391 lines
12 KiB
C++
391 lines
12 KiB
C++
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#include "b3GpuRaycast.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h"
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#include "Bullet3OpenCL/Raycast/kernels/rayCastKernels.h"
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#define B3_RAYCAST_PATH "src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl"
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struct b3GpuRaycastInternalData
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{
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cl_context m_context;
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cl_device_id m_device;
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cl_command_queue m_q;
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cl_kernel m_raytraceKernel;
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cl_kernel m_raytracePairsKernel;
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cl_kernel m_findRayRigidPairIndexRanges;
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b3GpuParallelLinearBvh* m_plbvh;
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b3RadixSort32CL* m_radixSorter;
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b3FillCL* m_fill;
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//1 element per ray
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b3OpenCLArray<b3RayInfo>* m_gpuRays;
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b3OpenCLArray<b3RayHit>* m_gpuHitResults;
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b3OpenCLArray<int>* m_firstRayRigidPairIndexPerRay;
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b3OpenCLArray<int>* m_numRayRigidPairsPerRay;
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//1 element per (ray index, rigid index) pair, where the ray intersects with the rigid's AABB
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b3OpenCLArray<int>* m_gpuNumRayRigidPairs;
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b3OpenCLArray<b3Int2>* m_gpuRayRigidPairs; //x == ray index, y == rigid index
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int m_test;
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};
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b3GpuRaycast::b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue q)
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{
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m_data = new b3GpuRaycastInternalData;
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m_data->m_context = ctx;
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m_data->m_device = device;
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m_data->m_q = q;
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m_data->m_raytraceKernel = 0;
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m_data->m_raytracePairsKernel = 0;
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m_data->m_findRayRigidPairIndexRanges = 0;
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m_data->m_plbvh = new b3GpuParallelLinearBvh(ctx, device, q);
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m_data->m_radixSorter = new b3RadixSort32CL(ctx, device, q);
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m_data->m_fill = new b3FillCL(ctx, device, q);
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m_data->m_gpuRays = new b3OpenCLArray<b3RayInfo>(ctx, q);
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m_data->m_gpuHitResults = new b3OpenCLArray<b3RayHit>(ctx, q);
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m_data->m_firstRayRigidPairIndexPerRay = new b3OpenCLArray<int>(ctx, q);
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m_data->m_numRayRigidPairsPerRay = new b3OpenCLArray<int>(ctx, q);
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m_data->m_gpuNumRayRigidPairs = new b3OpenCLArray<int>(ctx, q);
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m_data->m_gpuRayRigidPairs = new b3OpenCLArray<b3Int2>(ctx, q);
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{
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cl_int errNum=0;
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cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,rayCastKernelCL,&errNum,"",B3_RAYCAST_PATH);
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b3Assert(errNum==CL_SUCCESS);
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m_data->m_raytraceKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "rayCastKernel",&errNum,prog);
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b3Assert(errNum==CL_SUCCESS);
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m_data->m_raytracePairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "rayCastPairsKernel",&errNum,prog);
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b3Assert(errNum==CL_SUCCESS);
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m_data->m_findRayRigidPairIndexRanges = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "findRayRigidPairIndexRanges",&errNum,prog);
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b3Assert(errNum==CL_SUCCESS);
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clReleaseProgram(prog);
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}
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}
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b3GpuRaycast::~b3GpuRaycast()
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{
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clReleaseKernel(m_data->m_raytraceKernel);
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clReleaseKernel(m_data->m_raytracePairsKernel);
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clReleaseKernel(m_data->m_findRayRigidPairIndexRanges);
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delete m_data->m_plbvh;
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delete m_data->m_radixSorter;
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delete m_data->m_fill;
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delete m_data->m_gpuRays;
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delete m_data->m_gpuHitResults;
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delete m_data->m_firstRayRigidPairIndexPerRay;
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delete m_data->m_numRayRigidPairsPerRay;
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delete m_data->m_gpuNumRayRigidPairs;
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delete m_data->m_gpuRayRigidPairs;
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delete m_data;
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}
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bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo, float& hitFraction)
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{
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b3Vector3 rs = rayFrom - spherePos;
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b3Vector3 rayDir = rayTo-rayFrom;
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float A = b3Dot(rayDir,rayDir);
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float B = b3Dot(rs, rayDir);
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float C = b3Dot(rs, rs) - (radius * radius);
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float D = B * B - A*C;
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if (D > 0.0)
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{
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float t = (-B - sqrt(D))/A;
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if ( (t >= 0.0f) && (t < hitFraction) )
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{
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hitFraction = t;
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return true;
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}
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}
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return false;
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}
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bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly,
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const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal)
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{
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float exitFraction = hitFraction;
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float enterFraction = -0.1f;
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b3Vector3 curHitNormal=b3MakeVector3(0,0,0);
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for (int i=0;i<poly.m_numFaces;i++)
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{
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const b3GpuFace& face = faces[poly.m_faceOffset+i];
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float fromPlaneDist = b3Dot(rayFromLocal,face.m_plane)+face.m_plane.w;
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float toPlaneDist = b3Dot(rayToLocal,face.m_plane)+face.m_plane.w;
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if (fromPlaneDist<0.f)
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{
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if (toPlaneDist >= 0.f)
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{
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float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
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if (exitFraction>fraction)
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{
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exitFraction = fraction;
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}
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}
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} else
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{
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if (toPlaneDist<0.f)
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{
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float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
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if (enterFraction <= fraction)
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{
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enterFraction = fraction;
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curHitNormal = face.m_plane;
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curHitNormal.w = 0.f;
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}
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} else
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{
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return false;
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}
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}
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if (exitFraction <= enterFraction)
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return false;
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}
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if (enterFraction < 0.f)
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return false;
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hitFraction = enterFraction;
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hitNormal = curHitNormal;
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return true;
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}
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void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
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int numBodies,const struct b3RigidBodyData* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
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{
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// return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
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B3_PROFILE("castRaysHost");
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for (int r=0;r<rays.size();r++)
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{
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b3Vector3 rayFrom = rays[r].m_from;
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b3Vector3 rayTo = rays[r].m_to;
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float hitFraction = hitResults[r].m_hitFraction;
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int hitBodyIndex= -1;
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b3Vector3 hitNormal;
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for (int b=0;b<numBodies;b++)
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{
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const b3Vector3& pos = bodies[b].m_pos;
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//const b3Quaternion& orn = bodies[b].m_quat;
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switch (collidables[bodies[b].m_collidableIdx].m_shapeType)
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{
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case SHAPE_SPHERE:
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{
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b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius;
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if (sphere_intersect(pos, radius, rayFrom, rayTo,hitFraction))
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{
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hitBodyIndex = b;
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b3Vector3 hitPoint;
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hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
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hitNormal = (hitPoint-bodies[b].m_pos).normalize();
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}
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}
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case SHAPE_CONVEX_HULL:
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{
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b3Transform convexWorldTransform;
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convexWorldTransform.setIdentity();
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convexWorldTransform.setOrigin(bodies[b].m_pos);
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convexWorldTransform.setRotation(bodies[b].m_quat);
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b3Transform convexWorld2Local = convexWorldTransform.inverse();
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b3Vector3 rayFromLocal = convexWorld2Local(rayFrom);
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b3Vector3 rayToLocal = convexWorld2Local(rayTo);
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int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
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const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
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if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData->m_convexFaces, hitFraction, hitNormal))
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{
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hitBodyIndex = b;
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}
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break;
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}
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default:
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{
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static bool once=true;
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if (once)
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{
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once=false;
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b3Warning("Raytest: unsupported shape type\n");
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}
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}
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}
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}
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if (hitBodyIndex>=0)
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{
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hitResults[r].m_hitFraction = hitFraction;
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hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
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hitResults[r].m_hitNormal = hitNormal;
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hitResults[r].m_hitBody = hitBodyIndex;
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}
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}
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}
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///todo: add some acceleration structure (AABBs, tree etc)
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void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
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int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
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const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase)
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{
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//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);
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B3_PROFILE("castRaysGPU");
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{
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B3_PROFILE("raycast copyFromHost");
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m_data->m_gpuRays->copyFromHost(rays);
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m_data->m_gpuHitResults->copyFromHost(hitResults);
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}
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int numRays = hitResults.size();
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{
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m_data->m_firstRayRigidPairIndexPerRay->resize(numRays);
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m_data->m_numRayRigidPairsPerRay->resize(numRays);
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m_data->m_gpuNumRayRigidPairs->resize(1);
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m_data->m_gpuRayRigidPairs->resize(numRays * 16);
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}
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//run kernel
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const bool USE_BRUTE_FORCE_RAYCAST = false;
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if(USE_BRUTE_FORCE_RAYCAST)
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{
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B3_PROFILE("raycast launch1D");
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b3LauncherCL launcher(m_data->m_q,m_data->m_raytraceKernel,"m_raytraceKernel");
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int numRays = rays.size();
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launcher.setConst(numRays);
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launcher.setBuffer(m_data->m_gpuRays->getBufferCL());
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launcher.setBuffer(m_data->m_gpuHitResults->getBufferCL());
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launcher.setConst(numBodies);
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launcher.setBuffer(narrowphaseData->m_bodyBufferGPU->getBufferCL());
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launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL());
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launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL());
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launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL());
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launcher.launch1D(numRays);
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clFinish(m_data->m_q);
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}
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else
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{
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m_data->m_plbvh->build( broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU() );
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m_data->m_plbvh->testRaysAgainstBvhAabbs(*m_data->m_gpuRays, *m_data->m_gpuNumRayRigidPairs, *m_data->m_gpuRayRigidPairs);
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int numRayRigidPairs = -1;
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m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1);
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if( numRayRigidPairs > m_data->m_gpuRayRigidPairs->size() )
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{
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numRayRigidPairs = m_data->m_gpuRayRigidPairs->size();
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m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1);
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}
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m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs); //Radix sort needs b3OpenCLArray::size() to be correct
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//Sort ray-rigid pairs by ray index
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{
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B3_PROFILE("sort ray-rigid pairs");
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m_data->m_radixSorter->execute( *reinterpret_cast< b3OpenCLArray<b3SortData>* >(m_data->m_gpuRayRigidPairs) );
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}
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//detect start,count of each ray pair
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{
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B3_PROFILE("detect ray-rigid pair index ranges");
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{
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||
|
|
B3_PROFILE("reset ray-rigid pair index ranges");
|
||
|
|
|
||
|
|
m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays); //atomic_min used to find first index
|
||
|
|
m_data->m_fill->execute(*m_data->m_numRayRigidPairsPerRay, 0, numRays);
|
||
|
|
clFinish(m_data->m_q);
|
||
|
|
}
|
||
|
|
|
||
|
|
b3BufferInfoCL bufferInfo[] =
|
||
|
|
{
|
||
|
|
b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() ),
|
||
|
|
|
||
|
|
b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() )
|
||
|
|
};
|
||
|
|
|
||
|
|
b3LauncherCL launcher(m_data->m_q, m_data->m_findRayRigidPairIndexRanges, "m_findRayRigidPairIndexRanges");
|
||
|
|
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||
|
|
launcher.setConst(numRayRigidPairs);
|
||
|
|
|
||
|
|
launcher.launch1D(numRayRigidPairs);
|
||
|
|
clFinish(m_data->m_q);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
B3_PROFILE("ray-rigid intersection");
|
||
|
|
|
||
|
|
b3BufferInfoCL bufferInfo[] =
|
||
|
|
{
|
||
|
|
b3BufferInfoCL( m_data->m_gpuRays->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( m_data->m_gpuHitResults->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() ),
|
||
|
|
|
||
|
|
b3BufferInfoCL( narrowphaseData->m_bodyBufferGPU->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( narrowphaseData->m_collidablesGPU->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( narrowphaseData->m_convexFacesGPU->getBufferCL() ),
|
||
|
|
b3BufferInfoCL( narrowphaseData->m_convexPolyhedraGPU->getBufferCL() ),
|
||
|
|
|
||
|
|
b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() )
|
||
|
|
};
|
||
|
|
|
||
|
|
b3LauncherCL launcher(m_data->m_q, m_data->m_raytracePairsKernel, "m_raytracePairsKernel");
|
||
|
|
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||
|
|
launcher.setConst(numRays);
|
||
|
|
|
||
|
|
launcher.launch1D(numRays);
|
||
|
|
clFinish(m_data->m_q);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
//copy results
|
||
|
|
{
|
||
|
|
B3_PROFILE("raycast copyToHost");
|
||
|
|
m_data->m_gpuHitResults->copyToHost(hitResults);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|