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godot/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h

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Vendor thirdparty Bullet source for upcoming physics server backend
2017-08-01 12:30:58 +00:00
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
Update Bullet to the latest commit 126b676
2019-01-03 13:26:51 +00:00
static const char* bvhTraversalKernelCL =
"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
"//written by Erwin Coumans\n"
"#define SHAPE_CONVEX_HULL 3\n"
"#define SHAPE_CONCAVE_TRIMESH 5\n"
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
"#define SHAPE_SPHERE 7\n"
"typedef unsigned int u32;\n"
"#define MAX_NUM_PARTS_IN_BITS 10\n"
"///btQuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
"typedef struct\n"
"{\n"
" //12 bytes\n"
" unsigned short int m_quantizedAabbMin[3];\n"
" unsigned short int m_quantizedAabbMax[3];\n"
" //4 bytes\n"
" int m_escapeIndexOrTriangleIndex;\n"
"} btQuantizedBvhNode;\n"
"typedef struct\n"
"{\n"
" float4 m_aabbMin;\n"
" float4 m_aabbMax;\n"
" float4 m_quantization;\n"
" int m_numNodes;\n"
" int m_numSubTrees;\n"
" int m_nodeOffset;\n"
" int m_subTreeOffset;\n"
"} b3BvhInfo;\n"
"int getTriangleIndex(const btQuantizedBvhNode* rootNode)\n"
"{\n"
" unsigned int x=0;\n"
" unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
" // Get only the lower bits where the triangle index is stored\n"
" return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
"}\n"
"int isLeaf(const btQuantizedBvhNode* rootNode)\n"
"{\n"
" //skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
" return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
"}\n"
" \n"
"int getEscapeIndex(const btQuantizedBvhNode* rootNode)\n"
"{\n"
" return -rootNode->m_escapeIndexOrTriangleIndex;\n"
"}\n"
"typedef struct\n"
"{\n"
" //12 bytes\n"
" unsigned short int m_quantizedAabbMin[3];\n"
" unsigned short int m_quantizedAabbMax[3];\n"
" //4 bytes, points to the root of the subtree\n"
" int m_rootNodeIndex;\n"
" //4 bytes\n"
" int m_subtreeSize;\n"
" int m_padding[3];\n"
"} btBvhSubtreeInfo;\n"
"///keep this in sync with btCollidable.h\n"
"typedef struct\n"
"{\n"
" int m_numChildShapes;\n"
" int blaat2;\n"
" int m_shapeType;\n"
" int m_shapeIndex;\n"
" \n"
"} btCollidableGpu;\n"
"typedef struct\n"
"{\n"
" float4 m_childPosition;\n"
" float4 m_childOrientation;\n"
" int m_shapeIndex;\n"
" int m_unused0;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"} btGpuChildShape;\n"
"typedef struct\n"
"{\n"
" float4 m_pos;\n"
" float4 m_quat;\n"
" float4 m_linVel;\n"
" float4 m_angVel;\n"
" u32 m_collidableIdx;\n"
" float m_invMass;\n"
" float m_restituitionCoeff;\n"
" float m_frictionCoeff;\n"
"} BodyData;\n"
"typedef struct \n"
"{\n"
" union\n"
" {\n"
" float4 m_min;\n"
" float m_minElems[4];\n"
" int m_minIndices[4];\n"
" };\n"
" union\n"
" {\n"
" float4 m_max;\n"
" float m_maxElems[4];\n"
" int m_maxIndices[4];\n"
" };\n"
"} btAabbCL;\n"
"int testQuantizedAabbAgainstQuantizedAabb(\n"
" const unsigned short int* aabbMin1,\n"
" const unsigned short int* aabbMax1,\n"
" const unsigned short int* aabbMin2,\n"
" const unsigned short int* aabbMax2)\n"
"{\n"
" //int overlap = 1;\n"
" if (aabbMin1[0] > aabbMax2[0])\n"
" return 0;\n"
" if (aabbMax1[0] < aabbMin2[0])\n"
" return 0;\n"
" if (aabbMin1[1] > aabbMax2[1])\n"
" return 0;\n"
" if (aabbMax1[1] < aabbMin2[1])\n"
" return 0;\n"
" if (aabbMin1[2] > aabbMax2[2])\n"
" return 0;\n"
" if (aabbMax1[2] < aabbMin2[2])\n"
" return 0;\n"
" return 1;\n"
" //overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;\n"
" //overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;\n"
" //overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;\n"
" //return overlap;\n"
"}\n"
"void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)\n"
"{\n"
" float4 clampedPoint = max(point2,bvhAabbMin);\n"
" clampedPoint = min (clampedPoint, bvhAabbMax);\n"
" float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;\n"
" if (isMax)\n"
" {\n"
" out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));\n"
" out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));\n"
" out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));\n"
" } else\n"
" {\n"
" out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));\n"
" out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));\n"
" out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));\n"
" }\n"
"}\n"
"// work-in-progress\n"
"__kernel void bvhTraversalKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global btAabbCL* aabbs,\n"
" __global int4* concavePairsOut,\n"
" __global volatile int* numConcavePairsOut,\n"
" __global const btBvhSubtreeInfo* subtreeHeadersRoot,\n"
" __global const btQuantizedBvhNode* quantizedNodesRoot,\n"
" __global const b3BvhInfo* bvhInfos,\n"
" int numPairs,\n"
" int maxNumConcavePairsCapacity)\n"
"{\n"
" int id = get_global_id(0);\n"
" if (id>=numPairs)\n"
" return;\n"
" \n"
" int bodyIndexA = pairs[id].x;\n"
" int bodyIndexB = pairs[id].y;\n"
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
" \n"
" //once the broadphase avoids static-static pairs, we can remove this test\n"
" if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
" {\n"
" return;\n"
" }\n"
" \n"
" if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)\n"
" return;\n"
" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
" \n"
" if (shapeTypeB!=SHAPE_CONVEX_HULL &&\n"
" shapeTypeB!=SHAPE_SPHERE &&\n"
" shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
" )\n"
" return;\n"
" b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];\n"
" float4 bvhAabbMin = bvhInfo.m_aabbMin;\n"
" float4 bvhAabbMax = bvhInfo.m_aabbMax;\n"
" float4 bvhQuantization = bvhInfo.m_quantization;\n"
" int numSubtreeHeaders = bvhInfo.m_numSubTrees;\n"
" __global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];\n"
" __global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];\n"
" \n"
" unsigned short int quantizedQueryAabbMin[3];\n"
" unsigned short int quantizedQueryAabbMax[3];\n"
" quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
" quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
" \n"
" for (int i=0;i<numSubtreeHeaders;i++)\n"
" {\n"
" btBvhSubtreeInfo subtree = subtreeHeaders[i];\n"
" \n"
" int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);\n"
" if (overlap != 0)\n"
" {\n"
" int startNodeIndex = subtree.m_rootNodeIndex;\n"
" int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;\n"
" int curIndex = startNodeIndex;\n"
" int escapeIndex;\n"
" int isLeafNode;\n"
" int aabbOverlap;\n"
" while (curIndex < endNodeIndex)\n"
" {\n"
" btQuantizedBvhNode rootNode = quantizedNodes[curIndex];\n"
" aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);\n"
" isLeafNode = isLeaf(&rootNode);\n"
" if (aabbOverlap)\n"
" {\n"
" if (isLeafNode)\n"
" {\n"
" int triangleIndex = getTriangleIndex(&rootNode);\n"
" if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
" {\n"
" int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
" int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);\n"
" for (int b=0;b<numChildrenB;b++)\n"
" {\n"
" if ((pairIdx+b)<maxNumConcavePairsCapacity)\n"
" {\n"
" int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
" int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);\n"
" concavePairsOut[pairIdx+b] = newPair;\n"
" }\n"
" }\n"
" } else\n"
" {\n"
" int pairIdx = atomic_inc(numConcavePairsOut);\n"
" if (pairIdx<maxNumConcavePairsCapacity)\n"
" {\n"
" int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);\n"
" concavePairsOut[pairIdx] = newPair;\n"
" }\n"
" }\n"
" } \n"
" curIndex++;\n"
" } else\n"
" {\n"
" if (isLeafNode)\n"
" {\n"
" curIndex++;\n"
" } else\n"
" {\n"
" escapeIndex = getEscapeIndex(&rootNode);\n"
" curIndex += escapeIndex;\n"
" }\n"
" }\n"
" }\n"
" }\n"
" }\n"
"}\n";