - - b3Float4 zero = b3MakeFloat4(0,0,0,0); - b3Float4* b3mpr_vec3_origin = &zero; - - b3Float4 dir; - size_t i; - float b[4], sum, inv; - b3Float4 vec, p1, p2; - - b3PortalDir(portal, &dir); - - // use barycentric coordinates of tetrahedron to find origin - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v, - &b3MprSimplexPoint(portal, 2)->v); - b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v); - - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v, - &b3MprSimplexPoint(portal, 2)->v); - b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v); - - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v, - &b3MprSimplexPoint(portal, 1)->v); - b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v); - - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v, - &b3MprSimplexPoint(portal, 1)->v); - b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v); - - sum = b[0] + b[1] + b[2] + b[3]; - - if (b3MprIsZero(sum) || sum < 0.f){ - b[0] = 0.f; - - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v, - &b3MprSimplexPoint(portal, 3)->v); - b[1] = b3MprVec3Dot(&vec, &dir); - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v, - &b3MprSimplexPoint(portal, 1)->v); - b[2] = b3MprVec3Dot(&vec, &dir); - b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v, - &b3MprSimplexPoint(portal, 2)->v); - b[3] = b3MprVec3Dot(&vec, &dir); - - sum = b[1] + b[2] + b[3]; - } - - inv = 1.f / sum; - - b3MprVec3Copy(&p1, b3mpr_vec3_origin); - b3MprVec3Copy(&p2, b3mpr_vec3_origin); - for (i = 0; i < 4; i++){ - b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1); - b3MprVec3Scale(&vec, b[i]); - b3MprVec3Add(&p1, &vec); - - b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2); - b3MprVec3Scale(&vec, b[i]); - b3MprVec3Add(&p2, &vec); - } - b3MprVec3Scale(&p1, inv); - b3MprVec3Scale(&p2, inv); - - b3MprVec3Copy(pos, &p1); - b3MprVec3Add(pos, &p2); - b3MprVec3Scale(pos, 0.5); -} - -inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b) -{ - b3Float4 ab; - b3MprVec3Sub2(&ab, a, b); - return b3MprVec3Len2(&ab); -} - -inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P, - const b3Float4 *x0, - const b3Float4 *b, - b3Float4 *witness) -{ - // The computation comes from solving equation of segment: - // S(t) = x0 + t.d - // where - x0 is initial point of segment - // - d is direction of segment from x0 (|d| > 0) - // - t belongs to <0, 1> interval - // - // Than, distance from a segment to some point P can be expressed: - // D(t) = |x0 + t.d - P|^2 - // which is distance from any point on segment. Minimization - // of this function brings distance from P to segment. - // Minimization of D(t) leads to simple quadratic equation that's - // solving is straightforward. - // - // Bonus of this method is witness point for free. - - float dist, t; - b3Float4 d, a; - - // direction of segment - b3MprVec3Sub2(&d, b, x0); - - // precompute vector from P to x0 - b3MprVec3Sub2(&a, x0, P); - - t = -1.f * b3MprVec3Dot(&a, &d); - t /= b3MprVec3Len2(&d); - - if (t < 0.f || b3MprIsZero(t)){ - dist = b3MprVec3Dist2(x0, P); - if (witness) - b3MprVec3Copy(witness, x0); - }else if (t > 1.f || b3MprEq(t, 1.f)){ - dist = b3MprVec3Dist2(b, P); - if (witness) - b3MprVec3Copy(witness, b); - }else{ - if (witness){ - b3MprVec3Copy(witness, &d); - b3MprVec3Scale(witness, t); - b3MprVec3Add(witness, x0); - dist = b3MprVec3Dist2(witness, P); - }else{ - // recycling variables - b3MprVec3Scale(&d, t); - b3MprVec3Add(&d, &a); - dist = b3MprVec3Len2(&d); - } - } - - return dist; -} - - -inline float b3MprVec3PointTriDist2(const b3Float4 *P, - const b3Float4 *x0, const b3Float4 *B, - const b3Float4 *C, - b3Float4 *witness) -{ - // Computation comes from analytic expression for triangle (x0, B, C) - // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and - // Then equation for distance is: - // D(s, t) = | T(s, t) - P |^2 - // This leads to minimization of quadratic function of two variables. - // The solution from is taken only if s is between 0 and 1, t is - // between 0 and 1 and t + s < 1, otherwise distance from segment is - // computed. - - b3Float4 d1, d2, a; - float u, v, w, p, q, r; - float s, t, dist, dist2; - b3Float4 witness2; - - b3MprVec3Sub2(&d1, B, x0); - b3MprVec3Sub2(&d2, C, x0); - b3MprVec3Sub2(&a, x0, P); - - u = b3MprVec3Dot(&a, &a); - v = b3MprVec3Dot(&d1, &d1); - w = b3MprVec3Dot(&d2, &d2); - p = b3MprVec3Dot(&a, &d1); - q = b3MprVec3Dot(&a, &d2); - r = b3MprVec3Dot(&d1, &d2); - - s = (q * r - w * p) / (w * v - r * r); - t = (-s * r - q) / w; - - if ((b3MprIsZero(s) || s > 0.f) - && (b3MprEq(s, 1.f) || s < 1.f) - && (b3MprIsZero(t) || t > 0.f) - && (b3MprEq(t, 1.f) || t < 1.f) - && (b3MprEq(t + s, 1.f) || t + s < 1.f)){ - - if (witness){ - b3MprVec3Scale(&d1, s); - b3MprVec3Scale(&d2, t); - b3MprVec3Copy(witness, x0); - b3MprVec3Add(witness, &d1); - b3MprVec3Add(witness, &d2); - - dist = b3MprVec3Dist2(witness, P); - }else{ - dist = s * s * v; - dist += t * t * w; - dist += 2.f * s * t * r; - dist += 2.f * s * p; - dist += 2.f * t * q; - dist += u; - } - }else{ - dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness); - - dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2); - if (dist2 < dist){ - dist = dist2; - if (witness) - b3MprVec3Copy(witness, &witness2); - } - - dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2); - if (dist2 < dist){ - dist = dist2; - if (witness) - b3MprVec3Copy(witness, &witness2); - } - } - - return dist; -} - - -B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, - b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, - b3ConstArray(b3Collidable_t) cpuCollidables, - b3ConstArray(b3Float4) cpuVertices, - __global b3Float4* sepAxis, - b3MprSimplex_t *portal, - float *depth, b3Float4 *pdir, b3Float4 *pos) -{ - b3Float4 dir; - b3MprSupport_t v4; - unsigned long iterations; - - b3Float4 zero = b3MakeFloat4(0,0,0,0); - b3Float4* b3mpr_vec3_origin = &zero; - - - iterations = 1UL; - for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++) - //while (1) - { - // compute portal direction and obtain next support point - b3PortalDir(portal, &dir); - - b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4); - - - // reached tolerance -> find penetration info - if (portalReachTolerance(portal, &v4, &dir) - || iterations ==B3_MPR_MAX_ITERATIONS) - { - *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin,&b3MprSimplexPoint(portal, 1)->v,&b3MprSimplexPoint(portal, 2)->v,&b3MprSimplexPoint(portal, 3)->v,pdir); - *depth = B3_MPR_SQRT(*depth); - - if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z)) - { - - *pdir = dir; - } - b3MprVec3Normalize(pdir); - - // barycentric coordinates: - b3FindPos(portal, pos); - - - return; - } - - b3ExpandPortal(portal, &v4); - - iterations++; - } -} - -B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos) -{ - // Touching contact on portal's v1 - so depth is zero and direction - // is unimportant and pos can be guessed - *depth = 0.f; - b3Float4 zero = b3MakeFloat4(0,0,0,0); - b3Float4* b3mpr_vec3_origin = &zero; - - - b3MprVec3Copy(dir, b3mpr_vec3_origin); - - b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1); - b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2); - b3MprVec3Scale(pos, 0.5); -} - -B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal, - float *depth, b3Float4 *dir, b3Float4 *pos) -{ - - // Origin lies on v0-v1 segment. - // Depth is distance to v1, direction also and position must be - // computed - - b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1); - b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2); - b3MprVec3Scale(pos, 0.5f); - - - b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v); - *depth = B3_MPR_SQRT(b3MprVec3Len2(dir)); - b3MprVec3Normalize(dir); -} - - - -inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB, - b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, - b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, - b3ConstArray(b3Collidable_t) cpuCollidables, - b3ConstArray(b3Float4) cpuVertices, - __global b3Float4* sepAxis, - __global int* hasSepAxis, - float *depthOut, b3Float4* dirOut, b3Float4* posOut) -{ - - b3MprSimplex_t portal; - - -// if (!hasSepAxis[pairIndex]) - // return -1; - - hasSepAxis[pairIndex] = 0; - int res; - - // Phase 1: Portal discovery - res = b3DiscoverPortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,hasSepAxis, &portal); - - - //sepAxis[pairIndex] = *pdir;//or -dir? - - switch (res) - { - case 0: - { - // Phase 2: Portal refinement - - res = b3RefinePortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal); - if (res < 0) - return -1; - - // Phase 3. Penetration info - b3FindPenetr(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal, depthOut, dirOut, posOut); - hasSepAxis[pairIndex] = 1; - sepAxis[pairIndex] = -*dirOut; - break; - } - case 1: - { - // Touching contact on portal's v1. - b3FindPenetrTouch(&portal, depthOut, dirOut, posOut); - break; - } - case 2: - { - - b3FindPenetrSegment( &portal, depthOut, dirOut, posOut); - break; - } - default: - { - hasSepAxis[pairIndex]=0; - //if (res < 0) - //{ - // Origin isn't inside portal - no collision. - return -1; - //} - } - }; - - return 0; -}; - - - -#endif //B3_MPR_PENETRATION_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h deleted file mode 100644 index 718222ebca..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h +++ /dev/null @@ -1,196 +0,0 @@ - -#ifndef B3_NEW_CONTACT_REDUCTION_H -#define B3_NEW_CONTACT_REDUCTION_H - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" - -#define GET_NPOINTS(x) (x).m_worldNormalOnB.w - - -int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx) -{ - if( nPoints == 0 ) - return 0; - - if (nPoints <=4) - return nPoints; - - - if (nPoints >64) - nPoints = 64; - - b3Float4 center = b3MakeFloat4(0,0,0,0); - { - - for (int i=0;i<nPoints;i++) - center += p[i]; - center /= (float)nPoints; - } - - - - // sample 4 directions - - b3Float4 aVector = p[0] - center; - b3Float4 u = b3Cross( nearNormal, aVector ); - b3Float4 v = b3Cross( nearNormal, u ); - u = b3Normalized( u ); - v = b3Normalized( v ); - - - //keep point with deepest penetration - float minW= FLT_MAX; - - int minIndex=-1; - - b3Float4 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; - b3Float4 r = p[ie]-center; - f = b3Dot( u, r ); - if (f<maxDots.x) - { - maxDots.x = f; - contactIdx[0].x = ie; - } - - f = b3Dot( -u, r ); - if (f<maxDots.y) - { - maxDots.y = f; - contactIdx[0].y = ie; - } - - - f = b3Dot( v, r ); - if (f<maxDots.z) - { - maxDots.z = f; - contactIdx[0].z = ie; - } - - f = b3Dot( -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; - -} - -__kernel void b3NewContactReductionKernel( __global b3Int4* pairs, - __global const b3RigidBodyData_t* rigidBodies, - __global const b3Float4* separatingNormals, - __global const int* hasSeparatingAxis, - __global struct b3Contact4Data* globalContactsOut, - __global b3Int4* clippingFaces, - __global b3Float4* worldVertsB2, - volatile __global int* nGlobalContactsOut, - int vertexFaceCapacity, - int contactCapacity, - int numPairs, - int pairIndex - ) -{ -// int i = get_global_id(0); - //int pairIndex = i; - int i = pairIndex; - - b3Int4 contactIdx; - contactIdx=b3MakeInt4(0,1,2,3); - - if (i<numPairs) - { - - if (hasSeparatingAxis[i]) - { - - - - - int nPoints = clippingFaces[pairIndex].w; - - if (nPoints>0) - { - - __global b3Float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity]; - b3Float4 normal = -separatingNormals[i]; - - int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx); - - int dstIdx; - dstIdx = b3AtomicInc( nGlobalContactsOut); - -//#if 0 - b3Assert(dstIdx < contactCapacity); - 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: - c->m_worldPosB[0] = pointsIn[contactIdx.x]; - default: - { - } - }; - - GET_NPOINTS(*c) = nReducedContacts; - - } - - -//#endif - - }// if (numContactsOut>0) - }// if (hasSeparatingAxis[i]) - }// if (i<numPairs) - - - -} -#endif diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h deleted file mode 100644 index 3661e43cf1..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h +++ /dev/null @@ -1,90 +0,0 @@ - - -#ifndef B3_QUANTIZED_BVH_NODE_H -#define B3_QUANTIZED_BVH_NODE_H - -#include "Bullet3Common/shared/b3Float4.h" - -#define B3_MAX_NUM_PARTS_IN_BITS 10 - -///b3QuantizedBvhNodeData 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 b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t; - -struct b3QuantizedBvhNodeData -{ - //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; - //4 bytes - int m_escapeIndexOrTriangleIndex; -}; - -inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode) -{ - unsigned int x=0; - unsigned int y = (~(x&0))<<(31-B3_MAX_NUM_PARTS_IN_BITS); - // Get only the lower bits where the triangle index is stored - return (rootNode->m_escapeIndexOrTriangleIndex&~(y)); -} - -inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode) -{ - //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0; -} - -inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode) -{ - return -rootNode->m_escapeIndexOrTriangleIndex; -} - -inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2,int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization) -{ - b3Float4 clampedPoint = b3MaxFloat4(point2,bvhAabbMin); - clampedPoint = b3MinFloat4 (clampedPoint, bvhAabbMax); - - b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization; - if (isMax) - { - out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1)); - out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1)); - out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1)); - } else - { - out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe)); - out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe)); - out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe)); - } - -} - - -inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow( - const unsigned short int* aabbMin1, - const unsigned short int* aabbMax1, - const unsigned short int* aabbMin2, - const unsigned short int* aabbMax2) -{ - //int overlap = 1; - if (aabbMin1[0] > aabbMax2[0]) - return 0; - if (aabbMax1[0] < aabbMin2[0]) - return 0; - if (aabbMin1[1] > aabbMax2[1]) - return 0; - if (aabbMax1[1] < aabbMin2[1]) - return 0; - if (aabbMin1[2] > aabbMax2[2]) - return 0; - if (aabbMax1[2] < aabbMin2[2]) - return 0; - return 1; - //overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap; - //overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap; - //overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap; - //return overlap; -} - - -#endif //B3_QUANTIZED_BVH_NODE_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h deleted file mode 100644 index 35b5197006..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h +++ /dev/null @@ -1,97 +0,0 @@ -#ifndef B3_REDUCE_CONTACTS_H -#define B3_REDUCE_CONTACTS_H - -inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx) -{ - if( nPoints == 0 ) - return 0; - - if (nPoints <=4) - return nPoints; - - - if (nPoints >64) - nPoints = 64; - - b3Float4 center = b3MakeFloat4(0,0,0,0); - { - - for (int i=0;i<nPoints;i++) - center += p[i]; - center /= (float)nPoints; - } - - - - // sample 4 directions - - b3Float4 aVector = p[0] - center; - b3Float4 u = b3Cross3( nearNormal, aVector ); - b3Float4 v = b3Cross3( nearNormal, u ); - u = b3FastNormalized3( u ); - v = b3FastNormalized3( v ); - - - //keep point with deepest penetration - float minW= FLT_MAX; - - int minIndex=-1; - - b3Float4 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; - b3Float4 r = p[ie]-center; - f = b3Dot3F4( u, r ); - if (f<maxDots.x) - { - maxDots.x = f; - contactIdx[0].x = ie; - } - - f = b3Dot3F4( -u, r ); - if (f<maxDots.y) - { - maxDots.y = f; - contactIdx[0].y = ie; - } - - - f = b3Dot3F4( v, r ); - if (f<maxDots.z) - { - maxDots.z = f; - contactIdx[0].z = ie; - } - - f = b3Dot3F4( -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; - -} - -#endif //B3_REDUCE_CONTACTS_H diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h deleted file mode 100644 index 50632c871f..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h +++ /dev/null @@ -1,34 +0,0 @@ -#ifndef B3_RIGIDBODY_DATA_H -#define B3_RIGIDBODY_DATA_H - -#include "Bullet3Common/shared/b3Float4.h" -#include "Bullet3Common/shared/b3Quat.h" -#include "Bullet3Common/shared/b3Mat3x3.h" - -typedef struct b3RigidBodyData b3RigidBodyData_t; - - -struct b3RigidBodyData -{ - b3Float4 m_pos; - b3Quat m_quat; - b3Float4 m_linVel; - b3Float4 m_angVel; - - int m_collidableIdx; - float m_invMass; - float m_restituitionCoeff; - float m_frictionCoeff; -}; - -typedef struct b3InertiaData b3InertiaData_t; - -struct b3InertiaData -{ - b3Mat3x3 m_invInertiaWorld; - b3Mat3x3 m_initInvInertia; -}; - - -#endif //B3_RIGIDBODY_DATA_H -
\ No newline at end of file diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h deleted file mode 100644 index 8d40d19a03..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h +++ /dev/null @@ -1,40 +0,0 @@ -#ifndef B3_UPDATE_AABBS_H -#define B3_UPDATE_AABBS_H - - - -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" - - - -void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs) -{ - __global const b3RigidBodyData_t* body = &bodies[bodyId]; - - b3Float4 position = body->m_pos; - b3Quat orientation = body->m_quat; - - int collidableIndex = body->m_collidableIdx; - int shapeIndex = collidables[collidableIndex].m_shapeIndex; - - if (shapeIndex>=0) - { - - b3Aabb_t localAabb = localShapeAABB[collidableIndex]; - b3Aabb_t worldAabb; - - b3Float4 aabbAMinOut,aabbAMaxOut; - float margin = 0.f; - b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut); - - worldAabb.m_minVec =aabbAMinOut; - worldAabb.m_minIndices[3] = bodyId; - worldAabb.m_maxVec = aabbAMaxOut; - worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1; - worldAabbs[bodyId] = worldAabb; - } -} - -#endif //B3_UPDATE_AABBS_H |