123 lines
4.3 KiB
C++
123 lines
4.3 KiB
C++
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#include "Bullet3Common/shared/b3Int4.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
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// work-in-progress
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void b3BvhTraversal(__global const b3Int4* pairs,
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__global const b3RigidBodyData* rigidBodies,
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__global const b3Collidable* collidables,
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__global b3Aabb* aabbs,
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__global b3Int4* concavePairsOut,
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__global volatile int* numConcavePairsOut,
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__global const b3BvhSubtreeInfo* subtreeHeadersRoot,
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__global const b3QuantizedBvhNode* quantizedNodesRoot,
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__global const b3BvhInfo* bvhInfos,
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int numPairs,
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int maxNumConcavePairsCapacity,
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int id)
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{
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int bodyIndexA = pairs[id].x;
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int bodyIndexB = pairs[id].y;
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int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
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int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
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//once the broadphase avoids static-static pairs, we can remove this test
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if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
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{
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return;
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}
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if (collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH)
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return;
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int shapeTypeB = collidables[collidableIndexB].m_shapeType;
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if (shapeTypeB != SHAPE_CONVEX_HULL &&
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shapeTypeB != SHAPE_SPHERE &&
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shapeTypeB != SHAPE_COMPOUND_OF_CONVEX_HULLS)
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return;
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b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
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b3Float4 bvhAabbMin = bvhInfo.m_aabbMin;
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b3Float4 bvhAabbMax = bvhInfo.m_aabbMax;
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b3Float4 bvhQuantization = bvhInfo.m_quantization;
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int numSubtreeHeaders = bvhInfo.m_numSubTrees;
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__global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
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__global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
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unsigned short int quantizedQueryAabbMin[3];
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unsigned short int quantizedQueryAabbMax[3];
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b3QuantizeWithClamp(quantizedQueryAabbMin, aabbs[bodyIndexB].m_minVec, false, bvhAabbMin, bvhAabbMax, bvhQuantization);
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b3QuantizeWithClamp(quantizedQueryAabbMax, aabbs[bodyIndexB].m_maxVec, true, bvhAabbMin, bvhAabbMax, bvhQuantization);
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for (int i = 0; i < numSubtreeHeaders; i++)
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{
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b3BvhSubtreeInfoData subtree = subtreeHeaders[i];
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int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
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if (overlap != 0)
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{
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int startNodeIndex = subtree.m_rootNodeIndex;
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int endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize;
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int curIndex = startNodeIndex;
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int escapeIndex;
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int isLeafNode;
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int aabbOverlap;
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while (curIndex < endNodeIndex)
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{
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b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex];
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aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode.m_quantizedAabbMin, rootNode.m_quantizedAabbMax);
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isLeafNode = b3IsLeaf(&rootNode);
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if (aabbOverlap)
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{
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if (isLeafNode)
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{
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int triangleIndex = b3GetTriangleIndex(&rootNode);
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if (shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS)
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{
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int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
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int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB);
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for (int b = 0; b < numChildrenB; b++)
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{
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if ((pairIdx + b) < maxNumConcavePairsCapacity)
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{
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int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
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b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB);
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concavePairsOut[pairIdx + b] = newPair;
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}
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}
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}
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else
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{
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int pairIdx = b3AtomicInc(numConcavePairsOut);
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if (pairIdx < maxNumConcavePairsCapacity)
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{
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b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0);
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concavePairsOut[pairIdx] = newPair;
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}
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}
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}
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curIndex++;
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}
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else
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{
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if (isLeafNode)
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{
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curIndex++;
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}
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else
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{
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escapeIndex = b3GetEscapeIndex(&rootNode);
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curIndex += escapeIndex;
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}
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}
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}
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}
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}
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} |