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godot/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
Rémi Verschelde e12c89e8c9 bullet: Streamline bundling, remove extraneous src/ folder 
Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.
2018-01-13 14:08:45 +01:00

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#include "b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
#include <string.h>
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h"
#include "Bullet3Geometry/b3AabbUtil.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
#include "b3GpuNarrowPhaseInternalData.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
b3GpuNarrowPhase::b3GpuNarrowPhase(cl_context ctx, cl_device_id device, cl_command_queue queue, const b3Config& config)
:m_data(0) ,m_planeBodyIndex(-1),m_static0Index(-1),
m_context(ctx),
m_device(device),
m_queue(queue)
{
m_data = new b3GpuNarrowPhaseInternalData();
m_data->m_currentContactBuffer = 0;
memset(m_data,0,sizeof(b3GpuNarrowPhaseInternalData));
m_data->m_config = config;
m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context,m_queue, config.m_maxTriConvexPairCapacity);
//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>();
m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyData>();
m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaData>();
m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx,queue,config.m_maxConvexShapes);
m_data->m_collidablesCPU.reserve(config.m_maxConvexShapes);
m_data->m_localShapeAABBCPU = new b3AlignedObjectArray<b3SapAabb>;
m_data->m_localShapeAABBGPU = new b3OpenCLArray<b3SapAabb>(ctx,queue,config.m_maxConvexShapes);
//m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false);
m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx,queue, config.m_maxConvexBodies,false);
m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx,queue,config.m_maxConvexShapes*config.m_maxFacesPerShape,false);
m_data->m_convexFaces.reserve(config.m_maxConvexShapes*config.m_maxFacesPerShape);
m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx,queue,config.m_maxCompoundChildShapes,false);
m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronData>(ctx,queue,config.m_maxConvexShapes,false);
m_data->m_convexPolyhedra.reserve(config.m_maxConvexShapes);
m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexUniqueEdges,true);
m_data->m_uniqueEdges.reserve(config.m_maxConvexUniqueEdges);
m_data->m_convexVerticesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexVertices,true);
m_data->m_convexVertices.reserve(config.m_maxConvexVertices);
m_data->m_convexIndicesGPU = new b3OpenCLArray<int>(ctx,queue,config.m_maxConvexIndices,true);
m_data->m_convexIndices.reserve(config.m_maxConvexIndices);
m_data->m_worldVertsB1GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_clippingFacesOutGPU = new b3OpenCLArray<b3Int4>(ctx,queue,config.m_maxConvexBodies);
m_data->m_worldNormalsAGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies);
m_data->m_worldVertsA1GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_worldVertsB2GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
m_data->m_convexData = new b3AlignedObjectArray<b3ConvexUtility* >();
m_data->m_convexData->resize(config.m_maxConvexShapes);
m_data->m_convexPolyhedra.resize(config.m_maxConvexShapes);
m_data->m_numAcceleratedShapes = 0;
m_data->m_numAcceleratedRigidBodies = 0;
m_data->m_subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context,this->m_queue);
m_data->m_treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue);
m_data->m_bvhInfoGPU = new b3OpenCLArray<b3BvhInfo>(this->m_context,this->m_queue);
//m_data->m_contactCGPU = new b3OpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_frictionCGPU = new b3OpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
}
b3GpuNarrowPhase::~b3GpuNarrowPhase()
{
delete m_data->m_gpuSatCollision;
delete m_data->m_triangleConvexPairs;
//delete m_data->m_convexPairsOutGPU;
//delete m_data->m_planePairs;
delete m_data->m_pBufContactOutCPU;
delete m_data->m_bodyBufferCPU;
delete m_data->m_inertiaBufferCPU;
delete m_data->m_pBufContactBuffersGPU[0];
delete m_data->m_pBufContactBuffersGPU[1];
delete m_data->m_inertiaBufferGPU;
delete m_data->m_collidablesGPU;
delete m_data->m_localShapeAABBCPU;
delete m_data->m_localShapeAABBGPU;
delete m_data->m_bodyBufferGPU;
delete m_data->m_convexFacesGPU;
delete m_data->m_gpuChildShapes;
delete m_data->m_convexPolyhedraGPU;
delete m_data->m_uniqueEdgesGPU;
delete m_data->m_convexVerticesGPU;
delete m_data->m_convexIndicesGPU;
delete m_data->m_worldVertsB1GPU;
delete m_data->m_clippingFacesOutGPU;
delete m_data->m_worldNormalsAGPU;
delete m_data->m_worldVertsA1GPU;
delete m_data->m_worldVertsB2GPU;
delete m_data->m_bvhInfoGPU;
for (int i=0;i<m_data->m_bvhData.size();i++)
{
delete m_data->m_bvhData[i];
}
for (int i=0;i<m_data->m_meshInterfaces.size();i++)
{
delete m_data->m_meshInterfaces[i];
}
m_data->m_meshInterfaces.clear();
m_data->m_bvhData.clear();
delete m_data->m_treeNodesGPU;
delete m_data->m_subTreesGPU;
delete m_data->m_convexData;
delete m_data;
}
int b3GpuNarrowPhase::allocateCollidable()
{
int curSize = m_data->m_collidablesCPU.size();
if (curSize<m_data->m_config.m_maxConvexShapes)
{
m_data->m_collidablesCPU.expand();
return curSize;
}
else
{
b3Error("allocateCollidable out-of-range %d\n",m_data->m_config.m_maxConvexShapes);
}
return -1;
}
int b3GpuNarrowPhase::registerSphereShape(float radius)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_SPHERE;
col.m_shapeIndex = 0;
col.m_radius = radius;
if (col.m_shapeIndex>=0)
{
b3SapAabb aabb;
b3Vector3 myAabbMin=b3MakeVector3(-radius,-radius,-radius);
b3Vector3 myAabbMax=b3MakeVector3(radius,radius,radius);
aabb.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabb.m_min[1] = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabb.m_min[2] = myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabb.m_max[1] = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabb.m_max[2] = myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabb.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
// m_data->m_localShapeAABBGPU->push_back(aabb);
clFinish(m_queue);
}
return collidableIndex;
}
int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant)
{
int faceOffset = m_data->m_convexFaces.size();
b3GpuFace& face = m_data->m_convexFaces.expand();
face.m_plane = b3MakeVector3(faceNormal.x,faceNormal.y,faceNormal.z,faceConstant);
return faceOffset;
}
int b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float planeConstant)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_PLANE;
col.m_shapeIndex = registerFace(planeNormal,planeConstant);
col.m_radius = planeConstant;
if (col.m_shapeIndex>=0)
{
b3SapAabb aabb;
aabb.m_min[0] = -1e30f;
aabb.m_min[1] = -1e30f;
aabb.m_min[2] = -1e30f;
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = 1e30f;
aabb.m_max[1] = 1e30f;
aabb.m_max[2] = 1e30f;
aabb.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
// m_data->m_localShapeAABBGPU->push_back(aabb);
clFinish(m_queue);
}
return collidableIndex;
}
int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr,b3Collidable& col)
{
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = convexPtr->mC;
convex.mE = convexPtr->mE;
convex.m_extents= convexPtr->m_extents;
convex.m_localCenter = convexPtr->m_localCenter;
convex.m_radius = convexPtr->m_radius;
convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
int edgeOffset = m_data->m_uniqueEdges.size();
convex.m_uniqueEdgesOffset = edgeOffset;
m_data->m_uniqueEdges.resize(edgeOffset+convex.m_numUniqueEdges);
//convex data here
int i;
for ( i=0;i<convexPtr->m_uniqueEdges.size();i++)
{
m_data->m_uniqueEdges[edgeOffset+i] = convexPtr->m_uniqueEdges[i];
}
int faceOffset = m_data->m_convexFaces.size();
convex.m_faceOffset = faceOffset;
convex.m_numFaces = convexPtr->m_faces.size();
m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
for (i=0;i<convexPtr->m_faces.size();i++)
{
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
convexPtr->m_faces[i].m_plane[1],
convexPtr->m_faces[i].m_plane[2],
convexPtr->m_faces[i].m_plane[3]);
int indexOffset = m_data->m_convexIndices.size();
int numIndices = convexPtr->m_faces[i].m_indices.size();
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
m_data->m_convexIndices.resize(indexOffset+numIndices);
for (int p=0;p<numIndices;p++)
{
m_data->m_convexIndices[indexOffset+p] = convexPtr->m_faces[i].m_indices[p];
}
}
convex.m_numVertices = convexPtr->m_vertices.size();
int vertexOffset = m_data->m_convexVertices.size();
convex.m_vertexOffset =vertexOffset;
m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
for (int i=0;i<convexPtr->m_vertices.size();i++)
{
m_data->m_convexVertices[vertexOffset+i] = convexPtr->m_vertices[i];
}
(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
return m_data->m_numAcceleratedShapes++;
}
int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
{
b3AlignedObjectArray<b3Vector3> verts;
unsigned char* vts = (unsigned char*) vertices;
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
b3ConvexUtility* utilPtr = new b3ConvexUtility();
bool merge = true;
if (numVertices)
{
utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
}
int collidableIndex = registerConvexHullShape(utilPtr);
delete utilPtr;
return collidableIndex;
}
int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONVEX_HULL;
col.m_shapeIndex = -1;
{
b3Vector3 localCenter=b3MakeVector3(0,0,0);
for (int i=0;i<utilPtr->m_vertices.size();i++)
localCenter+=utilPtr->m_vertices[i];
localCenter*= (1.f/utilPtr->m_vertices.size());
utilPtr->m_localCenter = localCenter;
col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr,col);
}
if (col.m_shapeIndex>=0)
{
b3SapAabb aabb;
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
for (int i=0;i<utilPtr->m_vertices.size();i++)
{
myAabbMin.setMin(utilPtr->m_vertices[i]);
myAabbMax.setMax(utilPtr->m_vertices[i]);
}
aabb.m_min[0] = myAabbMin[0];
aabb.m_min[1] = myAabbMin[1];
aabb.m_min[2] = myAabbMin[2];
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];
aabb.m_max[1] = myAabbMax[1];
aabb.m_max[2] = myAabbMax[2];
aabb.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
// m_data->m_localShapeAABBGPU->push_back(aabb);
}
return collidableIndex;
}
int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
col.m_shapeIndex = m_data->m_cpuChildShapes.size();
col.m_compoundBvhIndex = m_data->m_bvhInfoCPU.size();
{
b3Assert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
for (int i=0;i<childShapes->size();i++)
{
m_data->m_cpuChildShapes.push_back(childShapes->at(i));
}
}
col.m_numChildShapes = childShapes->size();
b3SapAabb aabbLocalSpace;
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
b3AlignedObjectArray<b3Aabb> childLocalAabbs;
childLocalAabbs.resize(childShapes->size());
//compute local AABB of the compound of all children
for (int i=0;i<childShapes->size();i++)
{
int childColIndex = childShapes->at(i).m_shapeIndex;
//b3Collidable& childCol = getCollidableCpu(childColIndex);
b3SapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
b3Vector3 childLocalAabbMin=b3MakeVector3(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
b3Vector3 childLocalAabbMax=b3MakeVector3(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
b3Vector3 aMin,aMax;
b3Scalar margin(0.f);
b3Transform childTr;
childTr.setIdentity();
childTr.setOrigin(childShapes->at(i).m_childPosition);
childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation));
b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
childLocalAabbs[i].m_min[0] = aMin[0];
childLocalAabbs[i].m_min[1] = aMin[1];
childLocalAabbs[i].m_min[2] = aMin[2];
childLocalAabbs[i].m_min[3] = 0;
childLocalAabbs[i].m_max[0] = aMax[0];
childLocalAabbs[i].m_max[1] = aMax[1];
childLocalAabbs[i].m_max[2] = aMax[2];
childLocalAabbs[i].m_max[3] = 0;
}
aabbLocalSpace.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbLocalSpace.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbLocalSpace.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbLocalSpace.m_minIndices[3] = 0;
aabbLocalSpace.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbLocalSpace.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbLocalSpace.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbLocalSpace.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabbLocalSpace);
b3QuantizedBvh* bvh = new b3QuantizedBvh;
bvh->setQuantizationValues(myAabbMin,myAabbMax);
QuantizedNodeArray& nodes = bvh->getLeafNodeArray();
int numNodes = childShapes->size();
for (int i=0;i<numNodes;i++)
{
b3QuantizedBvhNode node;
b3Vector3 aabbMin,aabbMax;
aabbMin = (b3Vector3&) childLocalAabbs[i].m_min;
aabbMax = (b3Vector3&) childLocalAabbs[i].m_max;
bvh->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
bvh->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
int partId = 0;
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
nodes.push_back(node);
}
bvh->buildInternal();
int numSubTrees = bvh->getSubtreeInfoArray().size();
//void setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin=b3Scalar(1.0));
//QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
//void buildInternal();
b3BvhInfo bvhInfo;
bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
bvhInfo.m_quantization = bvh->m_bvhQuantization;
bvhInfo.m_numNodes = numNodes;
bvhInfo.m_numSubTrees = numSubTrees;
bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size();
bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size();
int numNewNodes = bvh->getQuantizedNodeArray().size();
for (int i=0;i<numNewNodes-1;i++)
{
if (bvh->getQuantizedNodeArray()[i].isLeafNode())
{
int orgIndex = bvh->getQuantizedNodeArray()[i].getTriangleIndex();
b3Vector3 nodeMinVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMin);
b3Vector3 nodeMaxVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMax);
for (int c=0;c<3;c++)
{
if (childLocalAabbs[orgIndex].m_min[c] < nodeMinVec[c])
{
printf("min org (%f) and new (%f) ? at i:%d,c:%d\n",childLocalAabbs[i].m_min[c],nodeMinVec[c],i,c);
}
if (childLocalAabbs[orgIndex].m_max[c] > nodeMaxVec[c])
{
printf("max org (%f) and new (%f) ? at i:%d,c:%d\n",childLocalAabbs[i].m_max[c],nodeMaxVec[c],i,c);
}
}
}
}
m_data->m_bvhInfoCPU.push_back(bvhInfo);
int numNewSubtrees = bvh->getSubtreeInfoArray().size();
m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size()+numNewSubtrees);
for (int i=0;i<numNewSubtrees;i++)
{
m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
}
int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
for (int i=0;i<numNewTreeNodes;i++)
{
m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
}
// m_data->m_localShapeAABBGPU->push_back(aabbWS);
clFinish(m_queue);
return collidableIndex;
}
int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling1)
{
b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
col.m_shapeIndex = registerConcaveMeshShape(vertices,indices,col,scaling);
col.m_bvhIndex = m_data->m_bvhInfoCPU.size();
b3SapAabb aabb;
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
for (int i=0;i<vertices->size();i++)
{
b3Vector3 vtx(vertices->at(i)*scaling);
myAabbMin.setMin(vtx);
myAabbMax.setMax(vtx);
}
aabb.m_min[0] = myAabbMin[0];
aabb.m_min[1] = myAabbMin[1];
aabb.m_min[2] = myAabbMin[2];
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];
aabb.m_max[1]= myAabbMax[1];
aabb.m_max[2]= myAabbMax[2];
aabb.m_signedMaxIndices[3]= 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
// m_data->m_localShapeAABBGPU->push_back(aabb);
b3OptimizedBvh* bvh = new b3OptimizedBvh();
//void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
bool useQuantizedAabbCompression = true;
b3TriangleIndexVertexArray* meshInterface=new b3TriangleIndexVertexArray();
m_data->m_meshInterfaces.push_back(meshInterface);
b3IndexedMesh mesh;
mesh.m_numTriangles = indices->size()/3;
mesh.m_numVertices = vertices->size();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).x;
mesh.m_vertexStride = sizeof(b3Vector3);
mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
meshInterface->addIndexedMesh(mesh);
bvh->build(meshInterface, useQuantizedAabbCompression, (b3Vector3&)aabb.m_min, (b3Vector3&)aabb.m_max);
m_data->m_bvhData.push_back(bvh);
int numNodes = bvh->getQuantizedNodeArray().size();
//b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue,numNodes);
int numSubTrees = bvh->getSubtreeInfoArray().size();
b3BvhInfo bvhInfo;
bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
bvhInfo.m_quantization = bvh->m_bvhQuantization;
bvhInfo.m_numNodes = numNodes;
bvhInfo.m_numSubTrees = numSubTrees;
bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size();
bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size();
m_data->m_bvhInfoCPU.push_back(bvhInfo);
int numNewSubtrees = bvh->getSubtreeInfoArray().size();
m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size()+numNewSubtrees);
for (int i=0;i<numNewSubtrees;i++)
{
m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
}
int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
for (int i=0;i<numNewTreeNodes;i++)
{
m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
}
return collidableIndex;
}
int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,b3Collidable& col, const float* scaling1)
{
b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = b3MakeVector3(0,0,0);
convex.mE = b3MakeVector3(0,0,0);
convex.m_extents= b3MakeVector3(0,0,0);
convex.m_localCenter = b3MakeVector3(0,0,0);
convex.m_radius = 0.f;
convex.m_numUniqueEdges = 0;
int edgeOffset = m_data->m_uniqueEdges.size();
convex.m_uniqueEdgesOffset = edgeOffset;
int faceOffset = m_data->m_convexFaces.size();
convex.m_faceOffset = faceOffset;
convex.m_numFaces = indices->size()/3;
m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
m_data->m_convexIndices.reserve(convex.m_numFaces*3);
for (int i=0;i<convex.m_numFaces;i++)
{
if (i%256==0)
{
//printf("i=%d out of %d", i,convex.m_numFaces);
}
b3Vector3 vert0(vertices->at(indices->at(i*3))*scaling);
b3Vector3 vert1(vertices->at(indices->at(i*3+1))*scaling);
b3Vector3 vert2(vertices->at(indices->at(i*3+2))*scaling);
b3Vector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
b3Scalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector4(normal.x,normal.y,normal.z,c);
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
m_data->m_convexIndices.resize(indexOffset+numIndices);
for (int p=0;p<numIndices;p++)
{
int vi = indices->at(i*3+p);
m_data->m_convexIndices[indexOffset+p] = vi;//convexPtr->m_faces[i].m_indices[p];
}
}
convex.m_numVertices = vertices->size();
int vertexOffset = m_data->m_convexVertices.size();
convex.m_vertexOffset =vertexOffset;
m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
for (int i=0;i<vertices->size();i++)
{
m_data->m_convexVertices[vertexOffset+i] = vertices->at(i)*scaling;
}
(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0;
return m_data->m_numAcceleratedShapes++;
}
cl_mem b3GpuNarrowPhase::getBodiesGpu()
{
return (cl_mem)m_data->m_bodyBufferGPU->getBufferCL();
}
const struct b3RigidBodyData* b3GpuNarrowPhase::getBodiesCpu() const
{
return &m_data->m_bodyBufferCPU->at(0);
};
int b3GpuNarrowPhase::getNumBodiesGpu() const
{
return m_data->m_bodyBufferGPU->size();
}
cl_mem b3GpuNarrowPhase::getBodyInertiasGpu()
{
return (cl_mem)m_data->m_inertiaBufferGPU->getBufferCL();
}
int b3GpuNarrowPhase::getNumBodyInertiasGpu() const
{
return m_data->m_inertiaBufferGPU->size();
}
b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex)
{
return m_data->m_collidablesCPU[collidableIndex];
}
const b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex) const
{
return m_data->m_collidablesCPU[collidableIndex];
}
cl_mem b3GpuNarrowPhase::getCollidablesGpu()
{
return m_data->m_collidablesGPU->getBufferCL();
}
const struct b3Collidable* b3GpuNarrowPhase::getCollidablesCpu() const
{
if (m_data->m_collidablesCPU.size())
return &m_data->m_collidablesCPU[0];
return 0;
}
const struct b3SapAabb* b3GpuNarrowPhase::getLocalSpaceAabbsCpu() const
{
if (m_data->m_localShapeAABBCPU->size())
{
return &m_data->m_localShapeAABBCPU->at(0);
}
return 0;
}
cl_mem b3GpuNarrowPhase::getAabbLocalSpaceBufferGpu()
{
return m_data->m_localShapeAABBGPU->getBufferCL();
}
int b3GpuNarrowPhase::getNumCollidablesGpu() const
{
return m_data->m_collidablesGPU->size();
}
int b3GpuNarrowPhase::getNumContactsGpu() const
{
return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
}
cl_mem b3GpuNarrowPhase::getContactsGpu()
{
return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->getBufferCL();
}
const b3Contact4* b3GpuNarrowPhase::getContactsCPU() const
{
m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->copyToHost(*m_data->m_pBufContactOutCPU);
return &m_data->m_pBufContactOutCPU->at(0);
}
void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects)
{
cl_mem aabbsLocalSpace = m_data->m_localShapeAABBGPU->getBufferCL();
int nContactOut = 0;
//swap buffer
m_data->m_currentContactBuffer=1-m_data->m_currentContactBuffer;
//int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
int numTriConvexPairsOut=0;
b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
b3OpenCLArray<b3Aabb> clAabbArrayWorldSpace(this->m_context,this->m_queue);
clAabbArrayWorldSpace.setFromOpenCLBuffer(aabbsWorldSpace,numObjects);
b3OpenCLArray<b3Aabb> clAabbArrayLocalSpace(this->m_context,this->m_queue);
clAabbArrayLocalSpace.setFromOpenCLBuffer(aabbsLocalSpace,numObjects);
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
&broadphasePairsGPU, numBroadphasePairs,
m_data->m_bodyBufferGPU,
m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer],
nContactOut,
m_data->m_pBufContactBuffersGPU[1-m_data->m_currentContactBuffer],
m_data->m_config.m_maxContactCapacity,
m_data->m_config.m_compoundPairCapacity,
*m_data->m_convexPolyhedraGPU,
*m_data->m_convexVerticesGPU,
*m_data->m_uniqueEdgesGPU,
*m_data->m_convexFacesGPU,
*m_data->m_convexIndicesGPU,
*m_data->m_collidablesGPU,
*m_data->m_gpuChildShapes,
clAabbArrayWorldSpace,
clAabbArrayLocalSpace,
*m_data->m_worldVertsB1GPU,
*m_data->m_clippingFacesOutGPU,
*m_data->m_worldNormalsAGPU,
*m_data->m_worldVertsA1GPU,
*m_data->m_worldVertsB2GPU,
m_data->m_bvhData,
m_data->m_treeNodesGPU,
m_data->m_subTreesGPU,
m_data->m_bvhInfoGPU,
numObjects,
maxTriConvexPairCapacity,
*m_data->m_triangleConvexPairs,
numTriConvexPairsOut
);
/*b3AlignedObjectArray<b3Int4> broadphasePairsCPU;
broadphasePairsGPU.copyToHost(broadphasePairsCPU);
printf("checking pairs\n");
*/
}
const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
{
return m_data->m_localShapeAABBCPU->at(collidableIndex);
}
int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation , const float* aabbMinPtr, const float* aabbMaxPtr,bool writeToGpu)
{
b3Vector3 aabbMin=b3MakeVector3(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax=b3MakeVector3(aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies))
{
b3Error("registerRigidBody: exceeding the number of rigid bodies, %d > %d \n",m_data->m_numAcceleratedRigidBodies,m_data->m_config.m_maxConvexBodies);
return -1;
}
m_data->m_bodyBufferCPU->resize(m_data->m_numAcceleratedRigidBodies+1);
b3RigidBodyData& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
float friction = 1.f;
float restitution = 0.f;
body.m_frictionCoeff = friction;
body.m_restituitionCoeff = restitution;
body.m_angVel = b3MakeVector3(0,0,0);
body.m_linVel=b3MakeVector3(0,0,0);//.setZero();
body.m_pos =b3MakeVector3(position[0],position[1],position[2]);
body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
body.m_collidableIdx = collidableIndex;
if (collidableIndex>=0)
{
// body.m_shapeType = m_data->m_collidablesCPU.at(collidableIndex).m_shapeType;
} else
{
// body.m_shapeType = CollisionShape::SHAPE_PLANE;
m_planeBodyIndex = m_data->m_numAcceleratedRigidBodies;
}
//body.m_shapeType = shapeType;
body.m_invMass = mass? 1.f/mass : 0.f;
if (writeToGpu)
{
m_data->m_bodyBufferGPU->copyFromHostPointer(&body,1,m_data->m_numAcceleratedRigidBodies);
}
b3InertiaData& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
if (mass==0.f)
{
if (m_data->m_numAcceleratedRigidBodies==0)
m_static0Index = 0;
shapeInfo.m_initInvInertia.setValue(0,0,0,0,0,0,0,0,0);
shapeInfo.m_invInertiaWorld.setValue(0,0,0,0,0,0,0,0,0);
} else
{
b3Assert(body.m_collidableIdx>=0);
//approximate using the aabb of the shape
//Aabb aabb = (*m_data->m_shapePointers)[shapeIndex]->m_aabb;
b3Vector3 halfExtents = (aabbMax-aabbMin);//*0.5f;//fake larger inertia makes demos more stable ;-)
b3Vector3 localInertia;
float lx=2.f*halfExtents[0];
float ly=2.f*halfExtents[1];
float lz=2.f*halfExtents[2];
localInertia.setValue( (mass/12.0f) * (ly*ly + lz*lz),
(mass/12.0f) * (lx*lx + lz*lz),
(mass/12.0f) * (lx*lx + ly*ly));
b3Vector3 invLocalInertia;
invLocalInertia[0] = 1.f/localInertia[0];
invLocalInertia[1] = 1.f/localInertia[1];
invLocalInertia[2] = 1.f/localInertia[2];
invLocalInertia[3] = 0.f;
shapeInfo.m_initInvInertia.setValue(
invLocalInertia[0], 0, 0,
0, invLocalInertia[1], 0,
0, 0, invLocalInertia[2]);
b3Matrix3x3 m (body.m_quat);
shapeInfo.m_invInertiaWorld = m.scaled(invLocalInertia) * m.transpose();
}
if (writeToGpu)
m_data->m_inertiaBufferGPU->copyFromHostPointer(&shapeInfo,1,m_data->m_numAcceleratedRigidBodies);
return m_data->m_numAcceleratedRigidBodies++;
}
int b3GpuNarrowPhase::getNumRigidBodies() const
{
return m_data->m_numAcceleratedRigidBodies;
}
void b3GpuNarrowPhase::writeAllBodiesToGpu()
{
if (m_data->m_localShapeAABBCPU->size())
{
m_data->m_localShapeAABBGPU->copyFromHost(*m_data->m_localShapeAABBCPU);
}
m_data->m_gpuChildShapes->copyFromHost(m_data->m_cpuChildShapes);
m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges);
m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices);
m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices);
m_data->m_bvhInfoGPU->copyFromHost(m_data->m_bvhInfoCPU);
m_data->m_treeNodesGPU->copyFromHost(m_data->m_treeNodesCPU);
m_data->m_subTreesGPU->copyFromHost(m_data->m_subTreesCPU);
m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
m_data->m_inertiaBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
if (m_data->m_numAcceleratedRigidBodies)
{
m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
}
if (m_data->m_collidablesCPU.size())
{
m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
}
}
void b3GpuNarrowPhase::reset()
{
m_data->m_numAcceleratedShapes = 0;
m_data->m_numAcceleratedRigidBodies = 0;
this->m_static0Index = -1;
m_data->m_uniqueEdges.resize(0);
m_data->m_convexVertices.resize(0);
m_data->m_convexPolyhedra.resize(0);
m_data->m_convexIndices.resize(0);
m_data->m_cpuChildShapes.resize(0);
m_data->m_convexFaces.resize(0);
m_data->m_collidablesCPU.resize(0);
m_data->m_localShapeAABBCPU->resize(0);
m_data->m_bvhData.resize(0);
m_data->m_treeNodesCPU.resize(0);
m_data->m_subTreesCPU.resize(0);
m_data->m_bvhInfoCPU.resize(0);
}
void b3GpuNarrowPhase::readbackAllBodiesToCpu()
{
m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
}
void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation , int bodyIndex)
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_pos=b3MakeVector3(position[0],position[1],position[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
}
else
{
b3Warning("setObjectVelocityCpu out of range.\n");
}
}
void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex)
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel=b3MakeVector3(linVel[0],linVel[1],linVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel=b3MakeVector3(angVel[0],angVel[1],angVel[2]);
} else
{
b3Warning("setObjectVelocityCpu out of range.\n");
}
}
bool b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x;
position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y;
position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z;
position[3] = 1.f;//or 1
orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x;
orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y;
orientation[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.z;
orientation[3] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.w;
return true;
}
b3Warning("getObjectTransformFromCpu out of range.\n");
return false;
}
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