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-rw-r--r--thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl1374
1 files changed, 1374 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl b/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
new file mode 100644
index 0000000000..9c9e920f13
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
@@ -0,0 +1,1374 @@
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
+
+#define SHAPE_CONVEX_HULL 3
+#define SHAPE_PLANE 4
+#define SHAPE_CONCAVE_TRIMESH 5
+#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
+#define SHAPE_SPHERE 7
+
+
+#pragma OPENCL EXTENSION cl_amd_printf : enable
+#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
+#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
+#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
+#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
+
+#ifdef cl_ext_atomic_counters_32
+#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
+#else
+#define counter32_t volatile __global int*
+#endif
+
+#define GET_GROUP_IDX get_group_id(0)
+#define GET_LOCAL_IDX get_local_id(0)
+#define GET_GLOBAL_IDX get_global_id(0)
+#define GET_GROUP_SIZE get_local_size(0)
+#define GET_NUM_GROUPS get_num_groups(0)
+#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
+#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
+#define AtomInc(x) atom_inc(&(x))
+#define AtomInc1(x, out) out = atom_inc(&(x))
+#define AppendInc(x, out) out = atomic_inc(x)
+#define AtomAdd(x, value) atom_add(&(x), value)
+#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
+#define AtomXhg(x, value) atom_xchg ( &(x), value )
+
+#define max2 max
+#define min2 min
+
+typedef unsigned int u32;
+
+
+
+
+typedef struct
+{
+ union
+ {
+ float4 m_min;
+ float m_minElems[4];
+ int m_minIndices[4];
+ };
+ union
+ {
+ float4 m_max;
+ float m_maxElems[4];
+ int m_maxIndices[4];
+ };
+} btAabbCL;
+
+///keep this in sync with btCollidable.h
+typedef struct
+{
+ int m_numChildShapes;
+ float m_radius;
+ int m_shapeType;
+ int m_shapeIndex;
+
+} btCollidableGpu;
+
+typedef struct
+{
+ float4 m_childPosition;
+ float4 m_childOrientation;
+ int m_shapeIndex;
+ int m_unused0;
+ int m_unused1;
+ int m_unused2;
+} btGpuChildShape;
+
+#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
+
+typedef struct
+{
+ float4 m_pos;
+ float4 m_quat;
+ float4 m_linVel;
+ float4 m_angVel;
+
+ u32 m_collidableIdx;
+ float m_invMass;
+ float m_restituitionCoeff;
+ float m_frictionCoeff;
+} BodyData;
+
+
+typedef struct
+{
+ float4 m_localCenter;
+ float4 m_extents;
+ float4 mC;
+ float4 mE;
+
+ float m_radius;
+ int m_faceOffset;
+ int m_numFaces;
+ int m_numVertices;
+
+ int m_vertexOffset;
+ int m_uniqueEdgesOffset;
+ int m_numUniqueEdges;
+ int m_unused;
+
+} ConvexPolyhedronCL;
+
+typedef struct
+{
+ float4 m_plane;
+ int m_indexOffset;
+ int m_numIndices;
+} btGpuFace;
+
+#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
+
+#define make_float4 (float4)
+#define make_float2 (float2)
+#define make_uint4 (uint4)
+#define make_int4 (int4)
+#define make_uint2 (uint2)
+#define make_int2 (int2)
+
+
+__inline
+float fastDiv(float numerator, float denominator)
+{
+ return native_divide(numerator, denominator);
+// return numerator/denominator;
+}
+
+__inline
+float4 fastDiv4(float4 numerator, float4 denominator)
+{
+ return native_divide(numerator, denominator);
+}
+
+
+__inline
+float4 cross3(float4 a, float4 b)
+{
+ return cross(a,b);
+}
+
+//#define dot3F4 dot
+
+__inline
+float dot3F4(float4 a, float4 b)
+{
+ float4 a1 = make_float4(a.xyz,0.f);
+ float4 b1 = make_float4(b.xyz,0.f);
+ return dot(a1, b1);
+}
+
+__inline
+float4 fastNormalize4(float4 v)
+{
+ return fast_normalize(v);
+}
+
+
+///////////////////////////////////////
+// Quaternion
+///////////////////////////////////////
+
+typedef float4 Quaternion;
+
+__inline
+Quaternion qtMul(Quaternion a, Quaternion b);
+
+__inline
+Quaternion qtNormalize(Quaternion in);
+
+__inline
+float4 qtRotate(Quaternion q, float4 vec);
+
+__inline
+Quaternion qtInvert(Quaternion q);
+
+
+
+
+__inline
+Quaternion qtMul(Quaternion a, Quaternion b)
+{
+ Quaternion ans;
+ ans = cross3( a, b );
+ ans += a.w*b+b.w*a;
+// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
+ ans.w = a.w*b.w - dot3F4(a, b);
+ return ans;
+}
+
+__inline
+Quaternion qtNormalize(Quaternion in)
+{
+ return fastNormalize4(in);
+// in /= length( in );
+// return in;
+}
+__inline
+float4 qtRotate(Quaternion q, float4 vec)
+{
+ Quaternion qInv = qtInvert( q );
+ float4 vcpy = vec;
+ vcpy.w = 0.f;
+ float4 out = qtMul(qtMul(q,vcpy),qInv);
+ return out;
+}
+
+__inline
+Quaternion qtInvert(Quaternion q)
+{
+ return (Quaternion)(-q.xyz, q.w);
+}
+
+__inline
+float4 qtInvRotate(const Quaternion q, float4 vec)
+{
+ return qtRotate( qtInvert( q ), vec );
+}
+
+__inline
+float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
+{
+ return qtRotate( *orientation, *p ) + (*translation);
+}
+
+void trInverse(float4 translationIn, Quaternion orientationIn,
+ float4* translationOut, Quaternion* orientationOut)
+{
+ *orientationOut = qtInvert(orientationIn);
+ *translationOut = qtRotate(*orientationOut, -translationIn);
+}
+
+void trMul(float4 translationA, Quaternion orientationA,
+ float4 translationB, Quaternion orientationB,
+ float4* translationOut, Quaternion* orientationOut)
+{
+ *orientationOut = qtMul(orientationA,orientationB);
+ *translationOut = transform(&translationB,&translationA,&orientationA);
+}
+
+
+
+__inline
+float4 normalize3(const float4 a)
+{
+ float4 n = make_float4(a.x, a.y, a.z, 0.f);
+ return fastNormalize4( n );
+}
+
+
+__inline float4 lerp3(const float4 a,const float4 b, float t)
+{
+ return make_float4( a.x + (b.x - a.x) * t,
+ a.y + (b.y - a.y) * t,
+ a.z + (b.z - a.z) * t,
+ 0.f);
+}
+
+
+float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)
+{
+ float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);
+ float dist = dot3F4(n, point) + planeEqn.w;
+ *closestPointOnFace = point - dist * n;
+ return dist;
+}
+
+
+
+inline bool IsPointInPolygon(float4 p,
+ const btGpuFace* face,
+ __global const float4* baseVertex,
+ __global const int* convexIndices,
+ float4* out)
+{
+ float4 a;
+ float4 b;
+ float4 ab;
+ float4 ap;
+ float4 v;
+
+ float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
+
+ if (face->m_numIndices<2)
+ return false;
+
+
+ float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
+
+ b = v0;
+
+ for(unsigned i=0; i != face->m_numIndices; ++i)
+ {
+ a = b;
+ float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
+ b = vi;
+ ab = b-a;
+ ap = p-a;
+ v = cross3(ab,plane);
+
+ if (dot(ap, v) > 0.f)
+ {
+ float ab_m2 = dot(ab, ab);
+ float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;
+ if (rt <= 0.f)
+ {
+ *out = a;
+ }
+ else if (rt >= 1.f)
+ {
+ *out = b;
+ }
+ else
+ {
+ float s = 1.f - rt;
+ out[0].x = s * a.x + rt * b.x;
+ out[0].y = s * a.y + rt * b.y;
+ out[0].z = s * a.z + rt * b.z;
+ }
+ return false;
+ }
+ }
+ return true;
+}
+
+
+
+
+void computeContactSphereConvex(int pairIndex,
+ int bodyIndexA, int bodyIndexB,
+ int collidableIndexA, int collidableIndexB,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* convexVertices,
+ __global const int* convexIndices,
+ __global const btGpuFace* faces,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int maxContactCapacity,
+ float4 spherePos2,
+ float radius,
+ float4 pos,
+ float4 quat
+ )
+{
+
+ float4 invPos;
+ float4 invOrn;
+
+ trInverse(pos,quat, &invPos,&invOrn);
+
+ float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
+
+ int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
+ int numFaces = convexShapes[shapeIndex].m_numFaces;
+ float4 closestPnt = (float4)(0, 0, 0, 0);
+ float4 hitNormalWorld = (float4)(0, 0, 0, 0);
+ float minDist = -1000000.f;
+ bool bCollide = true;
+
+ for ( int f = 0; f < numFaces; f++ )
+ {
+ btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
+
+ // set up a plane equation
+ float4 planeEqn;
+ float4 n1 = face.m_plane;
+ n1.w = 0.f;
+ planeEqn = n1;
+ planeEqn.w = face.m_plane.w;
+
+
+ // compute a signed distance from the vertex in cloth to the face of rigidbody.
+ float4 pntReturn;
+ float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
+
+ // If the distance is positive, the plane is a separating plane.
+ if ( dist > radius )
+ {
+ bCollide = false;
+ break;
+ }
+
+
+ if (dist>0)
+ {
+ //might hit an edge or vertex
+ float4 out;
+ float4 zeroPos = make_float4(0,0,0,0);
+
+ bool isInPoly = IsPointInPolygon(spherePos,
+ &face,
+ &convexVertices[convexShapes[shapeIndex].m_vertexOffset],
+ convexIndices,
+ &out);
+ if (isInPoly)
+ {
+ if (dist>minDist)
+ {
+ minDist = dist;
+ closestPnt = pntReturn;
+ hitNormalWorld = planeEqn;
+
+ }
+ } else
+ {
+ float4 tmp = spherePos-out;
+ float l2 = dot(tmp,tmp);
+ if (l2<radius*radius)
+ {
+ dist = sqrt(l2);
+ if (dist>minDist)
+ {
+ minDist = dist;
+ closestPnt = out;
+ hitNormalWorld = tmp/dist;
+
+ }
+
+ } else
+ {
+ bCollide = false;
+ break;
+ }
+ }
+ } else
+ {
+ if ( dist > minDist )
+ {
+ minDist = dist;
+ closestPnt = pntReturn;
+ hitNormalWorld.xyz = planeEqn.xyz;
+ }
+ }
+
+ }
+
+
+
+ if (bCollide && minDist > -10000)
+ {
+ float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
+ float4 pOnB1 = transform(&closestPnt,&pos,&quat);
+
+ float actualDepth = minDist-radius;
+ if (actualDepth<=0.f)
+ {
+
+
+ pOnB1.w = actualDepth;
+
+ int dstIdx;
+ AppendInc( nGlobalContactsOut, dstIdx );
+
+
+ if (1)//dstIdx < maxContactCapacity)
+ {
+ __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
+ c->m_worldNormalOnB = -normalOnSurfaceB1;
+ c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+ 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;
+ c->m_childIndexA = -1;
+ c->m_childIndexB = -1;
+
+ GET_NPOINTS(*c) = 1;
+ }
+
+ }
+ }//if (hasCollision)
+
+}
+
+
+
+int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)
+{
+ if( nPoints == 0 )
+ return 0;
+
+ if (nPoints <=4)
+ return nPoints;
+
+
+ if (nPoints >64)
+ nPoints = 64;
+
+ float4 center = make_float4(0.f);
+ {
+
+ for (int i=0;i<nPoints;i++)
+ center += p[i];
+ center /= (float)nPoints;
+ }
+
+
+
+ // sample 4 directions
+
+ float4 aVector = p[0] - center;
+ float4 u = cross3( nearNormal, aVector );
+ float4 v = cross3( nearNormal, u );
+ u = normalize3( u );
+ v = normalize3( v );
+
+
+ //keep point with deepest penetration
+ float minW= FLT_MAX;
+
+ int minIndex=-1;
+
+ float4 maxDots;
+ maxDots.x = FLT_MIN;
+ maxDots.y = FLT_MIN;
+ maxDots.z = FLT_MIN;
+ maxDots.w = FLT_MIN;
+
+ // idx, distance
+ for(int ie = 0; ie<nPoints; ie++ )
+ {
+ if (p[ie].w<minW)
+ {
+ minW = p[ie].w;
+ minIndex=ie;
+ }
+ float f;
+ float4 r = p[ie]-center;
+ f = dot3F4( u, r );
+ if (f<maxDots.x)
+ {
+ maxDots.x = f;
+ contactIdx[0].x = ie;
+ }
+
+ f = dot3F4( -u, r );
+ if (f<maxDots.y)
+ {
+ maxDots.y = f;
+ contactIdx[0].y = ie;
+ }
+
+
+ f = dot3F4( v, r );
+ if (f<maxDots.z)
+ {
+ maxDots.z = f;
+ contactIdx[0].z = ie;
+ }
+
+ f = dot3F4( -v, r );
+ if (f<maxDots.w)
+ {
+ maxDots.w = f;
+ contactIdx[0].w = ie;
+ }
+
+ }
+
+ if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
+ {
+ //replace the first contact with minimum (todo: replace contact with least penetration)
+ contactIdx[0].x = minIndex;
+ }
+
+ return 4;
+
+}
+
+#define MAX_PLANE_CONVEX_POINTS 64
+
+int computeContactPlaneConvex(int pairIndex,
+ int bodyIndexA, int bodyIndexB,
+ int collidableIndexA, int collidableIndexB,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu*collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* convexVertices,
+ __global const int* convexIndices,
+ __global const btGpuFace* faces,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int maxContactCapacity,
+ float4 posB,
+ Quaternion ornB
+ )
+{
+ int resultIndex=-1;
+
+ int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
+ __global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
+
+ float4 posA;
+ posA = rigidBodies[bodyIndexA].m_pos;
+ Quaternion ornA;
+ ornA = rigidBodies[bodyIndexA].m_quat;
+
+ int numContactsOut = 0;
+ int numWorldVertsB1= 0;
+
+ float4 planeEq;
+ planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
+ float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
+ float4 planeNormalWorld;
+ planeNormalWorld = qtRotate(ornA,planeNormal);
+ float planeConstant = planeEq.w;
+
+ float4 invPosA;Quaternion invOrnA;
+ float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
+ {
+
+ trInverse(posA,ornA,&invPosA,&invOrnA);
+ trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
+ }
+ float4 invPosB;Quaternion invOrnB;
+ float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
+ {
+
+ trInverse(posB,ornB,&invPosB,&invOrnB);
+ trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);
+ }
+
+
+ float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);
+ float maxDot = -1e30;
+ int hitVertex=-1;
+ float4 hitVtx;
+
+
+
+ float4 contactPoints[MAX_PLANE_CONVEX_POINTS];
+ int numPoints = 0;
+
+ int4 contactIdx;
+ contactIdx=make_int4(0,1,2,3);
+
+
+ for (int i=0;i<hullB->m_numVertices;i++)
+ {
+ float4 vtx = convexVertices[hullB->m_vertexOffset+i];
+ float curDot = dot(vtx,planeNormalInConvex);
+
+
+ if (curDot>maxDot)
+ {
+ hitVertex=i;
+ maxDot=curDot;
+ hitVtx = vtx;
+ //make sure the deepest points is always included
+ if (numPoints==MAX_PLANE_CONVEX_POINTS)
+ numPoints--;
+ }
+
+ if (numPoints<MAX_PLANE_CONVEX_POINTS)
+ {
+ float4 vtxWorld = transform(&vtx, &posB, &ornB);
+ float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;
+ float dist = dot(planeNormal,vtxInPlane)-planeConstant;
+ if (dist<0.f)
+ {
+ vtxWorld.w = dist;
+ contactPoints[numPoints] = vtxWorld;
+ numPoints++;
+ }
+ }
+
+ }
+
+ int numReducedPoints = numPoints;
+ if (numPoints>4)
+ {
+ numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
+ }
+
+ if (numReducedPoints>0)
+ {
+ int dstIdx;
+ AppendInc( nGlobalContactsOut, dstIdx );
+
+ if (dstIdx < maxContactCapacity)
+ {
+ resultIndex = dstIdx;
+ __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
+ c->m_worldNormalOnB = -planeNormalWorld;
+ //c->setFrictionCoeff(0.7);
+ //c->setRestituitionCoeff(0.f);
+ c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+ 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_childIndexA = -1;
+ c->m_childIndexB = -1;
+
+ switch (numReducedPoints)
+ {
+ case 4:
+ c->m_worldPosB[3] = contactPoints[contactIdx.w];
+ case 3:
+ c->m_worldPosB[2] = contactPoints[contactIdx.z];
+ case 2:
+ c->m_worldPosB[1] = contactPoints[contactIdx.y];
+ case 1:
+ c->m_worldPosB[0] = contactPoints[contactIdx.x];
+ default:
+ {
+ }
+ };
+
+ GET_NPOINTS(*c) = numReducedPoints;
+ }//if (dstIdx < numPairs)
+ }
+
+ return resultIndex;
+}
+
+
+void computeContactPlaneSphere(int pairIndex,
+ int bodyIndexA, int bodyIndexB,
+ int collidableIndexA, int collidableIndexB,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const btGpuFace* faces,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int maxContactCapacity)
+{
+ float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
+ float radius = collidables[collidableIndexB].m_radius;
+ float4 posA1 = rigidBodies[bodyIndexA].m_pos;
+ float4 ornA1 = rigidBodies[bodyIndexA].m_quat;
+ float4 posB1 = rigidBodies[bodyIndexB].m_pos;
+ float4 ornB1 = rigidBodies[bodyIndexB].m_quat;
+
+ bool hasCollision = false;
+ float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
+ float planeConstant = planeEq.w;
+ float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
+ {
+ float4 invPosA;Quaternion invOrnA;
+ trInverse(posA1,ornA1,&invPosA,&invOrnA);
+ trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
+ }
+ float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
+ {
+ float4 invPosB;Quaternion invOrnB;
+ trInverse(posB1,ornB1,&invPosB,&invOrnB);
+ trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);
+ }
+ float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;
+ float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
+ float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;
+ hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();
+ if (hasCollision)
+ {
+ float4 vtxInPlaneProjected1 = vtxInPlane1 - distance*planeNormal1;
+ float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);
+ float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);
+ float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;
+ pOnB1.w = distance;
+
+ int dstIdx;
+ AppendInc( nGlobalContactsOut, dstIdx );
+
+ if (dstIdx < maxContactCapacity)
+ {
+ __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
+ c->m_worldNormalOnB = -normalOnSurfaceB1;
+ c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+ 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;
+ c->m_childIndexA = -1;
+ c->m_childIndexB = -1;
+ GET_NPOINTS(*c) = 1;
+ }//if (dstIdx < numPairs)
+ }//if (hasCollision)
+}
+
+
+__kernel void primitiveContactsKernel( __global int4* pairs,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* vertices,
+ __global const float4* uniqueEdges,
+ __global const btGpuFace* faces,
+ __global const int* indices,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int numPairs, int maxContactCapacity)
+{
+
+ int i = get_global_id(0);
+ int pairIndex = i;
+
+ float4 worldVertsB1[64];
+ float4 worldVertsB2[64];
+ int capacityWorldVerts = 64;
+
+ float4 localContactsOut[64];
+ int localContactCapacity=64;
+
+ float minDist = -1e30f;
+ float maxDist = 0.02f;
+
+ if (i<numPairs)
+ {
+
+ int bodyIndexA = pairs[i].x;
+ int bodyIndexB = pairs[i].y;
+
+ int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
+ int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
+ {
+
+ float4 posB;
+ posB = rigidBodies[bodyIndexB].m_pos;
+ Quaternion ornB;
+ ornB = rigidBodies[bodyIndexB].m_quat;
+ int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
+ rigidBodies,collidables,convexShapes,vertices,indices,
+ faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);
+ if (contactIndex>=0)
+ pairs[pairIndex].z = contactIndex;
+
+ return;
+ }
+
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
+ {
+
+ float4 posA;
+ posA = rigidBodies[bodyIndexA].m_pos;
+ Quaternion ornA;
+ ornA = rigidBodies[bodyIndexA].m_quat;
+
+
+ int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
+ rigidBodies,collidables,convexShapes,vertices,indices,
+ faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
+
+ if (contactIndex>=0)
+ pairs[pairIndex].z = contactIndex;
+
+ return;
+ }
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
+ {
+ computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
+ rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
+ return;
+ }
+
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
+ {
+
+
+ computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
+ rigidBodies,collidables,
+ faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
+
+ return;
+ }
+
+
+
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
+ {
+
+ float4 spherePos = rigidBodies[bodyIndexA].m_pos;
+ float sphereRadius = collidables[collidableIndexA].m_radius;
+ float4 convexPos = rigidBodies[bodyIndexB].m_pos;
+ float4 convexOrn = rigidBodies[bodyIndexB].m_quat;
+
+ computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
+ rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
+ spherePos,sphereRadius,convexPos,convexOrn);
+
+ return;
+ }
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
+ {
+
+ float4 spherePos = rigidBodies[bodyIndexB].m_pos;
+ float sphereRadius = collidables[collidableIndexB].m_radius;
+ float4 convexPos = rigidBodies[bodyIndexA].m_pos;
+ float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
+
+ computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
+ rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
+ spherePos,sphereRadius,convexPos,convexOrn);
+ return;
+ }
+
+
+
+
+
+
+ if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
+ collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
+ {
+ //sphere-sphere
+ float radiusA = collidables[collidableIndexA].m_radius;
+ float radiusB = collidables[collidableIndexB].m_radius;
+ float4 posA = rigidBodies[bodyIndexA].m_pos;
+ float4 posB = rigidBodies[bodyIndexB].m_pos;
+
+ float4 diff = posA-posB;
+ float len = length(diff);
+
+ ///iff distance positive, don't generate a new contact
+ if ( len <= (radiusA+radiusB))
+ {
+ ///distance (negative means penetration)
+ float dist = len - (radiusA+radiusB);
+ float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
+ if (len > 0.00001)
+ {
+ normalOnSurfaceB = diff / len;
+ }
+ float4 contactPosB = posB + normalOnSurfaceB*radiusB;
+ contactPosB.w = dist;
+
+ int dstIdx;
+ AppendInc( nGlobalContactsOut, dstIdx );
+
+ if (dstIdx < maxContactCapacity)
+ {
+ __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
+ c->m_worldNormalOnB = normalOnSurfaceB;
+ c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+ c->m_batchIdx = pairIndex;
+ int bodyA = pairs[pairIndex].x;
+ int bodyB = pairs[pairIndex].y;
+ c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
+ c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
+ c->m_worldPosB[0] = contactPosB;
+ c->m_childIndexA = -1;
+ c->m_childIndexB = -1;
+ GET_NPOINTS(*c) = 1;
+ }//if (dstIdx < numPairs)
+ }//if ( len <= (radiusA+radiusB))
+
+ return;
+ }//SHAPE_SPHERE SHAPE_SPHERE
+
+ }// if (i<numPairs)
+
+}
+
+
+// work-in-progress
+__kernel void processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* vertices,
+ __global const float4* uniqueEdges,
+ __global const btGpuFace* faces,
+ __global const int* indices,
+ __global btAabbCL* aabbs,
+ __global const btGpuChildShape* gpuChildShapes,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int numCompoundPairs, int maxContactCapacity
+ )
+{
+
+ int i = get_global_id(0);
+ if (i<numCompoundPairs)
+ {
+ int bodyIndexA = gpuCompoundPairs[i].x;
+ int bodyIndexB = gpuCompoundPairs[i].y;
+
+ int childShapeIndexA = gpuCompoundPairs[i].z;
+ int childShapeIndexB = gpuCompoundPairs[i].w;
+
+ int collidableIndexA = -1;
+ int collidableIndexB = -1;
+
+ float4 ornA = rigidBodies[bodyIndexA].m_quat;
+ float4 posA = rigidBodies[bodyIndexA].m_pos;
+
+ float4 ornB = rigidBodies[bodyIndexB].m_quat;
+ float4 posB = rigidBodies[bodyIndexB].m_pos;
+
+ if (childShapeIndexA >= 0)
+ {
+ collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
+ float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
+ float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
+ float4 newPosA = qtRotate(ornA,childPosA)+posA;
+ float4 newOrnA = qtMul(ornA,childOrnA);
+ posA = newPosA;
+ ornA = newOrnA;
+ } else
+ {
+ collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
+ }
+
+ if (childShapeIndexB>=0)
+ {
+ collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
+ float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
+ float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
+ float4 newPosB = transform(&childPosB,&posB,&ornB);
+ float4 newOrnB = qtMul(ornB,childOrnB);
+ posB = newPosB;
+ ornB = newOrnB;
+ } else
+ {
+ collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
+ }
+
+ int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
+ int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
+
+ int shapeTypeA = collidables[collidableIndexA].m_shapeType;
+ int shapeTypeB = collidables[collidableIndexB].m_shapeType;
+
+ int pairIndex = i;
+ if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))
+ {
+
+ computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB, collidableIndexA,collidableIndexB,
+ rigidBodies,collidables,convexShapes,vertices,indices,
+ faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);
+ return;
+ }
+
+ if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))
+ {
+
+ computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
+ rigidBodies,collidables,convexShapes,vertices,indices,
+ faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
+ return;
+ }
+
+ if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))
+ {
+ float4 spherePos = rigidBodies[bodyIndexB].m_pos;
+ float sphereRadius = collidables[collidableIndexB].m_radius;
+ float4 convexPos = posA;
+ float4 convexOrn = ornA;
+
+ computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA,
+ rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
+ spherePos,sphereRadius,convexPos,convexOrn);
+
+ return;
+ }
+
+ if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))
+ {
+
+ float4 spherePos = rigidBodies[bodyIndexA].m_pos;
+ float sphereRadius = collidables[collidableIndexA].m_radius;
+ float4 convexPos = posB;
+ float4 convexOrn = ornB;
+
+
+ computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
+ rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,
+ spherePos,sphereRadius,convexPos,convexOrn);
+
+ return;
+ }
+ }// if (i<numCompoundPairs)
+}
+
+
+bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )
+{
+
+ const float4* p1 = &vertices[0];
+ const float4* p2 = &vertices[1];
+ const float4* p3 = &vertices[2];
+
+ float4 edge1; edge1 = (*p2 - *p1);
+ float4 edge2; edge2 = ( *p3 - *p2 );
+ float4 edge3; edge3 = ( *p1 - *p3 );
+
+
+ float4 p1_to_p; p1_to_p = ( *p - *p1 );
+ float4 p2_to_p; p2_to_p = ( *p - *p2 );
+ float4 p3_to_p; p3_to_p = ( *p - *p3 );
+
+ float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));
+ float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));
+ float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));
+
+
+
+ float r1, r2, r3;
+ r1 = dot(edge1_normal,p1_to_p );
+ r2 = dot(edge2_normal,p2_to_p );
+ r3 = dot(edge3_normal,p3_to_p );
+
+ if ( r1 > 0 && r2 > 0 && r3 > 0 )
+ return true;
+ if ( r1 <= 0 && r2 <= 0 && r3 <= 0 )
+ return true;
+ return false;
+
+}
+
+
+float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest)
+{
+ float4 diff = p - from;
+ float4 v = to - from;
+ float t = dot(v,diff);
+
+ if (t > 0)
+ {
+ float dotVV = dot(v,v);
+ if (t < dotVV)
+ {
+ t /= dotVV;
+ diff -= t*v;
+ } else
+ {
+ t = 1;
+ diff -= v;
+ }
+ } else
+ {
+ t = 0;
+ }
+ *nearest = from + t*v;
+ return dot(diff,diff);
+}
+
+
+void computeContactSphereTriangle(int pairIndex,
+ int bodyIndexA, int bodyIndexB,
+ int collidableIndexA, int collidableIndexB,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ const float4* triangleVertices,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int maxContactCapacity,
+ float4 spherePos2,
+ float radius,
+ float4 pos,
+ float4 quat,
+ int faceIndex
+ )
+{
+
+ float4 invPos;
+ float4 invOrn;
+
+ trInverse(pos,quat, &invPos,&invOrn);
+ float4 spherePos = transform(&spherePos2,&invPos,&invOrn);
+ int numFaces = 3;
+ float4 closestPnt = (float4)(0, 0, 0, 0);
+ float4 hitNormalWorld = (float4)(0, 0, 0, 0);
+ float minDist = -1000000.f;
+ bool bCollide = false;
+
+
+ //////////////////////////////////////
+
+ float4 sphereCenter;
+ sphereCenter = spherePos;
+
+ const float4* vertices = triangleVertices;
+ float contactBreakingThreshold = 0.f;//todo?
+ float radiusWithThreshold = radius + contactBreakingThreshold;
+ float4 edge10;
+ edge10 = vertices[1]-vertices[0];
+ edge10.w = 0.f;//is this needed?
+ float4 edge20;
+ edge20 = vertices[2]-vertices[0];
+ edge20.w = 0.f;//is this needed?
+ float4 normal = cross3(edge10,edge20);
+ normal = normalize(normal);
+ float4 p1ToCenter;
+ p1ToCenter = sphereCenter - vertices[0];
+
+ float distanceFromPlane = dot(p1ToCenter,normal);
+
+ if (distanceFromPlane < 0.f)
+ {
+ //triangle facing the other way
+ distanceFromPlane *= -1.f;
+ normal *= -1.f;
+ }
+ hitNormalWorld = normal;
+
+ bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
+
+ // Check for contact / intersection
+ bool hasContact = false;
+ float4 contactPoint;
+ if (isInsideContactPlane)
+ {
+
+ if (pointInTriangle(vertices,&normal, &sphereCenter))
+ {
+ // Inside the contact wedge - touches a point on the shell plane
+ hasContact = true;
+ contactPoint = sphereCenter - normal*distanceFromPlane;
+
+ } else {
+ // Could be inside one of the contact capsules
+ float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
+ float4 nearestOnEdge;
+ int numEdges = 3;
+ for (int i = 0; i < numEdges; i++)
+ {
+ float4 pa =vertices[i];
+ float4 pb = vertices[(i+1)%3];
+
+ float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);
+ if (distanceSqr < contactCapsuleRadiusSqr)
+ {
+ // Yep, we're inside a capsule
+ hasContact = true;
+ contactPoint = nearestOnEdge;
+
+ }
+
+ }
+ }
+ }
+
+ if (hasContact)
+ {
+
+ closestPnt = contactPoint;
+ float4 contactToCenter = sphereCenter - contactPoint;
+ minDist = length(contactToCenter);
+ if (minDist>FLT_EPSILON)
+ {
+ hitNormalWorld = normalize(contactToCenter);//*(1./minDist);
+ bCollide = true;
+ }
+
+ }
+
+
+ /////////////////////////////////////
+
+ if (bCollide && minDist > -10000)
+ {
+
+ float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);
+ float4 pOnB1 = transform(&closestPnt,&pos,&quat);
+ float actualDepth = minDist-radius;
+
+
+ if (actualDepth<=0.f)
+ {
+ pOnB1.w = actualDepth;
+ int dstIdx;
+
+
+ float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);
+ if (lenSqr>FLT_EPSILON)
+ {
+ AppendInc( nGlobalContactsOut, dstIdx );
+
+ if (dstIdx < maxContactCapacity)
+ {
+ __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
+ c->m_worldNormalOnB = -normalOnSurfaceB1;
+ c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+ 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;
+
+ c->m_childIndexA = -1;
+ c->m_childIndexB = faceIndex;
+
+ GET_NPOINTS(*c) = 1;
+ }
+ }
+
+ }
+ }//if (hasCollision)
+
+}
+
+
+
+// work-in-progress
+__kernel void findConcaveSphereContactsKernel( __global int4* concavePairs,
+ __global const BodyData* rigidBodies,
+ __global const btCollidableGpu* collidables,
+ __global const ConvexPolyhedronCL* convexShapes,
+ __global const float4* vertices,
+ __global const float4* uniqueEdges,
+ __global const btGpuFace* faces,
+ __global const int* indices,
+ __global btAabbCL* aabbs,
+ __global struct b3Contact4Data* restrict globalContactsOut,
+ counter32_t nGlobalContactsOut,
+ int numConcavePairs, int maxContactCapacity
+ )
+{
+
+ 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_SPHERE)
+ {
+ int f = concavePairs[i].z;
+ btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
+
+ float4 verticesA[3];
+ for (int i=0;i<3;i++)
+ {
+ int index = indices[face.m_indexOffset+i];
+ float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
+ verticesA[i] = vert;
+ }
+
+ float4 spherePos = rigidBodies[bodyIndexB].m_pos;
+ float sphereRadius = collidables[collidableIndexB].m_radius;
+ float4 convexPos = rigidBodies[bodyIndexA].m_pos;
+ float4 convexOrn = rigidBodies[bodyIndexA].m_quat;
+
+ computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA,
+ rigidBodies,collidables,
+ verticesA,
+ globalContactsOut, nGlobalContactsOut,maxContactCapacity,
+ spherePos,sphereRadius,convexPos,convexOrn, f);
+
+ return;
+ }
+} \ No newline at end of file
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-15 09:48:38 +0000