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Code Issues Releases Wiki Activity

fix convex-plane for > 4 vertices

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improve compound demo
This commit is contained in:
erwin coumans 2013-04-10 00:03:02 -07:00
parent e1a4400037
commit 467a68293b
9 changed files with 3988 additions and 30 deletions
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3725
data/teddy2_VHACD_CHs.obj Normal file
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File diff suppressed because it is too large Load Diff

2
demo/gpudemo/GpuDemo.h
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@ -39,7 +39,7 @@ public:
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(10),
arraySizeY(31),
arraySizeY(30),
arraySizeZ(10),
m_useConcaveMesh(false),
gapX(14.3),

2
demo/gpudemo/main_opengl3core.cpp
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@ -65,7 +65,9 @@ btAlignedObjectArray<const char*> demoNames;
int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
GpuBoxPlaneScene::MyCreateFunc,
GpuConvexPlaneScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
GpuCompoundPlaneScene::MyCreateFunc,

5
demo/gpudemo/rigidbody/ConcaveScene.cpp
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@ -353,12 +353,11 @@ void ConcaveCompoundScene::createDynamicObjects(const ConstructionInfo& ci)
int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 childPositions[3] = {
btVector3 childPositions[3] = {
btVector3(0,-2,0),
btVector3(0,0,0),
btVector3(0,2,0)
btVector3(0,0,2)
};
btAlignedObjectArray<btGpuChildShape> childShapes;
int numChildShapes = 3;

2
demo/gpudemo/rigidbody/GpuCompoundScene.cpp
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@ -46,7 +46,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
btVector3 childPositions[3] = {
btVector3(0,-2,0),
btVector3(0,0,0),
btVector3(0,2,0)
btVector3(0,0,2)
};

55
demo/gpudemo/rigidbody/GpuConvexScene.cpp
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@ -22,17 +22,49 @@
void GpuConvexScene::setupScene(const ConstructionInfo& ci)
{
int index=0;
createStaticEnvironment(ci);
index+=createDynamicsObjects(ci);
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(40);
char msg[1024];
int numInstances = index;
sprintf(msg,"Num objects = %d",numInstances);
ci.m_gui->setStatusBarMessage(msg,true);
}
int GpuConvexScene::createDynamicsObjects(const ConstructionInfo& ci)
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(barrel_vertices)/strideInBytes;
int numIndices = sizeof(barrel_indices)/sizeof(int);
return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices);
}
int GpuBoxPlaneScene::createDynamicsObjects(const ConstructionInfo& ci)
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
return createDynamicsObjects2(ci,cube_vertices,numVertices,cube_indices,numIndices);
}
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const float* vertices, int numVertices, const int* indices, int numIndices)
{
int strideInBytes = 9*sizeof(float);
int shapeId = ci.m_instancingRenderer->registerShape(&vertices[0],numVertices,indices,numIndices);
int group=1;
int mask=1;
int index=10;
int index=0;
@ -49,7 +81,7 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
int curColor = 0;
float scaling[4] = {1,1,1,1};
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
//int colIndex = m_data->m_np->registerSphereShape(1);
for (int i=0;i<ci.arraySizeX;i++)
{
@ -76,21 +108,10 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
}
}
}
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(40);
char msg[1024];
int numInstances = index;
sprintf(msg,"Num objects = %d",numInstances);
ci.m_gui->setStatusBarMessage(msg,true);
return index;
}
void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int strideInBytes = 9*sizeof(float);
@ -126,7 +147,7 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
btQuaternion orn(0,0,0,1);
// btQuaternion orn(btVector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
btVector4 scaling(100,0.1,100,1);
btVector4 scaling(100,0.001,100,1);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);

27
demo/gpudemo/rigidbody/GpuConvexScene.h
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@ -22,6 +22,10 @@ public:
virtual void setupScene(const ConstructionInfo& ci);
virtual int createDynamicsObjects(const ConstructionInfo& ci);
virtual int createDynamicsObjects2(const ConstructionInfo& ci,const float* vertices, int numVertices, const int* indices,int numIndices);
virtual void createStaticEnvironment(const ConstructionInfo& ci);
};
@ -48,4 +52,27 @@ public:
};
class GpuBoxPlaneScene : public GpuConvexPlaneScene
{
public:
GpuBoxPlaneScene(){}
virtual ~GpuBoxPlaneScene(){}
virtual const char* getName()
{
return "GRBBoxPlane";
}
static GpuDemo* MyCreateFunc()
{
GpuDemo* demo = new GpuBoxPlaneScene;
return demo;
}
virtual int createDynamicsObjects(const ConstructionInfo& ci);
};
#endif //GPU_CONVEX_SCENE_H

100
opencl/gpu_sat/kernels/primitiveContacts.cl
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@ -493,6 +493,98 @@ void computeContactSphereConvex(int pairIndex,
int extractManifoldSequential(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;
}
#define MAX_PLANE_CONVEX_POINTS 64
@ -593,10 +685,10 @@ void computeContactPlaneConvex(int pairIndex,
}
int numReducedPoints = numPoints;
//if (numPoints>4)
//{
// numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
//}
if (numPoints>4)
{
numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
}
if (numReducedPoints>0)
{

100
opencl/gpu_sat/kernels/primitiveContacts.h
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@ -495,6 +495,98 @@ static const char* primitiveContactsKernelsCL= \
" \n"
"\n"
"\n"
"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
"{\n"
" if( nPoints == 0 )\n"
" return 0;\n"
" \n"
" if (nPoints <=4)\n"
" return nPoints;\n"
" \n"
" \n"
" if (nPoints >64)\n"
" nPoints = 64;\n"
" \n"
" float4 center = make_float4(0.f);\n"
" {\n"
" \n"
" for (int i=0;i<nPoints;i++)\n"
" center += p[i];\n"
" center /= (float)nPoints;\n"
" }\n"
" \n"
" \n"
" \n"
" // sample 4 directions\n"
" \n"
" float4 aVector = p[0] - center;\n"
" float4 u = cross3( nearNormal, aVector );\n"
" float4 v = cross3( nearNormal, u );\n"
" u = normalize3( u );\n"
" v = normalize3( v );\n"
" \n"
" \n"
" //keep point with deepest penetration\n"
" float minW= FLT_MAX;\n"
" \n"
" int minIndex=-1;\n"
" \n"
" float4 maxDots;\n"
" maxDots.x = FLT_MIN;\n"
" maxDots.y = FLT_MIN;\n"
" maxDots.z = FLT_MIN;\n"
" maxDots.w = FLT_MIN;\n"
" \n"
" // idx, distance\n"
" for(int ie = 0; ie<nPoints; ie++ )\n"
" {\n"
" if (p[ie].w<minW)\n"
" {\n"
" minW = p[ie].w;\n"
" minIndex=ie;\n"
" }\n"
" float f;\n"
" float4 r = p[ie]-center;\n"
" f = dot3F4( u, r );\n"
" if (f<maxDots.x)\n"
" {\n"
" maxDots.x = f;\n"
" contactIdx[0].x = ie;\n"
" }\n"
" \n"
" f = dot3F4( -u, r );\n"
" if (f<maxDots.y)\n"
" {\n"
" maxDots.y = f;\n"
" contactIdx[0].y = ie;\n"
" }\n"
" \n"
" \n"
" f = dot3F4( v, r );\n"
" if (f<maxDots.z)\n"
" {\n"
" maxDots.z = f;\n"
" contactIdx[0].z = ie;\n"
" }\n"
" \n"
" f = dot3F4( -v, r );\n"
" if (f<maxDots.w)\n"
" {\n"
" maxDots.w = f;\n"
" contactIdx[0].w = ie;\n"
" }\n"
" \n"
" }\n"
" \n"
" if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
" {\n"
" //replace the first contact with minimum (todo: replace contact with least penetration)\n"
" contactIdx[0].x = minIndex;\n"
" }\n"
" \n"
" return 4;\n"
" \n"
"}\n"
"\n"
"#define MAX_PLANE_CONVEX_POINTS 64\n"
"\n"
@ -595,10 +687,10 @@ static const char* primitiveContactsKernelsCL= \
" }\n"
"\n"
" int numReducedPoints = numPoints;\n"
" //if (numPoints>4)\n"
" //{\n"
"// numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);\n"
" //}\n"
" if (numPoints>4)\n"
" {\n"
" numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);\n"
" }\n"
"\n"
" if (numReducedPoints>0)\n"
" {\n"