1889 lines
55 KiB
Common Lisp
1889 lines
55 KiB
Common Lisp
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#define TRIANGLE_NUM_CONVEX_FACES 5
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#pragma OPENCL EXTENSION cl_amd_printf : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
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#ifdef cl_ext_atomic_counters_32
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#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
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#else
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#define counter32_t volatile __global int*
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#endif
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#define GET_GROUP_IDX get_group_id(0)
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#define GET_LOCAL_IDX get_local_id(0)
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#define GET_GLOBAL_IDX get_global_id(0)
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#define GET_GROUP_SIZE get_local_size(0)
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#define GET_NUM_GROUPS get_num_groups(0)
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#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
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#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
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#define AtomInc(x) atom_inc(&(x))
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#define AtomInc1(x, out) out = atom_inc(&(x))
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#define AppendInc(x, out) out = atomic_inc(x)
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#define AtomAdd(x, value) atom_add(&(x), value)
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#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
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#define AtomXhg(x, value) atom_xchg ( &(x), value )
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#define max2 max
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#define min2 min
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typedef unsigned int u32;
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.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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#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
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#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
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#define make_float4 (float4)
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#define make_float2 (float2)
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#define make_uint4 (uint4)
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#define make_int4 (int4)
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#define make_uint2 (uint2)
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#define make_int2 (int2)
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__inline
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float fastDiv(float numerator, float denominator)
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{
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return native_divide(numerator, denominator);
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// return numerator/denominator;
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}
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__inline
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float4 fastDiv4(float4 numerator, float4 denominator)
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{
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return native_divide(numerator, denominator);
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}
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__inline
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float4 cross3(float4 a, float4 b)
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{
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return cross(a,b);
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}
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//#define dot3F4 dot
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__inline
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float dot3F4(float4 a, float4 b)
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{
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float4 a1 = make_float4(a.xyz,0.f);
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float4 b1 = make_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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__inline
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float4 fastNormalize4(float4 v)
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{
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return fast_normalize(v);
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}
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///////////////////////////////////////
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// Quaternion
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///////////////////////////////////////
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typedef float4 Quaternion;
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b);
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__inline
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Quaternion qtNormalize(Quaternion in);
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__inline
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float4 qtRotate(Quaternion q, float4 vec);
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__inline
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Quaternion qtInvert(Quaternion q);
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b)
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{
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Quaternion ans;
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ans = cross3( a, b );
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ans += a.w*b+b.w*a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w*b.w - dot3F4(a, b);
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return ans;
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}
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__inline
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Quaternion qtNormalize(Quaternion in)
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{
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return fastNormalize4(in);
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// in /= length( in );
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// return in;
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}
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__inline
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float4 qtRotate(Quaternion q, float4 vec)
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{
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Quaternion qInv = qtInvert( q );
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = qtMul(qtMul(q,vcpy),qInv);
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return out;
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}
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__inline
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Quaternion qtInvert(Quaternion q)
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{
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return (Quaternion)(-q.xyz, q.w);
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}
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__inline
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float4 qtInvRotate(const Quaternion q, float4 vec)
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{
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return qtRotate( qtInvert( q ), vec );
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}
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__inline
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float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)
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{
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return qtRotate( *orientation, *p ) + (*translation);
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}
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__inline
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float4 normalize3(const float4 a)
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{
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float4 n = make_float4(a.x, a.y, a.z, 0.f);
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return fastNormalize4( n );
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}
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__inline float4 lerp3(const float4 a,const float4 b, float t)
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{
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return make_float4( a.x + (b.x - a.x) * t,
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a.y + (b.y - a.y) * t,
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a.z + (b.z - a.z) * t,
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0.f);
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}
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// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
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int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)
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{
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int ve;
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float ds, de;
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int numVertsOut = 0;
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//double-check next test
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if (numVertsIn < 2)
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return 0;
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float4 firstVertex=pVtxIn[numVertsIn-1];
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float4 endVertex = pVtxIn[0];
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ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;
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for (ve = 0; ve < numVertsIn; ve++)
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{
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endVertex=pVtxIn[ve];
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de = dot3F4(planeNormalWS,endVertex)+planeEqWS;
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if (ds<0)
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{
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if (de<0)
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{
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// Start < 0, end < 0, so output endVertex
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ppVtxOut[numVertsOut++] = endVertex;
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}
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else
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{
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// Start < 0, end >= 0, so output intersection
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ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
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}
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}
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else
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{
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if (de<0)
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{
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// Start >= 0, end < 0 so output intersection and end
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ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
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ppVtxOut[numVertsOut++] = endVertex;
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}
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}
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firstVertex = endVertex;
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ds = de;
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}
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return numVertsOut;
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}
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// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
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int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)
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{
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int ve;
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float ds, de;
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int numVertsOut = 0;
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//double-check next test
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if (numVertsIn < 2)
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return 0;
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float4 firstVertex=pVtxIn[numVertsIn-1];
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float4 endVertex = pVtxIn[0];
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ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;
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for (ve = 0; ve < numVertsIn; ve++)
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{
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endVertex=pVtxIn[ve];
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de = dot3F4(planeNormalWS,endVertex)+planeEqWS;
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if (ds<0)
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{
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if (de<0)
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{
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// Start < 0, end < 0, so output endVertex
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ppVtxOut[numVertsOut++] = endVertex;
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}
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else
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{
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// Start < 0, end >= 0, so output intersection
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ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
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}
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}
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else
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{
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if (de<0)
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{
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// Start >= 0, end < 0 so output intersection and end
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ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
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ppVtxOut[numVertsOut++] = endVertex;
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}
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}
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firstVertex = endVertex;
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ds = de;
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}
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return numVertsOut;
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}
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int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA,
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const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,
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float4* worldVertsB2, int capacityWorldVertsB2,
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const float minDist, float maxDist,
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__global const float4* vertices,
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__global const b3GpuFace_t* faces,
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__global const int* indices,
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float4* contactsOut,
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int contactCapacity)
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{
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int numContactsOut = 0;
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float4* pVtxIn = worldVertsB1;
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float4* pVtxOut = worldVertsB2;
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int numVertsIn = numWorldVertsB1;
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int numVertsOut = 0;
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int closestFaceA=-1;
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{
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float dmin = FLT_MAX;
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for(int face=0;face<hullA->m_numFaces;face++)
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{
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const float4 Normal = make_float4(
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faces[hullA->m_faceOffset+face].m_plane.x,
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faces[hullA->m_faceOffset+face].m_plane.y,
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faces[hullA->m_faceOffset+face].m_plane.z,0.f);
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const float4 faceANormalWS = qtRotate(ornA,Normal);
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float d = dot3F4(faceANormalWS,separatingNormal);
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if (d < dmin)
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{
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dmin = d;
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closestFaceA = face;
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}
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}
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}
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if (closestFaceA<0)
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return numContactsOut;
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b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];
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// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
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int numVerticesA = polyA.m_numIndices;
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for(int e0=0;e0<numVerticesA;e0++)
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{
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const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];
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const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
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const float4 edge0 = a - b;
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const float4 WorldEdge0 = qtRotate(ornA,edge0);
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float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
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float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);
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float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
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float4 worldA1 = transform(&a,&posA,&ornA);
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float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
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float4 planeNormalWS = planeNormalWS1;
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float planeEqWS=planeEqWS1;
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//clip face
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//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
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numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
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//btSwap(pVtxIn,pVtxOut);
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float4* tmp = pVtxOut;
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pVtxOut = pVtxIn;
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pVtxIn = tmp;
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numVertsIn = numVertsOut;
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numVertsOut = 0;
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}
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// only keep points that are behind the witness face
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{
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float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
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float localPlaneEq = polyA.m_plane.w;
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float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);
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float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);
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for (int i=0;i<numVertsIn;i++)
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{
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float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
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if (depth <=minDist)
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{
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depth = minDist;
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}
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if (depth <=maxDist)
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{
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float4 pointInWorld = pVtxIn[i];
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//resultOut.addContactPoint(separatingNormal,point,depth);
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contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
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}
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}
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}
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return numContactsOut;
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}
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int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA,
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const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,
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float4* worldVertsB2, int capacityWorldVertsB2,
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const float minDist, float maxDist,
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const float4* verticesA,
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const b3GpuFace_t* facesA,
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const int* indicesA,
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__global const float4* verticesB,
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__global const b3GpuFace_t* facesB,
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__global const int* indicesB,
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float4* contactsOut,
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int contactCapacity)
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{
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int numContactsOut = 0;
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float4* pVtxIn = worldVertsB1;
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float4* pVtxOut = worldVertsB2;
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int numVertsIn = numWorldVertsB1;
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int numVertsOut = 0;
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int closestFaceA=-1;
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{
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float dmin = FLT_MAX;
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for(int face=0;face<hullA->m_numFaces;face++)
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{
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const float4 Normal = make_float4(
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facesA[hullA->m_faceOffset+face].m_plane.x,
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facesA[hullA->m_faceOffset+face].m_plane.y,
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facesA[hullA->m_faceOffset+face].m_plane.z,0.f);
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const float4 faceANormalWS = qtRotate(ornA,Normal);
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float d = dot3F4(faceANormalWS,separatingNormal);
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if (d < dmin)
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{
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dmin = d;
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closestFaceA = face;
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}
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}
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}
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if (closestFaceA<0)
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return numContactsOut;
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b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];
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// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
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int numVerticesA = polyA.m_numIndices;
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for(int e0=0;e0<numVerticesA;e0++)
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{
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const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];
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const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
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const float4 edge0 = a - b;
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const float4 WorldEdge0 = qtRotate(ornA,edge0);
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float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
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float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);
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float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
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float4 worldA1 = transform(&a,&posA,&ornA);
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float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
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float4 planeNormalWS = planeNormalWS1;
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float planeEqWS=planeEqWS1;
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//clip face
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//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
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numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
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//btSwap(pVtxIn,pVtxOut);
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float4* tmp = pVtxOut;
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pVtxOut = pVtxIn;
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pVtxIn = tmp;
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numVertsIn = numVertsOut;
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numVertsOut = 0;
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}
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// only keep points that are behind the witness face
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{
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float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
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float localPlaneEq = polyA.m_plane.w;
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float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);
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float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);
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for (int i=0;i<numVertsIn;i++)
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{
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float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
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if (depth <=minDist)
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{
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depth = minDist;
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}
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if (depth <=maxDist)
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{
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float4 pointInWorld = pVtxIn[i];
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//resultOut.addContactPoint(separatingNormal,point,depth);
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contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
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}
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}
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}
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return numContactsOut;
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}
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int clipHullAgainstHull(const float4 separatingNormal,
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__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
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const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
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float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
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const float minDist, float maxDist,
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__global const float4* vertices,
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__global const b3GpuFace_t* faces,
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__global const int* indices,
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|
float4* localContactsOut,
|
|
int localContactCapacity)
|
|
{
|
|
int numContactsOut = 0;
|
|
int numWorldVertsB1= 0;
|
|
|
|
|
|
int closestFaceB=-1;
|
|
float dmax = -FLT_MAX;
|
|
|
|
{
|
|
for(int face=0;face<hullB->m_numFaces;face++)
|
|
{
|
|
const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,
|
|
faces[hullB->m_faceOffset+face].m_plane.y, faces[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 b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];
|
|
const int numVertices = polyB.m_numIndices;
|
|
for(int e0=0;e0<numVertices;e0++)
|
|
{
|
|
const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];
|
|
worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);
|
|
}
|
|
}
|
|
|
|
if (closestFaceB>=0)
|
|
{
|
|
numContactsOut = clipFaceAgainstHull(separatingNormal, hullA,
|
|
posA,ornA,
|
|
worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,
|
|
faces,
|
|
indices,localContactsOut,localContactCapacity);
|
|
}
|
|
|
|
return numContactsOut;
|
|
}
|
|
|
|
|
|
int clipHullAgainstHullLocalA(const float4 separatingNormal,
|
|
const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
|
|
const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,
|
|
float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
|
|
const float minDist, float maxDist,
|
|
const float4* verticesA,
|
|
const b3GpuFace_t* facesA,
|
|
const int* indicesA,
|
|
__global const float4* verticesB,
|
|
__global const b3GpuFace_t* facesB,
|
|
__global const int* indicesB,
|
|
float4* localContactsOut,
|
|
int localContactCapacity)
|
|
{
|
|
int numContactsOut = 0;
|
|
int numWorldVertsB1= 0;
|
|
|
|
|
|
int closestFaceB=-1;
|
|
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 b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];
|
|
const int numVertices = polyB.m_numIndices;
|
|
for(int e0=0;e0<numVertices;e0++)
|
|
{
|
|
const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
|
|
worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);
|
|
}
|
|
}
|
|
|
|
if (closestFaceB>=0)
|
|
{
|
|
numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA,
|
|
posA,ornA,
|
|
worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,
|
|
verticesA,facesA,indicesA,
|
|
verticesB,facesB,indicesB,
|
|
localContactsOut,localContactCapacity);
|
|
}
|
|
|
|
return numContactsOut;
|
|
}
|
|
|
|
#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];
|
|
#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}
|
|
#define REDUCE_MAX(v, n) {int i=0;\
|
|
for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }
|
|
#define REDUCE_MIN(v, n) {int i=0;\
|
|
for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }
|
|
|
|
int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)
|
|
{
|
|
if( nPoints == 0 )
|
|
return 0;
|
|
|
|
if (nPoints <=4)
|
|
return nPoints;
|
|
|
|
|
|
if (nPoints >64)
|
|
nPoints = 64;
|
|
|
|
float4 center = make_float4(0.f);
|
|
{
|
|
|
|
for (int i=0;i<nPoints;i++)
|
|
center += p[i];
|
|
center /= (float)nPoints;
|
|
}
|
|
|
|
|
|
|
|
// sample 4 directions
|
|
|
|
float4 aVector = p[0] - center;
|
|
float4 u = cross3( nearNormal, aVector );
|
|
float4 v = cross3( nearNormal, u );
|
|
u = normalize3( u );
|
|
v = normalize3( v );
|
|
|
|
|
|
//keep point with deepest penetration
|
|
float minW= FLT_MAX;
|
|
|
|
int minIndex=-1;
|
|
|
|
float4 maxDots;
|
|
maxDots.x = FLT_MIN;
|
|
maxDots.y = FLT_MIN;
|
|
maxDots.z = FLT_MIN;
|
|
maxDots.w = FLT_MIN;
|
|
|
|
// idx, distance
|
|
for(int ie = 0; ie<nPoints; ie++ )
|
|
{
|
|
if (p[ie].w<minW)
|
|
{
|
|
minW = p[ie].w;
|
|
minIndex=ie;
|
|
}
|
|
float f;
|
|
float4 r = p[ie]-center;
|
|
f = dot3F4( u, r );
|
|
if (f<maxDots.x)
|
|
{
|
|
maxDots.x = f;
|
|
contactIdx[0].x = ie;
|
|
}
|
|
|
|
f = dot3F4( -u, r );
|
|
if (f<maxDots.y)
|
|
{
|
|
maxDots.y = f;
|
|
contactIdx[0].y = ie;
|
|
}
|
|
|
|
|
|
f = dot3F4( v, r );
|
|
if (f<maxDots.z)
|
|
{
|
|
maxDots.z = f;
|
|
contactIdx[0].z = ie;
|
|
}
|
|
|
|
f = dot3F4( -v, r );
|
|
if (f<maxDots.w)
|
|
{
|
|
maxDots.w = f;
|
|
contactIdx[0].w = ie;
|
|
}
|
|
|
|
}
|
|
|
|
if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
|
|
{
|
|
//replace the first contact with minimum (todo: replace contact with least penetration)
|
|
contactIdx[0].x = minIndex;
|
|
}
|
|
|
|
return 4;
|
|
|
|
}
|
|
|
|
|
|
int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)
|
|
{
|
|
contactIdx[0] = 0;
|
|
contactIdx[1] = 1;
|
|
contactIdx[2] = 2;
|
|
contactIdx[3] = 3;
|
|
|
|
if( nPoints == 0 ) return 0;
|
|
|
|
nPoints = min2( nPoints, 4 );
|
|
return nPoints;
|
|
|
|
}
|
|
|
|
|
|
|
|
int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)
|
|
{
|
|
if( nPoints == 0 ) return 0;
|
|
|
|
nPoints = min2( nPoints, 64 );
|
|
|
|
float4 center = make_float4(0.f);
|
|
{
|
|
float4 v[64];
|
|
for (int i=0;i<nPoints;i++)
|
|
v[i] = p[i];
|
|
//memcpy( v, p, nPoints*sizeof(float4) );
|
|
PARALLEL_SUM( v, nPoints );
|
|
center = v[0]/(float)nPoints;
|
|
}
|
|
|
|
|
|
|
|
{ // sample 4 directions
|
|
if( nPoints < 4 )
|
|
{
|
|
for(int i=0; i<nPoints; i++)
|
|
contactIdx[i] = i;
|
|
return nPoints;
|
|
}
|
|
|
|
float4 aVector = p[0] - center;
|
|
float4 u = cross3( nearNormal, aVector );
|
|
float4 v = cross3( nearNormal, u );
|
|
u = normalize3( u );
|
|
v = normalize3( v );
|
|
|
|
int idx[4];
|
|
|
|
float2 max00 = make_float2(0,FLT_MAX);
|
|
{
|
|
// idx, distance
|
|
{
|
|
{
|
|
int4 a[64];
|
|
for(int ie = 0; ie<nPoints; ie++ )
|
|
{
|
|
|
|
|
|
float f;
|
|
float4 r = p[ie]-center;
|
|
f = dot3F4( u, r );
|
|
a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
|
|
|
|
f = dot3F4( -u, r );
|
|
a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
|
|
|
|
f = dot3F4( v, r );
|
|
a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
|
|
|
|
f = dot3F4( -v, r );
|
|
a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);
|
|
}
|
|
|
|
for(int ie=0; ie<nPoints; ie++)
|
|
{
|
|
a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;
|
|
a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;
|
|
a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;
|
|
a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;
|
|
}
|
|
|
|
idx[0] = (int)a[0].x & 0xff;
|
|
idx[1] = (int)a[0].y & 0xff;
|
|
idx[2] = (int)a[0].z & 0xff;
|
|
idx[3] = (int)a[0].w & 0xff;
|
|
}
|
|
}
|
|
|
|
{
|
|
float2 h[64];
|
|
PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );
|
|
REDUCE_MIN( h, nPoints );
|
|
max00 = h[0];
|
|
}
|
|
}
|
|
|
|
contactIdx[0] = idx[0];
|
|
contactIdx[1] = idx[1];
|
|
contactIdx[2] = idx[2];
|
|
contactIdx[3] = idx[3];
|
|
|
|
|
|
return 4;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const float4* closestPointsWorld,
|
|
__global const float4* separatingNormalsWorld,
|
|
__global const int* contactCounts,
|
|
__global const int* contactOffsets,
|
|
__global struct b3Contact4Data* restrict contactsOut,
|
|
counter32_t nContactsOut,
|
|
int contactCapacity,
|
|
int numPairs,
|
|
int pairIndex
|
|
)
|
|
{
|
|
int idx = get_global_id(0);
|
|
|
|
if (idx<numPairs)
|
|
{
|
|
float4 normal = separatingNormalsWorld[idx];
|
|
int nPoints = contactCounts[idx];
|
|
__global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];
|
|
float4 localPoints[64];
|
|
for (int i=0;i<nPoints;i++)
|
|
{
|
|
localPoints[i] = pointsIn[i];
|
|
}
|
|
|
|
int contactIdx[4];// = {-1,-1,-1,-1};
|
|
contactIdx[0] = -1;
|
|
contactIdx[1] = -1;
|
|
contactIdx[2] = -1;
|
|
contactIdx[3] = -1;
|
|
|
|
int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);
|
|
|
|
int dstIdx;
|
|
AppendInc( nContactsOut, dstIdx );
|
|
if (dstIdx<contactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = contactsOut + dstIdx;
|
|
c->m_worldNormalOnB = -normal;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = idx;
|
|
int bodyA = pairs[pairIndex].x;
|
|
int bodyB = pairs[pairIndex].y;
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;
|
|
c->m_childIndexA = -1;
|
|
c->m_childIndexB = -1;
|
|
for (int i=0;i<nContacts;i++)
|
|
{
|
|
c->m_worldPosB[i] = localPoints[contactIdx[i]];
|
|
}
|
|
GET_NPOINTS(*c) = nContacts;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void trInverse(float4 translationIn, Quaternion orientationIn,
|
|
float4* translationOut, Quaternion* orientationOut)
|
|
{
|
|
*orientationOut = qtInvert(orientationIn);
|
|
*translationOut = qtRotate(*orientationOut, -translationIn);
|
|
}
|
|
|
|
void trMul(float4 translationA, Quaternion orientationA,
|
|
float4 translationB, Quaternion orientationB,
|
|
float4* translationOut, Quaternion* orientationOut)
|
|
{
|
|
*orientationOut = qtMul(orientationA,orientationB);
|
|
*translationOut = transform(&translationB,&translationA,&orientationA);
|
|
}
|
|
|
|
|
|
|
|
|
|
__kernel void clipHullHullKernel( __global int4* pairs,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const b3Collidable_t* collidables,
|
|
__global const b3ConvexPolyhedronData_t* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const b3GpuFace_t* faces,
|
|
__global const int* indices,
|
|
__global const float4* separatingNormals,
|
|
__global const int* hasSeparatingAxis,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int numPairs,
|
|
int contactCapacity)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
float4 worldVertsB1[64];
|
|
float4 worldVertsB2[64];
|
|
int capacityWorldVerts = 64;
|
|
|
|
float4 localContactsOut[64];
|
|
int localContactCapacity=64;
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
if (i<numPairs)
|
|
{
|
|
|
|
int bodyIndexA = pairs[i].x;
|
|
int bodyIndexB = pairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
if (hasSeparatingAxis[i])
|
|
{
|
|
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
|
|
|
|
|
|
int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],
|
|
&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
|
|
rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
|
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
|
worldVertsB1,worldVertsB2,capacityWorldVerts,
|
|
minDist, maxDist,
|
|
vertices,faces,indices,
|
|
localContactsOut,localContactCapacity);
|
|
|
|
if (numLocalContactsOut>0)
|
|
{
|
|
float4 normal = -separatingNormals[i];
|
|
int nPoints = numLocalContactsOut;
|
|
float4* pointsIn = localContactsOut;
|
|
int contactIdx[4];// = {-1,-1,-1,-1};
|
|
|
|
contactIdx[0] = -1;
|
|
contactIdx[1] = -1;
|
|
contactIdx[2] = -1;
|
|
contactIdx[3] = -1;
|
|
|
|
int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
|
|
|
|
|
|
int mprContactIndex = pairs[pairIndex].z;
|
|
|
|
int dstIdx = mprContactIndex;
|
|
if (dstIdx<0)
|
|
{
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
}
|
|
|
|
if (dstIdx<contactCapacity)
|
|
{
|
|
pairs[pairIndex].z = dstIdx;
|
|
|
|
__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
|
|
c->m_worldNormalOnB = -normal;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = pairIndex;
|
|
int bodyA = pairs[pairIndex].x;
|
|
int bodyB = pairs[pairIndex].y;
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
|
c->m_childIndexA = -1;
|
|
c->m_childIndexB = -1;
|
|
|
|
for (int i=0;i<nReducedContacts;i++)
|
|
{
|
|
//this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact
|
|
if (i>0||(mprContactIndex<0))
|
|
{
|
|
c->m_worldPosB[i] = pointsIn[contactIdx[i]];
|
|
}
|
|
}
|
|
GET_NPOINTS(*c) = nReducedContacts;
|
|
}
|
|
|
|
}// if (numContactsOut>0)
|
|
}// if (hasSeparatingAxis[i])
|
|
}// if (i<numPairs)
|
|
|
|
}
|
|
|
|
|
|
__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const b3Collidable_t* collidables,
|
|
__global const b3ConvexPolyhedronData_t* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const b3GpuFace_t* faces,
|
|
__global const int* indices,
|
|
__global const b3GpuChildShape_t* gpuChildShapes,
|
|
__global const float4* gpuCompoundSepNormalsOut,
|
|
__global const int* gpuHasCompoundSepNormalsOut,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int numCompoundPairs, int maxContactCapacity)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
float4 worldVertsB1[64];
|
|
float4 worldVertsB2[64];
|
|
int capacityWorldVerts = 64;
|
|
|
|
float4 localContactsOut[64];
|
|
int localContactCapacity=64;
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
if (i<numCompoundPairs)
|
|
{
|
|
|
|
if (gpuHasCompoundSepNormalsOut[i])
|
|
{
|
|
|
|
int bodyIndexA = gpuCompoundPairs[i].x;
|
|
int bodyIndexB = gpuCompoundPairs[i].y;
|
|
|
|
int childShapeIndexA = gpuCompoundPairs[i].z;
|
|
int childShapeIndexB = gpuCompoundPairs[i].w;
|
|
|
|
int collidableIndexA = -1;
|
|
int collidableIndexB = -1;
|
|
|
|
float4 ornA = rigidBodies[bodyIndexA].m_quat;
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
|
|
float4 ornB = rigidBodies[bodyIndexB].m_quat;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
|
|
if (childShapeIndexA >= 0)
|
|
{
|
|
collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
|
|
float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
|
|
float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
|
|
float4 newPosA = qtRotate(ornA,childPosA)+posA;
|
|
float4 newOrnA = qtMul(ornA,childOrnA);
|
|
posA = newPosA;
|
|
ornA = newOrnA;
|
|
} else
|
|
{
|
|
collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
}
|
|
|
|
if (childShapeIndexB>=0)
|
|
{
|
|
collidableIndexB = 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;
|
|
} else
|
|
{
|
|
collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
}
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],
|
|
&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
|
|
posA,ornA,
|
|
posB,ornB,
|
|
worldVertsB1,worldVertsB2,capacityWorldVerts,
|
|
minDist, maxDist,
|
|
vertices,faces,indices,
|
|
localContactsOut,localContactCapacity);
|
|
|
|
if (numLocalContactsOut>0)
|
|
{
|
|
float4 normal = -gpuCompoundSepNormalsOut[i];
|
|
int nPoints = numLocalContactsOut;
|
|
float4* pointsIn = localContactsOut;
|
|
int contactIdx[4];// = {-1,-1,-1,-1};
|
|
|
|
contactIdx[0] = -1;
|
|
contactIdx[1] = -1;
|
|
contactIdx[2] = -1;
|
|
contactIdx[3] = -1;
|
|
|
|
int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
|
|
|
|
int dstIdx;
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
if ((dstIdx+nReducedContacts) < maxContactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
|
|
c->m_worldNormalOnB = -normal;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = pairIndex;
|
|
int bodyA = gpuCompoundPairs[pairIndex].x;
|
|
int bodyB = gpuCompoundPairs[pairIndex].y;
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
|
c->m_childIndexA = childShapeIndexA;
|
|
c->m_childIndexB = childShapeIndexB;
|
|
for (int i=0;i<nReducedContacts;i++)
|
|
{
|
|
c->m_worldPosB[i] = pointsIn[contactIdx[i]];
|
|
}
|
|
GET_NPOINTS(*c) = nReducedContacts;
|
|
}
|
|
|
|
}// if (numContactsOut>0)
|
|
}// if (gpuHasCompoundSepNormalsOut[i])
|
|
}// if (i<numCompoundPairs)
|
|
|
|
}
|
|
|
|
|
|
|
|
__kernel void sphereSphereCollisionKernel( __global const int4* pairs,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const b3Collidable_t* collidables,
|
|
__global const float4* separatingNormals,
|
|
__global const int* hasSeparatingAxis,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int contactCapacity,
|
|
int numPairs)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
if (i<numPairs)
|
|
{
|
|
int bodyIndexA = pairs[i].x;
|
|
int bodyIndexB = pairs[i].y;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
|
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
|
{
|
|
//sphere-sphere
|
|
float radiusA = collidables[collidableIndexA].m_radius;
|
|
float radiusB = collidables[collidableIndexB].m_radius;
|
|
float4 posA = rigidBodies[bodyIndexA].m_pos;
|
|
float4 posB = rigidBodies[bodyIndexB].m_pos;
|
|
|
|
float4 diff = posA-posB;
|
|
float len = length(diff);
|
|
|
|
///iff distance positive, don't generate a new contact
|
|
if ( len <= (radiusA+radiusB))
|
|
{
|
|
///distance (negative means penetration)
|
|
float dist = len - (radiusA+radiusB);
|
|
float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);
|
|
if (len > 0.00001)
|
|
{
|
|
normalOnSurfaceB = diff / len;
|
|
}
|
|
float4 contactPosB = posB + normalOnSurfaceB*radiusB;
|
|
contactPosB.w = dist;
|
|
|
|
int dstIdx;
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
if (dstIdx < contactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
|
|
c->m_worldNormalOnB = -normalOnSurfaceB;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = pairIndex;
|
|
int bodyA = pairs[pairIndex].x;
|
|
int bodyB = pairs[pairIndex].y;
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
|
c->m_worldPosB[0] = contactPosB;
|
|
c->m_childIndexA = -1;
|
|
c->m_childIndexB = -1;
|
|
|
|
GET_NPOINTS(*c) = 1;
|
|
}//if (dstIdx < numPairs)
|
|
}//if ( len <= (radiusA+radiusB))
|
|
}//SHAPE_SPHERE SHAPE_SPHERE
|
|
}//if (i<numPairs)
|
|
}
|
|
|
|
__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const b3Collidable_t* collidables,
|
|
__global const b3ConvexPolyhedronData_t* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const b3GpuFace_t* faces,
|
|
__global const int* indices,
|
|
__global const b3GpuChildShape_t* gpuChildShapes,
|
|
__global const float4* separatingNormals,
|
|
__global struct b3Contact4Data* restrict globalContactsOut,
|
|
counter32_t nGlobalContactsOut,
|
|
int contactCapacity,
|
|
int numConcavePairs)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
float4 worldVertsB1[64];
|
|
float4 worldVertsB2[64];
|
|
int capacityWorldVerts = 64;
|
|
|
|
float4 localContactsOut[64];
|
|
int localContactCapacity=64;
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
if (i<numConcavePairs)
|
|
{
|
|
//negative value means that the pair is invalid
|
|
if (concavePairsIn[i].w<0)
|
|
return;
|
|
|
|
int bodyIndexA = concavePairsIn[i].x;
|
|
int bodyIndexB = concavePairsIn[i].y;
|
|
int f = concavePairsIn[i].z;
|
|
int childShapeIndexA = f;
|
|
|
|
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
|
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
|
|
|
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
|
|
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
|
|
|
|
///////////////////////////////////////////////////////////////
|
|
|
|
|
|
bool overlap = false;
|
|
|
|
b3ConvexPolyhedronData_t 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);
|
|
|
|
b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+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;
|
|
}
|
|
|
|
float dmin = FLT_MAX;
|
|
|
|
int localCC=0;
|
|
|
|
//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);
|
|
|
|
b3GpuFace_t 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 = dot3F4(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 = -dot3F4(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;
|
|
|
|
|
|
float4 sepAxis = separatingNormals[i];
|
|
|
|
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
|
|
int childShapeIndexB =-1;
|
|
if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
|
|
{
|
|
///////////////////
|
|
///compound shape support
|
|
|
|
childShapeIndexB = concavePairsIn[pairIndex].w;
|
|
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
|
|
shapeIndexB = collidables[childColIndexB].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;
|
|
|
|
}
|
|
|
|
////////////////////////////////////////
|
|
|
|
|
|
|
|
int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,
|
|
&convexPolyhedronA, &convexShapes[shapeIndexB],
|
|
posA,ornA,
|
|
posB,ornB,
|
|
worldVertsB1,worldVertsB2,capacityWorldVerts,
|
|
minDist, maxDist,
|
|
&verticesA,&facesA,&indicesA,
|
|
vertices,faces,indices,
|
|
localContactsOut,localContactCapacity);
|
|
|
|
if (numLocalContactsOut>0)
|
|
{
|
|
float4 normal = -separatingNormals[i];
|
|
int nPoints = numLocalContactsOut;
|
|
float4* pointsIn = localContactsOut;
|
|
int contactIdx[4];// = {-1,-1,-1,-1};
|
|
|
|
contactIdx[0] = -1;
|
|
contactIdx[1] = -1;
|
|
contactIdx[2] = -1;
|
|
contactIdx[3] = -1;
|
|
|
|
int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
|
|
|
|
int dstIdx;
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
if (dstIdx<contactCapacity)
|
|
{
|
|
__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
|
|
c->m_worldNormalOnB = -normal;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = pairIndex;
|
|
int bodyA = concavePairsIn[pairIndex].x;
|
|
int bodyB = concavePairsIn[pairIndex].y;
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
|
c->m_childIndexA = childShapeIndexA;
|
|
c->m_childIndexB = childShapeIndexB;
|
|
for (int i=0;i<nReducedContacts;i++)
|
|
{
|
|
c->m_worldPosB[i] = pointsIn[contactIdx[i]];
|
|
}
|
|
GET_NPOINTS(*c) = nReducedContacts;
|
|
}
|
|
|
|
}// if (numContactsOut>0)
|
|
}// if (i<numPairs)
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
int findClippingFaces(const float4 separatingNormal,
|
|
__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* 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,
|
|
__global const float4* vertices,
|
|
__global const b3GpuFace_t* faces,
|
|
__global const int* indices,
|
|
__global int4* clippingFaces, int pairIndex)
|
|
{
|
|
int numContactsOut = 0;
|
|
int numWorldVertsB1= 0;
|
|
|
|
|
|
int closestFaceB=-1;
|
|
float dmax = -FLT_MAX;
|
|
|
|
{
|
|
for(int face=0;face<hullB->m_numFaces;face++)
|
|
{
|
|
const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,
|
|
faces[hullB->m_faceOffset+face].m_plane.y, faces[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 b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];
|
|
const int numVertices = polyB.m_numIndices;
|
|
for(int e0=0;e0<numVertices;e0++)
|
|
{
|
|
const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];
|
|
worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);
|
|
}
|
|
}
|
|
|
|
int closestFaceA=-1;
|
|
{
|
|
float dmin = FLT_MAX;
|
|
for(int face=0;face<hullA->m_numFaces;face++)
|
|
{
|
|
const float4 Normal = make_float4(
|
|
faces[hullA->m_faceOffset+face].m_plane.x,
|
|
faces[hullA->m_faceOffset+face].m_plane.y,
|
|
faces[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 = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;
|
|
for(int e0=0;e0<numVerticesA;e0++)
|
|
{
|
|
const float4 a = vertices[hullA->m_vertexOffset+indices[faces[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;
|
|
}
|
|
|
|
|
|
|
|
int clipFaces(__global float4* worldVertsA1,
|
|
__global float4* worldNormalsA1,
|
|
__global float4* worldVertsB1,
|
|
__global float4* worldVertsB2,
|
|
int capacityWorldVertsB2,
|
|
const float minDist, float maxDist,
|
|
__global int4* clippingFaces,
|
|
int pairIndex)
|
|
{
|
|
int numContactsOut = 0;
|
|
|
|
int closestFaceA = clippingFaces[pairIndex].x;
|
|
int closestFaceB = clippingFaces[pairIndex].y;
|
|
int numVertsInA = clippingFaces[pairIndex].z;
|
|
int numVertsInB = clippingFaces[pairIndex].w;
|
|
|
|
int numVertsOut = 0;
|
|
|
|
if (closestFaceA<0)
|
|
return numContactsOut;
|
|
|
|
__global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];
|
|
__global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];
|
|
|
|
|
|
|
|
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
|
|
|
|
for(int e0=0;e0<numVertsInA;e0++)
|
|
{
|
|
const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];
|
|
const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];
|
|
const float4 WorldEdge0 = aw - bw;
|
|
float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
|
|
float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
|
|
float4 worldA1 = aw;
|
|
float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
|
|
float4 planeNormalWS = planeNormalWS1;
|
|
float planeEqWS=planeEqWS1;
|
|
numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);
|
|
__global float4* tmp = pVtxOut;
|
|
pVtxOut = pVtxIn;
|
|
pVtxIn = tmp;
|
|
numVertsInB = numVertsOut;
|
|
numVertsOut = 0;
|
|
}
|
|
|
|
//float4 planeNormalWS = worldNormalsA1[pairIndex];
|
|
//float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
|
|
|
|
|
|
|
|
/*for (int i=0;i<numVertsInB;i++)
|
|
{
|
|
pVtxOut[i] = pVtxIn[i];
|
|
}*/
|
|
|
|
|
|
|
|
|
|
//numVertsInB=0;
|
|
|
|
float4 planeNormalWS = worldNormalsA1[pairIndex];
|
|
float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
|
|
|
|
for (int i=0;i<numVertsInB;i++)
|
|
{
|
|
float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
|
|
if (depth <=minDist)
|
|
{
|
|
depth = minDist;
|
|
}
|
|
|
|
if (depth <=maxDist)
|
|
{
|
|
float4 pointInWorld = pVtxIn[i];
|
|
pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
|
|
}
|
|
}
|
|
|
|
clippingFaces[pairIndex].w =numContactsOut;
|
|
|
|
|
|
return numContactsOut;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
__kernel void findClippingFacesKernel( __global const int4* pairs,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const b3Collidable_t* collidables,
|
|
__global const b3ConvexPolyhedronData_t* convexShapes,
|
|
__global const float4* vertices,
|
|
__global const float4* uniqueEdges,
|
|
__global const b3GpuFace_t* faces,
|
|
__global const int* indices,
|
|
__global const float4* separatingNormals,
|
|
__global const int* hasSeparatingAxis,
|
|
__global int4* clippingFacesOut,
|
|
__global float4* worldVertsA1,
|
|
__global float4* worldNormalsA1,
|
|
__global float4* worldVertsB1,
|
|
int capacityWorldVerts,
|
|
int numPairs
|
|
)
|
|
{
|
|
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
if (i<numPairs)
|
|
{
|
|
|
|
if (hasSeparatingAxis[i])
|
|
{
|
|
|
|
int bodyIndexA = pairs[i].x;
|
|
int bodyIndexB = pairs[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 numLocalContactsOut = findClippingFaces(separatingNormals[i],
|
|
&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],
|
|
rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
|
|
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
|
|
worldVertsA1,
|
|
worldNormalsA1,
|
|
worldVertsB1,capacityWorldVerts,
|
|
minDist, maxDist,
|
|
vertices,faces,indices,
|
|
clippingFacesOut,i);
|
|
|
|
|
|
}// if (hasSeparatingAxis[i])
|
|
}// if (i<numPairs)
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
__kernel void clipFacesAndFindContactsKernel( __global const float4* separatingNormals,
|
|
__global const int* hasSeparatingAxis,
|
|
__global int4* clippingFacesOut,
|
|
__global float4* worldVertsA1,
|
|
__global float4* worldNormalsA1,
|
|
__global float4* worldVertsB1,
|
|
__global float4* worldVertsB2,
|
|
int vertexFaceCapacity,
|
|
int numPairs,
|
|
int debugMode
|
|
)
|
|
{
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
|
|
float minDist = -1e30f;
|
|
float maxDist = 0.02f;
|
|
|
|
if (i<numPairs)
|
|
{
|
|
|
|
if (hasSeparatingAxis[i])
|
|
{
|
|
|
|
// int bodyIndexA = pairs[i].x;
|
|
// int bodyIndexB = pairs[i].y;
|
|
|
|
int numLocalContactsOut = 0;
|
|
|
|
int capacityWorldVertsB2 = vertexFaceCapacity;
|
|
|
|
__global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];
|
|
__global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];
|
|
|
|
|
|
{
|
|
__global int4* clippingFaces = clippingFacesOut;
|
|
|
|
|
|
int closestFaceA = clippingFaces[pairIndex].x;
|
|
int closestFaceB = clippingFaces[pairIndex].y;
|
|
int numVertsInA = clippingFaces[pairIndex].z;
|
|
int numVertsInB = clippingFaces[pairIndex].w;
|
|
|
|
int numVertsOut = 0;
|
|
|
|
if (closestFaceA>=0)
|
|
{
|
|
|
|
|
|
|
|
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
|
|
|
|
for(int e0=0;e0<numVertsInA;e0++)
|
|
{
|
|
const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];
|
|
const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];
|
|
const float4 WorldEdge0 = aw - bw;
|
|
float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
|
|
float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
|
|
float4 worldA1 = aw;
|
|
float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
|
|
float4 planeNormalWS = planeNormalWS1;
|
|
float planeEqWS=planeEqWS1;
|
|
numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);
|
|
__global float4* tmp = pVtxOut;
|
|
pVtxOut = pVtxIn;
|
|
pVtxIn = tmp;
|
|
numVertsInB = numVertsOut;
|
|
numVertsOut = 0;
|
|
}
|
|
|
|
float4 planeNormalWS = worldNormalsA1[pairIndex];
|
|
float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
|
|
|
|
for (int i=0;i<numVertsInB;i++)
|
|
{
|
|
float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
|
|
if (depth <=minDist)
|
|
{
|
|
depth = minDist;
|
|
}
|
|
|
|
if (depth <=maxDist)
|
|
{
|
|
float4 pointInWorld = pVtxIn[i];
|
|
pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
|
|
}
|
|
}
|
|
|
|
}
|
|
clippingFaces[pairIndex].w =numLocalContactsOut;
|
|
|
|
|
|
}
|
|
|
|
for (int i=0;i<numLocalContactsOut;i++)
|
|
pVtxIn[i] = pVtxOut[i];
|
|
|
|
}// if (hasSeparatingAxis[i])
|
|
}// if (i<numPairs)
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
__kernel void newContactReductionKernel( __global int4* pairs,
|
|
__global const b3RigidBodyData_t* rigidBodies,
|
|
__global const float4* separatingNormals,
|
|
__global const int* hasSeparatingAxis,
|
|
__global struct b3Contact4Data* globalContactsOut,
|
|
__global int4* clippingFaces,
|
|
__global float4* worldVertsB2,
|
|
volatile __global int* nGlobalContactsOut,
|
|
int vertexFaceCapacity,
|
|
int contactCapacity,
|
|
int numPairs
|
|
)
|
|
{
|
|
int i = get_global_id(0);
|
|
int pairIndex = i;
|
|
|
|
int4 contactIdx;
|
|
contactIdx=make_int4(0,1,2,3);
|
|
|
|
if (i<numPairs)
|
|
{
|
|
|
|
if (hasSeparatingAxis[i])
|
|
{
|
|
|
|
|
|
|
|
|
|
int nPoints = clippingFaces[pairIndex].w;
|
|
|
|
if (nPoints>0)
|
|
{
|
|
|
|
__global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];
|
|
float4 normal = -separatingNormals[i];
|
|
|
|
int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
|
|
|
|
int mprContactIndex = pairs[pairIndex].z;
|
|
|
|
int dstIdx = mprContactIndex;
|
|
|
|
if (dstIdx<0)
|
|
{
|
|
AppendInc( nGlobalContactsOut, dstIdx );
|
|
}
|
|
//#if 0
|
|
|
|
if (dstIdx < contactCapacity)
|
|
{
|
|
|
|
__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
|
|
c->m_worldNormalOnB = -normal;
|
|
c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
|
|
c->m_batchIdx = pairIndex;
|
|
int bodyA = pairs[pairIndex].x;
|
|
int bodyB = pairs[pairIndex].y;
|
|
|
|
pairs[pairIndex].w = dstIdx;
|
|
|
|
c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
|
|
c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
|
|
c->m_childIndexA =-1;
|
|
c->m_childIndexB =-1;
|
|
|
|
switch (nReducedContacts)
|
|
{
|
|
case 4:
|
|
c->m_worldPosB[3] = pointsIn[contactIdx.w];
|
|
case 3:
|
|
c->m_worldPosB[2] = pointsIn[contactIdx.z];
|
|
case 2:
|
|
c->m_worldPosB[1] = pointsIn[contactIdx.y];
|
|
case 1:
|
|
if (mprContactIndex<0)//test
|
|
c->m_worldPosB[0] = pointsIn[contactIdx.x];
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
GET_NPOINTS(*c) = nReducedContacts;
|
|
|
|
}
|
|
|
|
|
|
//#endif
|
|
|
|
}// if (numContactsOut>0)
|
|
}// if (hasSeparatingAxis[i])
|
|
}// if (i<numPairs)
|
|
|
|
|
|
|
|
}
|