e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
1221 lines
32 KiB
Common Lisp
1221 lines
32 KiB
Common Lisp
|
|
//keep this enum in sync with the CPU version (in btCollidable.h)
|
|
//written by Erwin Coumans
|
|
|
|
|
|
#define SHAPE_CONVEX_HULL 3
|
|
#define SHAPE_CONCAVE_TRIMESH 5
|
|
#define TRIANGLE_NUM_CONVEX_FACES 5
|
|
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
|
|
|
|
#define B3_MAX_STACK_DEPTH 256
|
|
|
|
|
|
typedef unsigned int u32;
|
|
|
|
///keep this in sync with btCollidable.h
|
|
typedef struct
|
|
{
|
|
union {
|
|
int m_numChildShapes;
|
|
int m_bvhIndex;
|
|
};
|
|
union
|
|
{
|
|
float m_radius;
|
|
int m_compoundBvhIndex;
|
|
};
|
|
|
|
int m_shapeType;
|
|
int m_shapeIndex;
|
|
|
|
} btCollidableGpu;
|
|
|
|
#define MAX_NUM_PARTS_IN_BITS 10
|
|
|
|
///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
|
|
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
|
|
typedef struct
|
|
{
|
|
//12 bytes
|
|
unsigned short int m_quantizedAabbMin[3];
|
|
unsigned short int m_quantizedAabbMax[3];
|
|
//4 bytes
|
|
int m_escapeIndexOrTriangleIndex;
|
|
} b3QuantizedBvhNode;
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_aabbMin;
|
|
float4 m_aabbMax;
|
|
float4 m_quantization;
|
|
int m_numNodes;
|
|
int m_numSubTrees;
|
|
int m_nodeOffset;
|
|
int m_subTreeOffset;
|
|
|
|
} b3BvhInfo;
|
|
|
|
|
|
int getTriangleIndex(const b3QuantizedBvhNode* rootNode)
|
|
{
|
|
unsigned int x=0;
|
|
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
|
|
// Get only the lower bits where the triangle index is stored
|
|
return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
|
|
}
|
|
|
|
int getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
|
|
{
|
|
unsigned int x=0;
|
|
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
|
|
// Get only the lower bits where the triangle index is stored
|
|
return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
|
|
}
|
|
|
|
int isLeafNode(const b3QuantizedBvhNode* rootNode)
|
|
{
|
|
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
|
|
return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
|
|
}
|
|
|
|
int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)
|
|
{
|
|
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
|
|
return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
|
|
}
|
|
|
|
int getEscapeIndex(const b3QuantizedBvhNode* rootNode)
|
|
{
|
|
return -rootNode->m_escapeIndexOrTriangleIndex;
|
|
}
|
|
|
|
int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)
|
|
{
|
|
return -rootNode->m_escapeIndexOrTriangleIndex;
|
|
}
|
|
|
|
|
|
typedef struct
|
|
{
|
|
//12 bytes
|
|
unsigned short int m_quantizedAabbMin[3];
|
|
unsigned short int m_quantizedAabbMax[3];
|
|
//4 bytes, points to the root of the subtree
|
|
int m_rootNodeIndex;
|
|
//4 bytes
|
|
int m_subtreeSize;
|
|
int m_padding[3];
|
|
} b3BvhSubtreeInfo;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_childPosition;
|
|
float4 m_childOrientation;
|
|
int m_shapeIndex;
|
|
int m_unused0;
|
|
int m_unused1;
|
|
int m_unused2;
|
|
} btGpuChildShape;
|
|
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_pos;
|
|
float4 m_quat;
|
|
float4 m_linVel;
|
|
float4 m_angVel;
|
|
|
|
u32 m_collidableIdx;
|
|
float m_invMass;
|
|
float m_restituitionCoeff;
|
|
float m_frictionCoeff;
|
|
} BodyData;
|
|
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_localCenter;
|
|
float4 m_extents;
|
|
float4 mC;
|
|
float4 mE;
|
|
|
|
float m_radius;
|
|
int m_faceOffset;
|
|
int m_numFaces;
|
|
int m_numVertices;
|
|
|
|
int m_vertexOffset;
|
|
int m_uniqueEdgesOffset;
|
|
int m_numUniqueEdges;
|
|
int m_unused;
|
|
} ConvexPolyhedronCL;
|
|
|
|
typedef struct
|
|
{
|
|
union
|
|
{
|
|
float4 m_min;
|
|
float m_minElems[4];
|
|
int m_minIndices[4];
|
|
};
|
|
union
|
|
{
|
|
float4 m_max;
|
|
float m_maxElems[4];
|
|
int m_maxIndices[4];
|
|
};
|
|
} btAabbCL;
|
|
|
|
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
|
|
#include "Bullet3Common/shared/b3Int2.h"
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
float4 m_plane;
|
|
int m_indexOffset;
|
|
int m_numIndices;
|
|
} btGpuFace;
|
|
|
|
#define make_float4 (float4)
|
|
|
|
|
|
__inline
|
|
float4 cross3(float4 a, float4 b)
|
|
{
|
|
return cross(a,b);
|
|
|
|
|
|
// float4 a1 = make_float4(a.xyz,0.f);
|
|
// float4 b1 = make_float4(b.xyz,0.f);
|
|
|
|
// return cross(a1,b1);
|
|
|
|
//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);
|
|
|
|
// float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);
|
|
|
|
//return c;
|
|
}
|
|
|
|
__inline
|
|
float dot3F4(float4 a, float4 b)
|
|
{
|
|
float4 a1 = make_float4(a.xyz,0.f);
|
|
float4 b1 = make_float4(b.xyz,0.f);
|
|
return dot(a1, b1);
|
|
}
|
|
|
|
__inline
|
|
float4 fastNormalize4(float4 v)
|
|
{
|
|
v = make_float4(v.xyz,0.f);
|
|
return fast_normalize(v);
|
|
}
|
|
|
|
|
|
///////////////////////////////////////
|
|
// Quaternion
|
|
///////////////////////////////////////
|
|
|
|
typedef float4 Quaternion;
|
|
|
|
__inline
|
|
Quaternion qtMul(Quaternion a, Quaternion b);
|
|
|
|
__inline
|
|
Quaternion qtNormalize(Quaternion in);
|
|
|
|
__inline
|
|
float4 qtRotate(Quaternion q, float4 vec);
|
|
|
|
__inline
|
|
Quaternion qtInvert(Quaternion q);
|
|
|
|
|
|
|
|
|
|
__inline
|
|
Quaternion qtMul(Quaternion a, Quaternion b)
|
|
{
|
|
Quaternion ans;
|
|
ans = cross3( a, b );
|
|
ans += a.w*b+b.w*a;
|
|
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
|
|
ans.w = a.w*b.w - dot3F4(a, b);
|
|
return ans;
|
|
}
|
|
|
|
__inline
|
|
Quaternion qtNormalize(Quaternion in)
|
|
{
|
|
return fastNormalize4(in);
|
|
// in /= length( in );
|
|
// return in;
|
|
}
|
|
__inline
|
|
float4 qtRotate(Quaternion q, float4 vec)
|
|
{
|
|
Quaternion qInv = qtInvert( q );
|
|
float4 vcpy = vec;
|
|
vcpy.w = 0.f;
|
|
float4 out = qtMul(qtMul(q,vcpy),qInv);
|
|
return out;
|
|
}
|
|
|
|
__inline
|
|
Quaternion qtInvert(Quaternion q)
|
|
{
|
|
return (Quaternion)(-q.xyz, q.w);
|
|
}
|
|
|
|
__inline
|
|
float4 qtInvRotate(const Quaternion q, float4 vec)
|
|
{
|
|
return qtRotate( qtInvert( q ), vec );
|
|
}
|
|
|
|
__inline
|
|
float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
|
|
{
|
|
return qtRotate( *orientation, *p ) + (*translation);
|
|
}
|
|
|
|
|
|
|
|
__inline
|
|
float4 normalize3(const float4 a)
|
|
{
|
|
float4 n = make_float4(a.x, a.y, a.z, 0.f);
|
|
return fastNormalize4( n );
|
|
}
|
|
|
|
inline void projectLocal(const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn,
|
|
const float4* dir, const float4* vertices, float* min, float* max)
|
|
{
|
|
min[0] = FLT_MAX;
|
|
max[0] = -FLT_MAX;
|
|
int numVerts = hull->m_numVertices;
|
|
|
|
const float4 localDir = qtInvRotate(orn,*dir);
|
|
float offset = dot(pos,*dir);
|
|
for(int i=0;i<numVerts;i++)
|
|
{
|
|
float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
|
|
if(dp < min[0])
|
|
min[0] = dp;
|
|
if(dp > max[0])
|
|
max[0] = dp;
|
|
}
|
|
if(min[0]>max[0])
|
|
{
|
|
float tmp = min[0];
|
|
min[0] = max[0];
|
|
max[0] = tmp;
|
|
}
|
|
min[0] += offset;
|
|
max[0] += offset;
|
|
}
|
|
|
|
inline void project(__global const ConvexPolyhedronCL* hull, const float4 pos, const float4 orn,
|
|
const float4* dir, __global const float4* vertices, float* min, float* max)
|
|
{
|
|
min[0] = FLT_MAX;
|
|
max[0] = -FLT_MAX;
|
|
int numVerts = hull->m_numVertices;
|
|
|
|
const float4 localDir = qtInvRotate(orn,*dir);
|
|
float offset = dot(pos,*dir);
|
|
for(int i=0;i<numVerts;i++)
|
|
{
|
|
float dp = dot(vertices[hull->m_vertexOffset+i],localDir);
|
|
if(dp < min[0])
|
|
min[0] = dp;
|
|
if(dp > max[0])
|
|
max[0] = dp;
|
|
}
|
|
if(min[0]>max[0])
|
|
{
|
|
float tmp = min[0];
|
|
min[0] = max[0];
|
|
max[0] = tmp;
|
|
}
|
|
min[0] += offset;
|
|
max[0] += offset;
|
|
}
|
|
|
|
inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
|
|
const float4 posA,const float4 ornA,
|
|
const float4 posB,const float4 ornB,
|
|
float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)
|
|
{
|
|
float Min0,Max0;
|
|
float Min1,Max1;
|
|
projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
|
|
project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);
|
|
|
|
if(Max0<Min1 || Max1<Min0)
|
|
return false;
|
|
|
|
float d0 = Max0 - Min1;
|
|
float d1 = Max1 - Min0;
|
|
*depth = d0<d1 ? d0:d1;
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
|
|
inline bool IsAlmostZero(const float4 v)
|
|
{
|
|
if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
bool findSeparatingAxisLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
|
|
const float4 posA1,
|
|
const float4 ornA,
|
|
const float4 posB1,
|
|
const float4 ornB,
|
|
const float4 DeltaC2,
|
|
|
|
const float4* verticesA,
|
|
const float4* uniqueEdgesA,
|
|
const btGpuFace* facesA,
|
|
const int* indicesA,
|
|
|
|
__global const float4* verticesB,
|
|
__global const float4* uniqueEdgesB,
|
|
__global const btGpuFace* facesB,
|
|
__global const int* indicesB,
|
|
float4* sep,
|
|
float* dmin)
|
|
{
|
|
|
|
|
|
float4 posA = posA1;
|
|
posA.w = 0.f;
|
|
float4 posB = posB1;
|
|
posB.w = 0.f;
|
|
int curPlaneTests=0;
|
|
{
|
|
int numFacesA = hullA->m_numFaces;
|
|
// Test normals from hullA
|
|
for(int i=0;i<numFacesA;i++)
|
|
{
|
|
const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
|
|
float4 faceANormalWS = qtRotate(ornA,normal);
|
|
if (dot3F4(DeltaC2,faceANormalWS)<0)
|
|
faceANormalWS*=-1.f;
|
|
curPlaneTests++;
|
|
float d;
|
|
if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
|
|
return false;
|
|
if(d<*dmin)
|
|
{
|
|
*dmin = d;
|
|
*sep = faceANormalWS;
|
|
}
|
|
}
|
|
}
|
|
if((dot3F4(-DeltaC2,*sep))>0.0f)
|
|
{
|
|
*sep = -(*sep);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool findSeparatingAxisLocalB( __global const ConvexPolyhedronCL* hullA, const ConvexPolyhedronCL* hullB,
|
|
const float4 posA1,
|
|
const float4 ornA,
|
|
const float4 posB1,
|
|
const float4 ornB,
|
|
const float4 DeltaC2,
|
|
__global const float4* verticesA,
|
|
__global const float4* uniqueEdgesA,
|
|
__global const btGpuFace* facesA,
|
|
__global const int* indicesA,
|
|
const float4* verticesB,
|
|
const float4* uniqueEdgesB,
|
|
const btGpuFace* facesB,
|
|
const int* indicesB,
|
|
float4* sep,
|
|
float* dmin)
|
|
{
|
|
|
|
|
|
float4 posA = posA1;
|
|
posA.w = 0.f;
|
|
float4 posB = posB1;
|
|
posB.w = 0.f;
|
|
int curPlaneTests=0;
|
|
{
|
|
int numFacesA = hullA->m_numFaces;
|
|
// Test normals from hullA
|
|
for(int i=0;i<numFacesA;i++)
|
|
{
|
|
const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
|
|
float4 faceANormalWS = qtRotate(ornA,normal);
|
|
if (dot3F4(DeltaC2,faceANormalWS)<0)
|
|
faceANormalWS *= -1.f;
|
|
curPlaneTests++;
|
|
float d;
|
|
if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))
|
|
return false;
|
|
if(d<*dmin)
|
|
{
|
|
*dmin = d;
|
|
*sep = faceANormalWS;
|
|
}
|
|
}
|
|
}
|
|
if((dot3F4(-DeltaC2,*sep))>0.0f)
|
|
{
|
|
*sep = -(*sep);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
bool findSeparatingAxisEdgeEdgeLocalA( const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,
|
|
const float4 posA1,
|
|
const float4 ornA,
|
|
const float4 posB1,
|
|
const float4 ornB,
|
|
const float4 DeltaC2,
|
|
const float4* verticesA,
|
|
const float4* uniqueEdgesA,
|
|
const btGpuFace* facesA,
|
|
const int* indicesA,
|
|
__global const float4* verticesB,
|
|
__global const float4* uniqueEdgesB,
|
|
__global const btGpuFace* facesB,
|
|
__global const int* indicesB,
|
|
float4* sep,
|
|
float* dmin)
|
|
{
|
|
|
|
|
|
float4 posA = posA1;
|
|
posA.w = 0.f;
|
|
float4 posB = posB1;
|
|
posB.w = 0.f;
|
|
|
|
int curPlaneTests=0;
|
|
|
|
int curEdgeEdge = 0;
|
|
// Test edges
|
|
for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
|
|
{
|
|
const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
|
|
float4 edge0World = qtRotate(ornA,edge0);
|
|
|
|
for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
|
|
{
|
|
const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
|
|
float4 edge1World = qtRotate(ornB,edge1);
|
|
|
|
|
|
float4 crossje = cross3(edge0World,edge1World);
|
|
|
|
curEdgeEdge++;
|
|
if(!IsAlmostZero(crossje))
|
|
{
|
|
crossje = normalize3(crossje);
|
|
if (dot3F4(DeltaC2,crossje)<0)
|
|
crossje *= -1.f;
|
|
|
|
float dist;
|
|
bool result = true;
|
|
{
|
|
float Min0,Max0;
|
|
float Min1,Max1;
|
|
projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
|
|
project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
|
|
|
|
if(Max0<Min1 || Max1<Min0)
|
|
result = false;
|
|
|
|
float d0 = Max0 - Min1;
|
|
float d1 = Max1 - Min0;
|
|
dist = d0<d1 ? d0:d1;
|
|
result = true;
|
|
|
|
}
|
|
|
|
|
|
if(dist<*dmin)
|
|
{
|
|
*dmin = dist;
|
|
*sep = crossje;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
if((dot3F4(-DeltaC2,*sep))>0.0f)
|
|
{
|
|
*sep = -(*sep);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
inline int findClippingFaces(const float4 separatingNormal,
|
|
const ConvexPolyhedronCL* hullA,
|
|
__global const ConvexPolyhedronCL* hullB,
|
|
const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
|
|
__global float4* worldVertsA1,
|
|
__global float4* worldNormalsA1,
|
|
__global float4* worldVertsB1,
|
|
int capacityWorldVerts,
|
|
const float minDist, float maxDist,
|
|
const float4* verticesA,
|
|
const btGpuFace* facesA,
|
|
const int* indicesA,
|
|
__global const float4* verticesB,
|
|
__global const btGpuFace* facesB,
|
|
__global const int* indicesB,
|
|
__global int4* clippingFaces, int pairIndex)
|
|
{
|
|
int numContactsOut = 0;
|
|
int numWorldVertsB1= 0;
|
|
|
|
|
|
int closestFaceB=0;
|
|
float dmax = -FLT_MAX;
|
|
|
|
{
|
|
for(int face=0;face<hullB->m_numFaces;face++)
|
|
{
|
|
const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,
|
|
facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
|
|
const float4 WorldNormal = qtRotate(ornB, Normal);
|
|
float d = dot3F4(WorldNormal,separatingNormal);
|
|
if (d > dmax)
|
|
{
|
|
dmax = d;
|
|
closestFaceB = face;
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];
|
|
int numVertices = polyB.m_numIndices;
|
|
if (numVertices>capacityWorldVerts)
|
|
numVertices = capacityWorldVerts;
|
|
if (numVertices<0)
|
|
numVertices = 0;
|
|
|
|
for(int e0=0;e0<numVertices;e0++)
|
|
{
|
|
if (e0<capacityWorldVerts)
|
|
{
|
|
const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
|
|
worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
|
|
}
|
|
}
|
|
}
|
|
|
|
int closestFaceA=0;
|
|
{
|
|
float dmin = FLT_MAX;
|
|
for(int face=0;face<hullA->m_numFaces;face++)
|
|
{
|
|
const float4 Normal = make_float4(
|
|
facesA[hullA->m_faceOffset+face].m_plane.x,
|
|
facesA[hullA->m_faceOffset+face].m_plane.y,
|
|
facesA[hullA->m_faceOffset+face].m_plane.z,
|
|
0.f);
|
|
const float4 faceANormalWS = qtRotate(ornA,Normal);
|
|
|
|
float d = dot3F4(faceANormalWS,separatingNormal);
|
|
if (d < dmin)
|
|
{
|
|
dmin = d;
|
|
closestFaceA = face;
|
|
worldNormalsA1[pairIndex] = faceANormalWS;
|
|
}
|
|
}
|
|
}
|
|
|
|
int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
|
|
if (numVerticesA>capacityWorldVerts)
|
|
numVerticesA = capacityWorldVerts;
|
|
if (numVerticesA<0)
|
|
numVerticesA=0;
|
|
|
|
for(int e0=0;e0<numVerticesA;e0++)
|
|
{
|
|
if (e0<capacityWorldVerts)
|
|
{
|
|
const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
|
|
worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);
|
|
}
|
|
}
|
|
|
|
clippingFaces[pairIndex].x = closestFaceA;
|
|
clippingFaces[pairIndex].y = closestFaceB;
|
|
clippingFaces[pairIndex].z = numVerticesA;
|
|
clippingFaces[pairIndex].w = numWorldVertsB1;
|
|
|
|
|
|
return numContactsOut;
|
|
}
|
|
|
|
|
|
|
|
|
|
// work-in-progress
|
|
__kernel void findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global const btGpuChildShape* gpuChildShapes,
|
|
__global btAabbCL* aabbs,
|
|
__global float4* concaveSeparatingNormalsOut,
|
|
__global int* concaveHasSeparatingNormals,
|
|
__global int4* clippingFacesOut,
|
|
__global float4* worldVertsA1GPU,
|
|
__global float4* worldNormalsAGPU,
|
|
__global float4* worldVertsB1GPU,
|
|
__global float* dmins,
|
|
int vertexFaceCapacity,
|
|
int numConcavePairs
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
if (i>=numConcavePairs)
|
|
return;
|
|
|
|
concaveHasSeparatingNormals[i] = 0;
|
|
|
|
int pairIdx = i;
|
|
|
|
int bodyIndexA = concavePairs[i].x;
|
|
int bodyIndexB = concavePairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
|
|
collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
concavePairs[pairIdx].w = -1;
|
|
return;
|
|
}
|
|
|
|
|
|
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
int numActualConcaveConvexTests = 0;
|
|
|
|
int f = concavePairs[i].z;
|
|
|
|
bool overlap = false;
|
|
|
|
ConvexPolyhedronCL convexPolyhedronA;
|
|
|
|
//add 3 vertices of the triangle
|
|
convexPolyhedronA.m_numVertices = 3;
|
|
convexPolyhedronA.m_vertexOffset = 0;
|
|
float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
|
|
|
|
btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
|
|
float4 triMinAabb, triMaxAabb;
|
|
btAabbCL triAabb;
|
|
triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
|
|
triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
|
|
|
|
float4 verticesA[3];
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
int index = indices[face.m_indexOffset+i];
|
|
float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
|
|
verticesA[i] = vert;
|
|
localCenter += vert;
|
|
|
|
triAabb.m_min = min(triAabb.m_min,vert);
|
|
triAabb.m_max = max(triAabb.m_max,vert);
|
|
|
|
}
|
|
|
|
overlap = true;
|
|
overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
|
|
overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
|
|
overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
|
|
|
|
if (overlap)
|
|
{
|
|
float dmin = FLT_MAX;
|
|
int hasSeparatingAxis=5;
|
|
float4 sepAxis=make_float4(1,2,3,4);
|
|
|
|
int localCC=0;
|
|
numActualConcaveConvexTests++;
|
|
|
|
//a triangle has 3 unique edges
|
|
convexPolyhedronA.m_numUniqueEdges = 3;
|
|
convexPolyhedronA.m_uniqueEdgesOffset = 0;
|
|
float4 uniqueEdgesA[3];
|
|
|
|
uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
|
|
uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
|
|
uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
|
|
|
|
|
|
convexPolyhedronA.m_faceOffset = 0;
|
|
|
|
float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
|
|
|
|
btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
|
|
int indicesA[3+3+2+2+2];
|
|
int curUsedIndices=0;
|
|
int fidx=0;
|
|
|
|
//front size of triangle
|
|
{
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[0] = 0;
|
|
indicesA[1] = 1;
|
|
indicesA[2] = 2;
|
|
curUsedIndices+=3;
|
|
float c = face.m_plane.w;
|
|
facesA[fidx].m_plane.x = normal.x;
|
|
facesA[fidx].m_plane.y = normal.y;
|
|
facesA[fidx].m_plane.z = normal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
facesA[fidx].m_numIndices=3;
|
|
}
|
|
fidx++;
|
|
//back size of triangle
|
|
{
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[3]=2;
|
|
indicesA[4]=1;
|
|
indicesA[5]=0;
|
|
curUsedIndices+=3;
|
|
float c = dot(normal,verticesA[0]);
|
|
float c1 = -face.m_plane.w;
|
|
facesA[fidx].m_plane.x = -normal.x;
|
|
facesA[fidx].m_plane.y = -normal.y;
|
|
facesA[fidx].m_plane.z = -normal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
facesA[fidx].m_numIndices=3;
|
|
}
|
|
fidx++;
|
|
|
|
bool addEdgePlanes = true;
|
|
if (addEdgePlanes)
|
|
{
|
|
int numVertices=3;
|
|
int prevVertex = numVertices-1;
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
float4 v0 = verticesA[i];
|
|
float4 v1 = verticesA[prevVertex];
|
|
|
|
float4 edgeNormal = normalize(cross(normal,v1-v0));
|
|
float c = -dot(edgeNormal,v0);
|
|
|
|
facesA[fidx].m_numIndices = 2;
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[curUsedIndices++]=i;
|
|
indicesA[curUsedIndices++]=prevVertex;
|
|
|
|
facesA[fidx].m_plane.x = edgeNormal.x;
|
|
facesA[fidx].m_plane.y = edgeNormal.y;
|
|
facesA[fidx].m_plane.z = edgeNormal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
fidx++;
|
|
prevVertex = i;
|
|
}
|
|
}
|
|
convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
|
|
convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
|
|
|
|
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
posA.w = 0.f;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
posB.w = 0.f;
|
|
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
|
|
|
|
|
|
|
|
|
///////////////////
|
|
///compound shape support
|
|
|
|
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
int compoundChild = concavePairs[pairIdx].w;
|
|
int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
|
|
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
|
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
|
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
|
float4 newOrnB = qtMul(ornB,childOrnB);
|
|
posB = newPosB;
|
|
ornB = newOrnB;
|
|
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
|
|
}
|
|
//////////////////
|
|
|
|
float4 c0local = convexPolyhedronA.m_localCenter;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
|
|
|
|
bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
|
|
posA,ornA,
|
|
posB,ornB,
|
|
DeltaC2,
|
|
verticesA,uniqueEdgesA,facesA,indicesA,
|
|
vertices,uniqueEdges,faces,indices,
|
|
&sepAxis,&dmin);
|
|
hasSeparatingAxis = 4;
|
|
if (!sepA)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
bool sepB = findSeparatingAxisLocalB( &convexShapes[shapeIndexB],&convexPolyhedronA,
|
|
posB,ornB,
|
|
posA,ornA,
|
|
DeltaC2,
|
|
vertices,uniqueEdges,faces,indices,
|
|
verticesA,uniqueEdgesA,facesA,indicesA,
|
|
&sepAxis,&dmin);
|
|
|
|
if (!sepB)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
hasSeparatingAxis = 1;
|
|
}
|
|
}
|
|
|
|
if (hasSeparatingAxis)
|
|
{
|
|
dmins[i] = dmin;
|
|
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
|
|
concaveHasSeparatingNormals[i]=1;
|
|
|
|
} else
|
|
{
|
|
//mark this pair as in-active
|
|
concavePairs[pairIdx].w = -1;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//mark this pair as in-active
|
|
concavePairs[pairIdx].w = -1;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
// work-in-progress
|
|
__kernel void findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,
|
|
__global const BodyData* rigidBodies,
|
|
__global const btCollidableGpu* collidables,
|
|
__global const ConvexPolyhedronCL* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const btGpuFace* faces,
|
|
__global const int* indices,
|
|
__global const btGpuChildShape* gpuChildShapes,
|
|
__global btAabbCL* aabbs,
|
|
__global float4* concaveSeparatingNormalsOut,
|
|
__global int* concaveHasSeparatingNormals,
|
|
__global int4* clippingFacesOut,
|
|
__global float4* worldVertsA1GPU,
|
|
__global float4* worldNormalsAGPU,
|
|
__global float4* worldVertsB1GPU,
|
|
__global float* dmins,
|
|
int vertexFaceCapacity,
|
|
int numConcavePairs
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
if (i>=numConcavePairs)
|
|
return;
|
|
|
|
if (!concaveHasSeparatingNormals[i])
|
|
return;
|
|
|
|
int pairIdx = i;
|
|
|
|
int bodyIndexA = concavePairs[i].x;
|
|
int bodyIndexB = concavePairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
|
|
int numFacesA = convexShapes[shapeIndexA].m_numFaces;
|
|
int numActualConcaveConvexTests = 0;
|
|
|
|
int f = concavePairs[i].z;
|
|
|
|
bool overlap = false;
|
|
|
|
ConvexPolyhedronCL convexPolyhedronA;
|
|
|
|
//add 3 vertices of the triangle
|
|
convexPolyhedronA.m_numVertices = 3;
|
|
convexPolyhedronA.m_vertexOffset = 0;
|
|
float4 localCenter = make_float4(0.f,0.f,0.f,0.f);
|
|
|
|
btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
|
|
float4 triMinAabb, triMaxAabb;
|
|
btAabbCL triAabb;
|
|
triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);
|
|
triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);
|
|
|
|
float4 verticesA[3];
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
int index = indices[face.m_indexOffset+i];
|
|
float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
|
|
verticesA[i] = vert;
|
|
localCenter += vert;
|
|
|
|
triAabb.m_min = min(triAabb.m_min,vert);
|
|
triAabb.m_max = max(triAabb.m_max,vert);
|
|
|
|
}
|
|
|
|
overlap = true;
|
|
overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;
|
|
overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;
|
|
overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;
|
|
|
|
if (overlap)
|
|
{
|
|
float dmin = dmins[i];
|
|
int hasSeparatingAxis=5;
|
|
float4 sepAxis=make_float4(1,2,3,4);
|
|
sepAxis = concaveSeparatingNormalsOut[pairIdx];
|
|
|
|
int localCC=0;
|
|
numActualConcaveConvexTests++;
|
|
|
|
//a triangle has 3 unique edges
|
|
convexPolyhedronA.m_numUniqueEdges = 3;
|
|
convexPolyhedronA.m_uniqueEdgesOffset = 0;
|
|
float4 uniqueEdgesA[3];
|
|
|
|
uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
|
|
uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
|
|
uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
|
|
|
|
|
|
convexPolyhedronA.m_faceOffset = 0;
|
|
|
|
float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
|
|
|
|
btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];
|
|
int indicesA[3+3+2+2+2];
|
|
int curUsedIndices=0;
|
|
int fidx=0;
|
|
|
|
//front size of triangle
|
|
{
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[0] = 0;
|
|
indicesA[1] = 1;
|
|
indicesA[2] = 2;
|
|
curUsedIndices+=3;
|
|
float c = face.m_plane.w;
|
|
facesA[fidx].m_plane.x = normal.x;
|
|
facesA[fidx].m_plane.y = normal.y;
|
|
facesA[fidx].m_plane.z = normal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
facesA[fidx].m_numIndices=3;
|
|
}
|
|
fidx++;
|
|
//back size of triangle
|
|
{
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[3]=2;
|
|
indicesA[4]=1;
|
|
indicesA[5]=0;
|
|
curUsedIndices+=3;
|
|
float c = dot(normal,verticesA[0]);
|
|
float c1 = -face.m_plane.w;
|
|
facesA[fidx].m_plane.x = -normal.x;
|
|
facesA[fidx].m_plane.y = -normal.y;
|
|
facesA[fidx].m_plane.z = -normal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
facesA[fidx].m_numIndices=3;
|
|
}
|
|
fidx++;
|
|
|
|
bool addEdgePlanes = true;
|
|
if (addEdgePlanes)
|
|
{
|
|
int numVertices=3;
|
|
int prevVertex = numVertices-1;
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
float4 v0 = verticesA[i];
|
|
float4 v1 = verticesA[prevVertex];
|
|
|
|
float4 edgeNormal = normalize(cross(normal,v1-v0));
|
|
float c = -dot(edgeNormal,v0);
|
|
|
|
facesA[fidx].m_numIndices = 2;
|
|
facesA[fidx].m_indexOffset=curUsedIndices;
|
|
indicesA[curUsedIndices++]=i;
|
|
indicesA[curUsedIndices++]=prevVertex;
|
|
|
|
facesA[fidx].m_plane.x = edgeNormal.x;
|
|
facesA[fidx].m_plane.y = edgeNormal.y;
|
|
facesA[fidx].m_plane.z = edgeNormal.z;
|
|
facesA[fidx].m_plane.w = c;
|
|
fidx++;
|
|
prevVertex = i;
|
|
}
|
|
}
|
|
convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;
|
|
convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
|
|
|
|
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
posA.w = 0.f;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
posB.w = 0.f;
|
|
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 ornB =rigidBodies[bodyIndexB].m_quat;
|
|
|
|
|
|
|
|
|
|
///////////////////
|
|
///compound shape support
|
|
|
|
if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
int compoundChild = concavePairs[pairIdx].w;
|
|
int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
|
|
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
|
|
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
|
|
float4 newPosB = transform(&childPosB,&posB,&ornB);
|
|
float4 newOrnB = qtMul(ornB,childOrnB);
|
|
posB = newPosB;
|
|
ornB = newOrnB;
|
|
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
|
|
}
|
|
//////////////////
|
|
|
|
float4 c0local = convexPolyhedronA.m_localCenter;
|
|
float4 c0 = transform(&c0local, &posA, &ornA);
|
|
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
|
|
float4 c1 = transform(&c1local,&posB,&ornB);
|
|
const float4 DeltaC2 = c0 - c1;
|
|
|
|
|
|
{
|
|
bool sepEE = findSeparatingAxisEdgeEdgeLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
|
|
posA,ornA,
|
|
posB,ornB,
|
|
DeltaC2,
|
|
verticesA,uniqueEdgesA,facesA,indicesA,
|
|
vertices,uniqueEdges,faces,indices,
|
|
&sepAxis,&dmin);
|
|
|
|
if (!sepEE)
|
|
{
|
|
hasSeparatingAxis = 0;
|
|
} else
|
|
{
|
|
hasSeparatingAxis = 1;
|
|
}
|
|
}
|
|
|
|
|
|
if (hasSeparatingAxis)
|
|
{
|
|
sepAxis.w = dmin;
|
|
dmins[i] = dmin;
|
|
concaveSeparatingNormalsOut[pairIdx]=sepAxis;
|
|
concaveHasSeparatingNormals[i]=1;
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
|
|
findClippingFaces(sepAxis,
|
|
&convexPolyhedronA,
|
|
&convexShapes[shapeIndexB],
|
|
posA,ornA,
|
|
posB,ornB,
|
|
worldVertsA1GPU,
|
|
worldNormalsAGPU,
|
|
worldVertsB1GPU,
|
|
vertexFaceCapacity,
|
|
minDist, maxDist,
|
|
verticesA,
|
|
facesA,
|
|
indicesA,
|
|
vertices,
|
|
faces,
|
|
indices,
|
|
clippingFacesOut, pairIdx);
|
|
|
|
|
|
} else
|
|
{
|
|
//mark this pair as in-active
|
|
concavePairs[pairIdx].w = -1;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//mark this pair as in-active
|
|
concavePairs[pairIdx].w = -1;
|
|
}
|
|
|
|
concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points
|
|
}
|
|
|