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Code Issues Releases Wiki Activity

step closer to GPU bvh traversal

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This commit is contained in:
erwin coumans 2013-03-19 20:06:24 -07:00
parent a3358b1099
commit 8bfbaf3ed1
26 changed files with 3639 additions and 98 deletions
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2
build/stringify.bat
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@ -13,6 +13,8 @@ premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_broadphase/kerne
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_sat/kernels/sat.cl" --headerfile="../opencl/gpu_sat/kernels/satKernels.h" --stringname="satKernelsCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_sat/kernels/satClipHullContacts.cl" --headerfile="../opencl/gpu_sat/kernels/satClipHullContacts.h" --stringname="satClipKernelsCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_sat/kernels/bvhTraversal.cl" --headerfile="../opencl/gpu_sat/kernels/bvhTraversal.h" --stringname="bvhTraversalKernelCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/integrateKernel.cl" --headerfile="../opencl/gpu_rigidbody/kernels/integrateKernel.h" --stringname="integrateKernelCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/updateAabbsKernel.cl" --headerfile="../opencl/gpu_rigidbody/kernels/updateAabbsKernel.h" --stringname="updateAabbsKernelCL" stringify

58
demo/gpudemo/GpuDemo.h
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@ -16,36 +16,36 @@ public:
typedef class GpuDemo* (CreateFunc)();
struct ConstructionInfo
{
bool useOpenCL;
int preferredOpenCLPlatformIndex;
int preferredOpenCLDeviceIndex;
int arraySizeX;
int arraySizeY;
int arraySizeZ;
bool m_useConcaveMesh;
float gapX;
float gapY;
float gapZ;
GLInstancingRenderer* m_instancingRenderer;
class btgWindowInterface* m_window;
{
bool useOpenCL;
int preferredOpenCLPlatformIndex;
int preferredOpenCLDeviceIndex;
int arraySizeX;
int arraySizeY;
int arraySizeZ;
bool m_useConcaveMesh;
float gapX;
float gapY;
float gapZ;
GLInstancingRenderer* m_instancingRenderer;
class btgWindowInterface* m_window;
ConstructionInfo()
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(23),
arraySizeY(23 ),
arraySizeZ(23),
m_useConcaveMesh(false),
gapX(4.3),
gapY(2.0),
gapZ(4.3),
m_instancingRenderer(0),
m_window(0)
{
}
};
ConstructionInfo()
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(5),
arraySizeY(5 ),
arraySizeZ(5),
m_useConcaveMesh(false),
gapX(4.3),
gapY(2.0),
gapZ(4.3),
m_instancingRenderer(0),
m_window(0)
{
}
};
GpuDemo();
virtual ~GpuDemo();

2
demo/gpudemo/ParticleDemo.cpp
View File

@ -380,7 +380,7 @@ void ParticleDemo::clientMoveAndDisplay()
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( m_data->m_clPositionBuffer),
btBufferInfoCL( m_data->m_broadphaseGPU->getAabbBuffer()),
btBufferInfoCL( m_data->m_broadphaseGPU->getAabbBufferWS()),
};
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbsKernel );

2
demo/gpudemo/broadphase/PairBench.cpp
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@ -301,7 +301,7 @@ void PairBench::clientMoveAndDisplay()
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setConst( numObjects);
launcher.setBuffer(m_data->m_broadphaseGPU->getAabbBuffer());
launcher.setBuffer(m_data->m_broadphaseGPU->getAabbBufferWS());
launcher.launch1D( numObjects);
clFinish(m_clData->m_clQueue);

99
demo/gpudemo/rigidbody/ConcaveScene.cpp
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@ -27,9 +27,9 @@ struct GraphicsVertex
};
struct GraphicsShape
{
const float* m_vertices;
btAlignedObjectArray<GraphicsVertex>* m_vertices;
int m_numvertices;
const int* m_indices;
btAlignedObjectArray<int>* m_indices;
int m_numIndices;
float m_scaling[4];
};
@ -153,9 +153,9 @@ GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
GraphicsShape* gfxShape = new GraphicsShape;
gfxShape->m_vertices = &vertices->at(0).xyzw[0];
gfxShape->m_vertices = vertices;
gfxShape->m_numvertices = vertices->size();
gfxShape->m_indices = &indicesPtr->at(0);
gfxShape->m_indices = indicesPtr;
gfxShape->m_numIndices = indicesPtr->size();
for (int i=0;i<4;i++)
gfxShape->m_scaling[i] = 1;//bake the scaling into the vertices
@ -167,8 +167,8 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
{
objLoader* objData = new objLoader();
//char* fileName = "data/plane.obj";
//char* fileName = "data/teddy.obj";//"plane.obj";
char* fileName = "data/sponza_closed.obj";//"plane.obj";
char* fileName = "data/teddy.obj";//"plane.obj";
//char* fileName = "data/sponza_closed.obj";//"plane.obj";
FILE* f = 0;
@ -196,29 +196,46 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
return;
objData->load(relativeFileName);
GraphicsShape* shape = createGraphicsShapeFromWavefrontObj(objData);
int index=10;
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_vertices)/sizeof(int);
//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 shapeId = ci.m_instancingRenderer->registerShape(shape->m_vertices, shape->m_numvertices, shape->m_indices, shape->m_numIndices);
btQuaternion orn(0,0,0,1);
btVector4 color(0,1,0,1.f);//0.5);
GraphicsShape* shape = createGraphicsShapeFromWavefrontObj(objData);
btVector4 scaling(1,1,1,1);
btAlignedObjectArray<btVector3> verts;
for (int i=0;i<shape->m_numvertices;i++)
{
btVector3 position(0,0,0);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
btVector3 vtx = (btVector3&)shape->m_vertices->at(i).xyzw;
verts.push_back(vtx);
}
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,scaling);
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_vertices)/sizeof(int);
//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 shapeId = ci.m_instancingRenderer->registerShape(&shape->m_vertices->at(0).xyzw[0], shape->m_numvertices, &shape->m_indices->at(0), shape->m_numIndices);
btQuaternion orn(0,0,0,1);
btVector4 color(0,1,0,1.f);//0.5);
{
float mass = 0.f;
btVector3 position(0,0,0);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
index++;
}
}
}
int strideInBytes = 9*sizeof(float);
@ -228,37 +245,39 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=10;
float scaling[4] = {1,1,1,1};
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
if (0)
if (1)
{
for (int i=0;i<1;i++)
{
for (int j=0;j<ci.arraySizeY;j++)
btVector4 scaling(1,1,1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
for (int i=0;i<ci.arraySizeX;i++)
{
for (int k=0;k<1;k++)
for (int j=0;j<ci.arraySizeY;j++)
{
float mass = j==0? 0.f : 1.f;
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = 1;
btVector3 position(40+i*ci.gapX,j*ci.gapY,k*ci.gapZ);
btQuaternion orn(1,0,0,0);
btVector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
btQuaternion orn(1,0,0,0);
btVector4 color(0,1,0,1);
btVector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
btVector4 color(0,1,0,1);
index++;
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
index++;
}
}
}
}
}
float camPos[4]={0,0,0,0};//65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(10);
m_instancingRenderer->setCameraDistance(50);
}

2
opencl/gpu_broadphase/host/btGpuSapBroadphase.cpp
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@ -472,7 +472,7 @@ void btGpuSapBroadphase::createProxy(const btVector3& aabbMin, const btVector3&
m_allAabbsCPU.push_back(aabb);
}
cl_mem btGpuSapBroadphase::getAabbBuffer()
cl_mem btGpuSapBroadphase::getAabbBufferWS()
{
return m_allAabbsGPU.getBufferCL();
}

2
opencl/gpu_broadphase/host/btGpuSapBroadphase.h
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@ -53,7 +53,7 @@ class btGpuSapBroadphase
//call writeAabbsToGpu after done making all changes (createProxy etc)
void writeAabbsToGpu();
cl_mem getAabbBuffer();
cl_mem getAabbBufferWS();
int getNumOverlap();
cl_mem getOverlappingPairBuffer();
};

138
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
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@ -7,6 +7,8 @@
#include "../../gpu_broadphase/host/btSapAabb.h"
#include <string.h>
#include "btConfig.h"
#include "../../gpu_sat/host/btOptimizedBvh.h"
#include "../../gpu_sat/host/btTriangleIndexVertexArray.h"
struct btGpuNarrowPhaseInternalData
{
@ -60,6 +62,7 @@ struct btGpuNarrowPhaseInternalData
btOpenCLArray<btSapAabb>* m_localShapeAABBGPU;
btAlignedObjectArray<btSapAabb>* m_localShapeAABBCPU;
btAlignedObjectArray<class btOptimizedBvh*> m_bvhData;
btConfig m_config;
};
@ -323,8 +326,137 @@ int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* utilPtr)
}
int btGpuNarrowPhase::registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling1)
{
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
btCollidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
col.m_shapeIndex = registerConcaveMeshShape(vertices,indices,col,scaling);
btSapAabb aabb;
btVector3 myAabbMin(1e30f,1e30f,1e30f);
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
for (int i=0;i<vertices->size();i++)
{
btVector3 vtx(vertices->at(i)*scaling);
myAabbMin.setMin(vtx);
myAabbMax.setMax(vtx);
}
aabb.m_min[0] = myAabbMin[0];
aabb.m_min[1] = myAabbMin[1];
aabb.m_min[2] = myAabbMin[2];
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];
aabb.m_max[1]= myAabbMax[1];
aabb.m_max[2]= myAabbMax[2];
aabb.m_signedMaxIndices[3]= 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
m_data->m_localShapeAABBGPU->push_back(aabb);
btOptimizedBvh* bvh = new btOptimizedBvh();
//void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
bool useQuantizedAabbCompression = true;
btTriangleIndexVertexArray* meshInterface=new btTriangleIndexVertexArray();
btIndexedMesh mesh;
mesh.m_numTriangles = indices->size()/3;
mesh.m_numVertices = vertices->size();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).getX();
mesh.m_vertexStride = sizeof(btVector3);
mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
meshInterface->addIndexedMesh(mesh);
bvh->build(meshInterface, useQuantizedAabbCompression, (btVector3&)aabb.m_min, (btVector3&)aabb.m_max);
m_data->m_bvhData.push_back(bvh);
return collidableIndex;
}
int btGpuNarrowPhase::registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,btCollidable& col, const float* scaling1)
{
btVector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
btConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = btVector3(0,0,0);
convex.mE = btVector3(0,0,0);
convex.m_extents= btVector3(0,0,0);
convex.m_localCenter = btVector3(0,0,0);
convex.m_radius = 0.f;
convex.m_numUniqueEdges = 0;
int edgeOffset = m_data->m_uniqueEdges.size();
convex.m_uniqueEdgesOffset = edgeOffset;
int faceOffset = m_data->m_convexFaces.size();
convex.m_faceOffset = faceOffset;
convex.m_numFaces = indices->size()/3;
m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
m_data->m_convexIndices.reserve(convex.m_numFaces*3);
for (int i=0;i<convex.m_numFaces;i++)
{
if (i%256==0)
{
printf("i=%d out of %d", i,convex.m_numFaces);
}
btVector3 vert0(vertices->at(indices->at(i*3))*scaling);
btVector3 vert1(vertices->at(indices->at(i*3+1))*scaling);
btVector3 vert2(vertices->at(indices->at(i*3+2))*scaling);
btVector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
btScalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.x();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.y();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.z();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
m_data->m_convexIndices.resize(indexOffset+numIndices);
for (int p=0;p<numIndices;p++)
{
int vi = indices->at(i*3+p);
m_data->m_convexIndices[indexOffset+p] = vi;//convexPtr->m_faces[i].m_indices[p];
}
}
convex.m_numVertices = vertices->size();
int vertexOffset = m_data->m_convexVertices.size();
convex.m_vertexOffset =vertexOffset;
m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
for (int i=0;i<vertices->size();i++)
{
m_data->m_convexVertices[vertexOffset+i] = vertices->at(i)*scaling;
}
(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0;
m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
m_data->m_uniqueEdgesGPU->copyFromHost(m_data->m_uniqueEdges);
m_data->m_convexVerticesGPU->copyFromHost(m_data->m_convexVertices);
m_data->m_convexIndicesGPU->copyFromHost(m_data->m_convexIndices);
return m_data->m_numAcceleratedShapes++;
}
@ -388,7 +520,7 @@ cl_mem btGpuNarrowPhase::getContactsGpu()
}
void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbs, int numObjects)
void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWS, int numObjects)
{
int nContactOut = 0;
@ -399,7 +531,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
btOpenCLArray<btInt2> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
btOpenCLArray<btYetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
clAabbArray.setFromOpenCLBuffer(aabbs,numObjects);
clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
&broadphasePairsGPU, numBroadphasePairs,
@ -419,7 +551,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
*m_data->m_worldNormalsAGPU,
*m_data->m_worldVertsA1GPU,
*m_data->m_worldVertsB2GPU,
m_data->m_bvhData,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,

9
opencl/gpu_rigidbody/host/btGpuNarrowPhase.h
View File

@ -19,6 +19,8 @@ protected:
cl_device_id m_device;
cl_command_queue m_queue;
int registerConvexHullShape(class btConvexUtility* convexPtr, btCollidable& col);
int registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices, btCollidable& col, const float* scaling);
public:
@ -32,15 +34,14 @@ public:
int registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes);
int registerFace(const btVector3& faceNormal, float faceConstant);
int registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices, btCollidable& col, const float* scaling);
int registerConcaveMeshShape(class objLoader* obj, btCollidable& col, const float* scaling);
int registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling);
//do they need to be merged?
int registerConvexHullShape(class btConvexUtility* convexPtr, btCollidable& col);
int registerConvexHullShape(btConvexUtility* utilPtr);
int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
int registerConvexHeightfield(class ConvexHeightField* convexShape,btCollidable& col);
int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
void setObjectTransform(const float* position, const float* orientation , int bodyIndex);

6
opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
View File

@ -78,10 +78,10 @@ void btGpuRigidBodyPipeline::stepSimulation(float deltaTime)
if (numPairs)
{
cl_mem pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
cl_mem aabbs = m_data->m_broadphaseSap->getAabbBuffer();
cl_mem aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS();
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbs,numBodies);
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
numContacts = m_data->m_narrowphase->getNumContactsGpu();
//if (numContacts)
// printf("numContacts = %d\n", numContacts);
@ -169,7 +169,7 @@ void btGpuRigidBodyPipeline::setupGpuAabbsFull()
launcher.setBuffer(collidables);
cl_mem localAabbs = m_data->m_narrowphase->getAabbBufferGpu();
launcher.setBuffer(localAabbs);
cl_mem worldAabbs = m_data->m_broadphaseSap->getAabbBuffer();
cl_mem worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
launcher.setBuffer(worldAabbs);
launcher.launch1D(numBodies);
oclCHECKERROR(ciErrNum, CL_SUCCESS);

165
opencl/gpu_sat/host/ConvexHullContact.cpp
View File

@ -23,6 +23,7 @@ subject to the following restrictions:
#include "ConvexHullContact.h"
#include <string.h>//memcpy
#include "btConvexPolyhedronCL.h"
#include "btOptimizedBvh.h"
typedef btAlignedObjectArray<btVector3> btVertexArray;
#include "BulletCommon/btQuickprof.h"
@ -34,8 +35,11 @@ typedef btAlignedObjectArray<btVector3> btVertexArray;
#include "../kernels/satKernels.h"
#include "../kernels/satClipHullContacts.h"
#include "../kernels/bvhTraversal.h"
#include "BulletGeometry/btAabbUtil2.h"
#define dot3F4 btDot
GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q )
@ -92,11 +96,8 @@ m_totalContactsOut(m_context, m_queue)
m_newContactReductionKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
"newContactReductionKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
} else
}
else
{
m_clipHullHullKernel=0;
m_clipCompoundsHullHullKernel = 0;
@ -106,12 +107,25 @@ m_totalContactsOut(m_context, m_queue)
m_clipHullHullConcaveConvexKernel = 0;
m_extractManifoldAndAddContactKernel = 0;
}
if (1)
{
const char* srcBvh = bvhTraversalKernelCL;
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl");
btAssert(errNum==CL_SUCCESS);
m_bvhTraversalKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcBvh, "bvhTraversalKernel",&errNum,bvhTraversalProg);
btAssert(errNum==CL_SUCCESS);
}
}
GpuSatCollision::~GpuSatCollision()
{
if (m_findSeparatingAxisKernel)
clReleaseKernel(m_findSeparatingAxisKernel);
@ -138,9 +152,23 @@ GpuSatCollision::~GpuSatCollision()
clReleaseKernel(m_clipHullHullConcaveConvexKernel);
if (m_extractManifoldAndAddContactKernel)
clReleaseKernel(m_extractManifoldAndAddContactKernel);
if (m_bvhTraversalKernel)
clReleaseKernel(m_bvhTraversalKernel);
}
struct MyTriangleCallback : public btNodeOverlapCallback
{
int m_bodyIndexA;
int m_bodyIndexB;
virtual void processNode(int subPart, int triangleIndex)
{
printf("bodyIndexA %d, bodyIndexB %d\n",m_bodyIndexA,m_bodyIndexB);
printf("triangleIndex %d\n", triangleIndex);
}
};
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs,
const btOpenCLArray<btRigidBodyCL>* bodyBuf,
@ -154,12 +182,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
const btOpenCLArray<btCollidable>& gpuCollidables,
const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
const btOpenCLArray<btYetAnotherAabb>& clAabbs,
const btOpenCLArray<btYetAnotherAabb>& clAabbsWS,
btOpenCLArray<btVector3>& worldVertsB1GPU,
btOpenCLArray<btInt4>& clippingFacesOutGPU,
btOpenCLArray<btVector3>& worldNormalsAGPU,
btOpenCLArray<btVector3>& worldVertsA1GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btAlignedObjectArray<class btOptimizedBvh*>& bvhData,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairsOut,
@ -219,7 +248,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbs.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( triangleConvexPairsOut.getBufferCL()),
@ -237,9 +266,119 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
clFinish(m_queue);
numConcave = numConcavePairsOut.at(0);
if (numConcave > maxTriConvexPairCapacity)
numConcave = maxTriConvexPairCapacity;
triangleConvexPairsOut.resize(numConcave);
if (numConcave)
{
if (numConcave > maxTriConvexPairCapacity)
numConcave = maxTriConvexPairCapacity;
triangleConvexPairsOut.resize(numConcave);
btAlignedObjectArray<btInt4> triangleConvexPairsOutCPU;
triangleConvexPairsOut.copyToHost(triangleConvexPairsOutCPU);
printf("-----------------------\n", numConcave);
printf("got %d concave pairs\n", numConcave);
btAssert(numConcave = triangleConvexPairsOutCPU.size());
for (int i=0;i<triangleConvexPairsOutCPU.size();i++)
{
printf("bodyIndexA = %d, bodyIndexB = %d\n", triangleConvexPairsOutCPU[i].x,triangleConvexPairsOutCPU[i].y);
printf("triangleIndex = %d\n", triangleConvexPairsOutCPU[i].z);
}
printf("-----------------------\n", numConcave);
printf("Now using BVH query\n" );
btAlignedObjectArray<btCollidable> collidablesCPU;
gpuCollidables.copyToHost(collidablesCPU);
btAlignedObjectArray<btRigidBodyCL> bodiesCPU;
bodyBuf->copyToHost(bodiesCPU);
btAlignedObjectArray<btInt2> pairsCPU;
btAlignedObjectArray<btYetAnotherAabb> aabbsWSCPU;
clAabbsWS.copyToHost(aabbsWSCPU);
pairs->copyToHost(pairsCPU);
MyTriangleCallback triCallback;
for (int i=0;i<pairsCPU.size();i++)
{
int bodyIndexA = pairsCPU[i].x;
int bodyIndexB = pairsCPU[i].y;
triCallback.m_bodyIndexA = bodyIndexA;
triCallback.m_bodyIndexB = bodyIndexB;
int collidableIndexA = bodiesCPU[bodyIndexA].m_collidableIdx;
int collidableIndexB = bodiesCPU[bodyIndexB].m_collidableIdx;
if (collidablesCPU[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH)
{
//check aabbWS for bodyB against optimized BVH
btVector3 aabbMin = (const btVector3&)aabbsWSCPU[bodyIndexB].m_min[0];
aabbMin[3] = 0.f;
btVector3 aabbMax = (const btVector3&)aabbsWSCPU[bodyIndexB].m_max[0];
aabbMax[3] = 0.f;
bvhData[0]->reportAabbOverlappingNodex(&triCallback, aabbMin,aabbMax);
}
}
//now perform the tree query on GPU
int numNodes = bvhData[0]->getLeafNodeArray().size();
btOpenCLArray<btQuantizedBvhNode> treeNodesGPU(this->m_context,this->m_queue,numNodes);
treeNodesGPU.copyFromHost(bvhData[0]->getQuantizedNodeArray());
int numSubTrees = bvhData[0]->getSubtreeInfoArray().size();
btOpenCLArray<btBvhSubtreeInfo> subTreesGPU(this->m_context,this->m_queue,numSubTrees);
subTreesGPU.copyFromHost(bvhData[0]->getSubtreeInfoArray());
/*
__kernel void bvhTraversalKernel( __global const int2* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global btAabbCL* aabbs,
__global int4* concavePairsOut,
__global volatile int* numConcavePairsOut,
int numPairs,
int maxNumConcavePairsCapacity
)
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( triangleConvexPairsOut.getBufferCL()),
btBufferInfoCL( concaveSepNormals.getBufferCL()),
btBufferInfoCL( numConcavePairsOut.getBufferCL())
*/
{
int np = numConcavePairsOut.at(0);
printf("np=%d\n", np);
btLauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL());
launcher.setBuffer( clAabbsWS.getBufferCL());
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setConst( nPairs );
launcher.setConst( maxTriConvexPairCapacity);
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
np = numConcavePairsOut.at(0);
printf("np=%d\n", np);
}
printf("-----------------------\n", numConcave);
}
@ -256,7 +395,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbs.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundPairs.getBufferCL()),
btBufferInfoCL( numCompoundPairsOut.getBufferCL())
@ -297,7 +436,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbs.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())

3
opencl/gpu_sat/host/ConvexHullContact.h
View File

@ -48,6 +48,8 @@ struct GpuSatCollision
cl_kernel m_clipHullHullConcaveConvexKernel;
cl_kernel m_extractManifoldAndAddContactKernel;
cl_kernel m_newContactReductionKernel;
cl_kernel m_bvhTraversalKernel;
btOpenCLArray<int> m_totalContactsOut;
@ -73,6 +75,7 @@ struct GpuSatCollision
btOpenCLArray<btVector3>& worldNormalsAGPU,
btOpenCLArray<btVector3>& worldVertsA1GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btAlignedObjectArray<class btOptimizedBvh*>& bvhData,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairs,

391
opencl/gpu_sat/host/btOptimizedBvh.cpp Normal file
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@ -0,0 +1,391 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btOptimizedBvh.h"
#include "btStridingMeshInterface.h"
#include "BulletGeometry/btAabbUtil2.h"
#include "BulletCommon/btIDebugDraw.h"
btOptimizedBvh::btOptimizedBvh()
{
}
btOptimizedBvh::~btOptimizedBvh()
{
}
void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
{
m_useQuantization = useQuantizedAabbCompression;
// NodeArray triangleNodes;
struct NodeTriangleCallback : public btInternalTriangleIndexCallback
{
NodeArray& m_triangleNodes;
NodeTriangleCallback& operator=(NodeTriangleCallback& other)
{
m_triangleNodes.copyFromArray(other.m_triangleNodes);
return *this;
}
NodeTriangleCallback(NodeArray& triangleNodes)
:m_triangleNodes(triangleNodes)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
btOptimizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
aabbMax.setMax(triangle[1]);
aabbMin.setMin(triangle[2]);
aabbMax.setMax(triangle[2]);
//with quantization?
node.m_aabbMinOrg = aabbMin;
node.m_aabbMaxOrg = aabbMax;
node.m_escapeIndex = -1;
//for child nodes
node.m_subPart = partId;
node.m_triangleIndex = triangleIndex;
m_triangleNodes.push_back(node);
}
};
struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
{
QuantizedNodeArray& m_triangleNodes;
const btQuantizedBvh* m_optimizedTree; // for quantization
QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
{
m_triangleNodes.copyFromArray(other.m_triangleNodes);
m_optimizedTree = other.m_optimizedTree;
return *this;
}
QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btQuantizedBvh* tree)
:m_triangleNodes(triangleNodes),m_optimizedTree(tree)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
// The partId and triangle index must fit in the same (positive) integer
btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
//negative indices are reserved for escapeIndex
btAssert(triangleIndex>=0);
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
aabbMax.setMax(triangle[1]);
aabbMin.setMin(triangle[2]);
aabbMax.setMax(triangle[2]);
//PCK: add these checks for zero dimensions of aabb
const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION)
{
aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION);
aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION);
}
if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION)
{
aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION);
aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION);
}
if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION)
{
aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION);
aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
m_triangleNodes.push_back(node);
}
};
int numLeafNodes = 0;
if (m_useQuantization)
{
//initialize quantization values
setQuantizationValues(bvhAabbMin,bvhAabbMax);
QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes,this);
triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
//now we have an array of leafnodes in m_leafNodes
numLeafNodes = m_quantizedLeafNodes.size();
m_quantizedContiguousNodes.resize(2*numLeafNodes);
} else
{
NodeTriangleCallback callback(m_leafNodes);
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
//now we have an array of leafnodes in m_leafNodes
numLeafNodes = m_leafNodes.size();
m_contiguousNodes.resize(2*numLeafNodes);
}
m_curNodeIndex = 0;
buildTree(0,numLeafNodes);
///if the entire tree is small then subtree size, we need to create a header info for the tree
if(m_useQuantization && !m_SubtreeHeaders.size())
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
subtree.m_rootNodeIndex = 0;
subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
}
//PCK: update the copy of the size
m_subtreeHeaderCount = m_SubtreeHeaders.size();
//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
m_quantizedLeafNodes.clear();
m_leafNodes.clear();
}
void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
{
if (m_useQuantization)
{
setQuantizationValues(aabbMin,aabbMax);
updateBvhNodes(meshInterface,0,m_curNodeIndex,0);
///now update all subtree headers
int i;
for (i=0;i<m_SubtreeHeaders.size();i++)
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
}
} else
{
}
}
void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
{
//incrementally initialize quantization values
btAssert(m_useQuantization);
btAssert(aabbMin.getX() > m_bvhAabbMin.getX());
btAssert(aabbMin.getY() > m_bvhAabbMin.getY());
btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ());
btAssert(aabbMax.getX() < m_bvhAabbMax.getX());
btAssert(aabbMax.getY() < m_bvhAabbMax.getY());
btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ());
///we should update all quantization values, using updateBvhNodes(meshInterface);
///but we only update chunks that overlap the given aabb
unsigned short quantizedQueryAabbMin[3];
unsigned short quantizedQueryAabbMax[3];
quantize(&quantizedQueryAabbMin[0],aabbMin,0);
quantize(&quantizedQueryAabbMax[0],aabbMax,1);
int i;
for (i=0;i<this->m_SubtreeHeaders.size();i++)
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
//PCK: unsigned instead of bool
unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
if (overlap != 0)
{
updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i);
subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
}
}
}
void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
{
(void)index;
btAssert(m_useQuantization);
int curNodeSubPart=-1;
//get access info to trianglemesh data
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
btVector3 triangleVerts[3];
btVector3 aabbMin,aabbMax;
const btVector3& meshScaling = meshInterface->getScaling();
int i;
for (i=endNode-1;i>=firstNode;i--)
{
btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
if (curNode.isLeafNode())
{
//recalc aabb from triangle data
int nodeSubPart = curNode.getPartId();
int nodeTriangleIndex = curNode.getTriangleIndex();
if (nodeSubPart != curNodeSubPart)
{
if (curNodeSubPart >= 0)
meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
curNodeSubPart = nodeSubPart;
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
}
//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
}
}
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
aabbMax.setMax(triangleVerts[1]);
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
//combine aabb from both children
btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
{
for (int i=0;i<3;i++)
{
curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
}
}
}
}
if (curNodeSubPart >= 0)
meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
}
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
{
btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
//we don't add additional data so just do a static upcast
return static_cast<btOptimizedBvh*>(bvh);
}

65
opencl/gpu_sat/host/btOptimizedBvh.h Normal file
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@ -0,0 +1,65 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///Contains contributions from Disney Studio's
#ifndef BT_OPTIMIZED_BVH_H
#define BT_OPTIMIZED_BVH_H
#include "btQuantizedBvh.h"
class btStridingMeshInterface;
///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
protected:
public:
btOptimizedBvh();
virtual ~btOptimizedBvh();
void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
/// Data buffer MUST be 16 byte aligned
virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
{
return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
}
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
};
#endif //BT_OPTIMIZED_BVH_H

1302
opencl/gpu_sat/host/btQuantizedBvh.cpp Normal file
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581
opencl/gpu_sat/host/btQuantizedBvh.h Normal file
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@ -0,0 +1,581 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_QUANTIZED_BVH_H
#define BT_QUANTIZED_BVH_H
class btSerializer;
//#define DEBUG_CHECK_DEQUANTIZATION 1
#ifdef DEBUG_CHECK_DEQUANTIZATION
#ifdef __SPU__
#define printf spu_printf
#endif //__SPU__
#include <stdio.h>
#include <stdlib.h>
#endif //DEBUG_CHECK_DEQUANTIZATION
#include "BulletCommon/btVector3.h"
#include "BulletCommon/btAlignedAllocator.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btQuantizedBvhData btQuantizedBvhDoubleData
#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
#else
#define btQuantizedBvhData btQuantizedBvhFloatData
#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
#endif
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
//Note: currently we have 16 bytes per quantized node
#define MAX_SUBTREE_SIZE_IN_BYTES 2048
// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
// actually) triangles each (since the sign bit is reserved
#define MAX_NUM_PARTS_IN_BITS 10
///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
{
BT_DECLARE_ALIGNED_ALLOCATOR();
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes
int m_escapeIndexOrTriangleIndex;
bool isLeafNode() const
{
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
return (m_escapeIndexOrTriangleIndex >= 0);
}
int getEscapeIndex() const
{
btAssert(!isLeafNode());
return -m_escapeIndexOrTriangleIndex;
}
int getTriangleIndex() const
{
btAssert(isLeafNode());
unsigned int x=0;
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
// Get only the lower bits where the triangle index is stored
return (m_escapeIndexOrTriangleIndex&~(y));
}
int getPartId() const
{
btAssert(isLeafNode());
// Get only the highest bits where the part index is stored
return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
}
}
;
/// btOptimizedBvhNode contains both internal and leaf node information.
/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
{
BT_DECLARE_ALIGNED_ALLOCATOR();
//32 bytes
btVector3 m_aabbMinOrg;
btVector3 m_aabbMaxOrg;
//4
int m_escapeIndex;
//8
//for child nodes
int m_subPart;
int m_triangleIndex;
//pad the size to 64 bytes
char m_padding[20];
};
///btBvhSubtreeInfo provides info to gather a subtree of limited size
ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes, points to the root of the subtree
int m_rootNodeIndex;
//4 bytes
int m_subtreeSize;
int m_padding[3];
btBvhSubtreeInfo()
{
//memset(&m_padding[0], 0, sizeof(m_padding));
}
void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
{
m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
}
}
;
class btNodeOverlapCallback
{
public:
virtual ~btNodeOverlapCallback() {};
virtual void processNode(int subPart, int triangleIndex) = 0;
};
#include "BulletCommon/btAlignedAllocator.h"
#include "BulletCommon/btAlignedObjectArray.h"
///for code readability:
typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
///It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase.
///It is recommended to use quantization for better performance and lower memory requirements.
ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
{
public:
enum btTraversalMode
{
TRAVERSAL_STACKLESS = 0,
TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
TRAVERSAL_RECURSIVE
};
protected:
btVector3 m_bvhAabbMin;
btVector3 m_bvhAabbMax;
btVector3 m_bvhQuantization;
int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess.
int m_curNodeIndex;
//quantization data
bool m_useQuantization;
NodeArray m_leafNodes;
NodeArray m_contiguousNodes;
QuantizedNodeArray m_quantizedLeafNodes;
QuantizedNodeArray m_quantizedContiguousNodes;
btTraversalMode m_traversalMode;
BvhSubtreeInfoArray m_SubtreeHeaders;
//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
mutable int m_subtreeHeaderCount;
///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
///this might be refactored into a virtual, it is usually not calculated at run-time
void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
{
if (m_useQuantization)
{
quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
}
}
void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
{
if (m_useQuantization)
{
quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
}
}
btVector3 getAabbMin(int nodeIndex) const
{
if (m_useQuantization)
{
return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
}
//non-quantized
return m_leafNodes[nodeIndex].m_aabbMinOrg;
}
btVector3 getAabbMax(int nodeIndex) const
{
if (m_useQuantization)
{
return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
}
//non-quantized
return m_leafNodes[nodeIndex].m_aabbMaxOrg;
}
void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
{
if (m_useQuantization)
{
m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
}
else
{
m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
}
}
void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax)
{
if (m_useQuantization)
{
unsigned short int quantizedAabbMin[3];
unsigned short int quantizedAabbMax[3];
quantize(quantizedAabbMin,newAabbMin,0);
quantize(quantizedAabbMax,newAabbMax,1);
for (int i=0;i<3;i++)
{
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
}
} else
{
//non-quantized
m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
}
}
void swapLeafNodes(int firstIndex,int secondIndex);
void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
protected:
void buildTree (int startIndex,int endIndex);
int calcSplittingAxis(int startIndex,int endIndex);
int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
void walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
///tree traversal designed for small-memory processors like PS3 SPU
void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btQuantizedBvh();
virtual ~btQuantizedBvh();
///***************************************** expert/internal use only *************************
void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
void buildInternal();
///***************************************** expert/internal use only *************************
void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
{
btAssert(m_useQuantization);
btAssert(point.getX() <= m_bvhAabbMax.getX());
btAssert(point.getY() <= m_bvhAabbMax.getY());
btAssert(point.getZ() <= m_bvhAabbMax.getZ());
btAssert(point.getX() >= m_bvhAabbMin.getX());
btAssert(point.getY() >= m_bvhAabbMin.getY());
btAssert(point.getZ() >= m_bvhAabbMin.getZ());
btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
///@todo: double-check this
if (isMax)
{
out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
} else
{
out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
}
#ifdef DEBUG_CHECK_DEQUANTIZATION
btVector3 newPoint = unQuantize(out);
if (isMax)
{
if (newPoint.getX() < point.getX())
{
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
}
if (newPoint.getY() < point.getY())
{
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
}
if (newPoint.getZ() < point.getZ())
{
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
}
} else
{
if (newPoint.getX() > point.getX())
{
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
}
if (newPoint.getY() > point.getY())
{
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
}
if (newPoint.getZ() > point.getZ())
{
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
}
}
#endif //DEBUG_CHECK_DEQUANTIZATION
}
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
{
btAssert(m_useQuantization);
btVector3 clampedPoint(point2);
clampedPoint.setMax(m_bvhAabbMin);
clampedPoint.setMin(m_bvhAabbMax);
quantize(out,clampedPoint,isMax);
}
SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
{
btVector3 vecOut;
vecOut.setValue(
(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
vecOut += m_bvhAabbMin;
return vecOut;
}
///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
void setTraversalMode(btTraversalMode traversalMode)
{
m_traversalMode = traversalMode;
}
SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
{
return m_quantizedContiguousNodes;
}
SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
{
return m_SubtreeHeaders;
}
////////////////////////////////////////////////////////////////////
/////Calculate space needed to store BVH for serialization
unsigned calculateSerializeBufferSize() const;
/// Data buffer MUST be 16 byte aligned
virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
static unsigned int getAlignmentSerializationPadding();
//////////////////////////////////////////////////////////////////////
virtual int calculateSerializeBufferSizeNew() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
////////////////////////////////////////////////////////////////////
SIMD_FORCE_INLINE bool isQuantized()
{
return m_useQuantization;
}
private:
// Special "copy" constructor that allows for in-place deserialization
// Prevents btVector3's default constructor from being called, but doesn't inialize much else
// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory);
}
;
struct btBvhSubtreeInfoData
{
int m_rootNodeIndex;
int m_subtreeSize;
unsigned short m_quantizedAabbMin[3];
unsigned short m_quantizedAabbMax[3];
};
struct btOptimizedBvhNodeFloatData
{
btVector3FloatData m_aabbMinOrg;
btVector3FloatData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
struct btOptimizedBvhNodeDoubleData
{
btVector3DoubleData m_aabbMinOrg;
btVector3DoubleData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
struct btQuantizedBvhNodeData
{
unsigned short m_quantizedAabbMin[3];
unsigned short m_quantizedAabbMax[3];
int m_escapeIndexOrTriangleIndex;
};
struct btQuantizedBvhFloatData
{
btVector3FloatData m_bvhAabbMin;
btVector3FloatData m_bvhAabbMax;
btVector3FloatData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
};
struct btQuantizedBvhDoubleData
{
btVector3DoubleData m_bvhAabbMin;
btVector3DoubleData m_bvhAabbMax;
btVector3DoubleData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};
SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
{
return sizeof(btQuantizedBvhData);
}
#endif //BT_QUANTIZED_BVH_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btStridingMeshInterface.h"
btStridingMeshInterface::~btStridingMeshInterface()
{
}
void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
(void)aabbMin;
(void)aabbMax;
int numtotalphysicsverts = 0;
int part,graphicssubparts = getNumSubParts();
const unsigned char * vertexbase;
const unsigned char * indexbase;
int indexstride;
PHY_ScalarType type;
PHY_ScalarType gfxindextype;
int stride,numverts,numtriangles;
int gfxindex;
btVector3 triangle[3];
btVector3 meshScaling = getScaling();
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
for (part=0;part<graphicssubparts ;part++)
{
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
numtotalphysicsverts+=numtriangles*3; //upper bound
///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
///so disable this feature by default
///see patch http://code.google.com/p/bullet/issues/detail?id=213
switch (type)
{
case PHY_FLOAT:
{
float* graphicsbase;
switch (gfxindextype)
{
case PHY_INTEGER:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_UCHAR:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
case PHY_DOUBLE:
{
double* graphicsbase;
switch (gfxindextype)
{
case PHY_INTEGER:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_UCHAR:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
default:
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
unLockReadOnlyVertexBase(part);
}
}
void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
{
struct AabbCalculationCallback : public btInternalTriangleIndexCallback
{
btVector3 m_aabbMin;
btVector3 m_aabbMax;
AabbCalculationCallback()
{
m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
(void)partId;
(void)triangleIndex;
m_aabbMin.setMin(triangle[0]);
m_aabbMax.setMax(triangle[0]);
m_aabbMin.setMin(triangle[1]);
m_aabbMax.setMax(triangle[1]);
m_aabbMin.setMin(triangle[2]);
m_aabbMax.setMax(triangle[2]);
}
};
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;
aabbMax = aabbCallback.m_aabbMax;
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_STRIDING_MESHINTERFACE_H
#define BT_STRIDING_MESHINTERFACE_H
#include "BulletCommon/btVector3.h"
#include "btTriangleCallback.h"
//#include "btConcaveShape.h"
enum PHY_ScalarType {
PHY_FLOAT, PHY_DOUBLE, PHY_INTEGER, PHY_SHORT,
PHY_FIXEDPOINT88, PHY_UCHAR
};
/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface
{
protected:
btVector3 m_scaling;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
}
virtual ~btStridingMeshInterface();
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
///brute force method to calculate aabb
void calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax);
/// get read and write access to a subpart of a triangle mesh
/// this subpart has a continuous array of vertices and indices
/// in this way the mesh can be handled as chunks of memory with striding
/// very similar to OpenGL vertexarray support
/// make a call to unLockVertexBase when the read and write access is finished
virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
/// unLockVertexBase finishes the access to a subpart of the triangle mesh
/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
virtual void unLockVertexBase(int subpart)=0;
virtual void unLockReadOnlyVertexBase(int subpart) const=0;
/// getNumSubParts returns the number of seperate subparts
/// each subpart has a continuous array of vertices and indices
virtual int getNumSubParts() const=0;
virtual void preallocateVertices(int numverts)=0;
virtual void preallocateIndices(int numindices)=0;
virtual bool hasPremadeAabb() const { return false; }
virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
{
(void) aabbMin;
(void) aabbMax;
}
virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
{
(void) aabbMin;
(void) aabbMax;
}
const btVector3& getScaling() const {
return m_scaling;
}
void setScaling(const btVector3& scaling)
{
m_scaling = scaling;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
//virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
struct btIntIndexData
{
int m_value;
};
struct btShortIntIndexData
{
short m_value;
char m_pad[2];
};
struct btShortIntIndexTripletData
{
short m_values[3];
char m_pad[2];
};
struct btCharIndexTripletData
{
unsigned char m_values[3];
char m_pad;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btMeshPartData
{
btVector3FloatData *m_vertices3f;
btVector3DoubleData *m_vertices3d;
btIntIndexData *m_indices32;
btShortIntIndexTripletData *m_3indices16;
btCharIndexTripletData *m_3indices8;
btShortIntIndexData *m_indices16;//backwards compatibility
int m_numTriangles;//length of m_indices = m_numTriangles
int m_numVertices;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btStridingMeshInterfaceData
{
btMeshPartData *m_meshPartsPtr;
btVector3FloatData m_scaling;
int m_numMeshParts;
char m_padding[4];
};
SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const
{
return sizeof(btStridingMeshInterfaceData);
}
#endif //BT_STRIDING_MESHINTERFACE_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btTriangleCallback.h"
btTriangleCallback::~btTriangleCallback()
{
}
btInternalTriangleIndexCallback::~btInternalTriangleIndexCallback()
{
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRIANGLE_CALLBACK_H
#define BT_TRIANGLE_CALLBACK_H
#include "BulletCommon/btVector3.h"
///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
///This callback is called by processAllTriangles for all btConcaveShape derived class, such as btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape.
class btTriangleCallback
{
public:
virtual ~btTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0;
};
class btInternalTriangleIndexCallback
{
public:
virtual ~btInternalTriangleIndexCallback();
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) = 0;
};
#endif //BT_TRIANGLE_CALLBACK_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btTriangleIndexVertexArray.h"
btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride)
: m_hasAabb(0)
{
btIndexedMesh mesh;
mesh.m_numTriangles = numTriangles;
mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase;
mesh.m_triangleIndexStride = triangleIndexStride;
mesh.m_numVertices = numVertices;
mesh.m_vertexBase = (const unsigned char *)vertexBase;
mesh.m_vertexStride = vertexStride;
addIndexedMesh(mesh);
}
btTriangleIndexVertexArray::~btTriangleIndexVertexArray()
{
}
void btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
{
btAssert(subpart< getNumSubParts() );
btIndexedMesh& mesh = m_indexedMeshes[subpart];
numverts = mesh.m_numVertices;
(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
type = mesh.m_vertexType;
vertexStride = mesh.m_vertexStride;
numfaces = mesh.m_numTriangles;
(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
indexstride = mesh.m_triangleIndexStride;
indicestype = mesh.m_indexType;
}
void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
{
const btIndexedMesh& mesh = m_indexedMeshes[subpart];
numverts = mesh.m_numVertices;
(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
type = mesh.m_vertexType;
vertexStride = mesh.m_vertexStride;
numfaces = mesh.m_numTriangles;
(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
indexstride = mesh.m_triangleIndexStride;
indicestype = mesh.m_indexType;
}
bool btTriangleIndexVertexArray::hasPremadeAabb() const
{
return (m_hasAabb == 1);
}
void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
{
m_aabbMin = aabbMin;
m_aabbMax = aabbMax;
m_hasAabb = 1; // this is intentionally an int see notes in header
}
void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
{
*aabbMin = m_aabbMin;
*aabbMax = m_aabbMax;
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#include "btStridingMeshInterface.h"
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/btScalar.h"
///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh.
///Instead of the number of indices, we pass the number of triangles.
ATTRIBUTE_ALIGNED16( struct) btIndexedMesh
{
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_numTriangles;
const unsigned char * m_triangleIndexBase;
// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
int m_triangleIndexStride;
int m_numVertices;
const unsigned char * m_vertexBase;
// Size of a vertex, in bytes
int m_vertexStride;
// The index type is set when adding an indexed mesh to the
// btTriangleIndexVertexArray, do not set it manually
PHY_ScalarType m_indexType;
// The vertex type has a default type similar to Bullet's precision mode (float or double)
// but can be set manually if you for example run Bullet with double precision but have
// mesh data in single precision..
PHY_ScalarType m_vertexType;
btIndexedMesh()
:m_indexType(PHY_INTEGER),
#ifdef BT_USE_DOUBLE_PRECISION
m_vertexType(PHY_DOUBLE)
#else // BT_USE_DOUBLE_PRECISION
m_vertexType(PHY_FLOAT)
#endif // BT_USE_DOUBLE_PRECISION
{
}
}
;
typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray;
///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
///Additional meshes can be added using addIndexedMesh
///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
{
protected:
IndexedMeshArray m_indexedMeshes;
int m_pad[2];
mutable int m_hasAabb; // using int instead of bool to maintain alignment
mutable btVector3 m_aabbMin;
mutable btVector3 m_aabbMax;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btTriangleIndexVertexArray() : m_hasAabb(0)
{
}
virtual ~btTriangleIndexVertexArray();
//just to be backwards compatible
btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
{
m_indexedMeshes.push_back(mesh);
m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType;
}
virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
/// unLockVertexBase finishes the access to a subpart of the triangle mesh
/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
virtual void unLockVertexBase(int subpart) {(void)subpart;}
virtual void unLockReadOnlyVertexBase(int subpart) const {(void)subpart;}
/// getNumSubParts returns the number of seperate subparts
/// each subpart has a continuous array of vertices and indices
virtual int getNumSubParts() const {
return (int)m_indexedMeshes.size();
}
IndexedMeshArray& getIndexedMeshArray()
{
return m_indexedMeshes;
}
const IndexedMeshArray& getIndexedMeshArray() const
{
return m_indexedMeshes;
}
virtual void preallocateVertices(int numverts){(void) numverts;}
virtual void preallocateIndices(int numindices){(void) numindices;}
virtual bool hasPremadeAabb() const;
virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
}
;
#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H

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//keep this enum in sync with the CPU version (in btCollidable.h)
//written by Erwin Coumans
#define SHAPE_CONVEX_HULL 3
#define SHAPE_CONCAVE_TRIMESH 5
#define TRIANGLE_NUM_CONVEX_FACES 5
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
typedef unsigned int u32;
///keep this in sync with btCollidable.h
typedef struct
{
int m_numChildShapes;
int blaat2;
int m_shapeType;
int m_shapeIndex;
} btCollidableGpu;
typedef struct
{
float4 m_childPosition;
float4 m_childOrientation;
int m_shapeIndex;
int m_unused0;
int m_unused1;
int m_unused2;
} btGpuChildShape;
typedef struct
{
float4 m_pos;
float4 m_quat;
float4 m_linVel;
float4 m_angVel;
u32 m_collidableIdx;
float m_invMass;
float m_restituitionCoeff;
float m_frictionCoeff;
} BodyData;
typedef struct
{
union
{
float4 m_min;
float m_minElems[4];
int m_minIndices[4];
};
union
{
float4 m_max;
float m_maxElems[4];
int m_maxIndices[4];
};
} btAabbCL;
// work-in-progress
__kernel void bvhTraversalKernel( __global const int2* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global btAabbCL* aabbs,
__global int4* concavePairsOut,
__global volatile int* numConcavePairsOut,
int numPairs,
int maxNumConcavePairsCapacity
)
{
int i = get_global_id(0);
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;
int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
//once the broadphase avoids static-static pairs, we can remove this test
if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
{
return;
}
if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))// && (collidables[collidableIndexB].m_shapeType==SHAPE_CONVEX_HULL))
{
int pairIdx = atomic_inc(numConcavePairsOut);
if (pairIdx<maxNumConcavePairsCapacity)
{
//int4 newPair;
concavePairsOut[pairIdx].x = bodyIndexA;
concavePairsOut[pairIdx].y = bodyIndexB;
concavePairsOut[pairIdx].z = 5;
concavePairsOut[pairIdx].w = 3;
}
}//SHAPE_CONCAVE_TRIMESH
}//i<numpairs
}

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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* bvhTraversalKernelCL= \
"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
"//written by Erwin Coumans\n"
"\n"
"#define SHAPE_CONVEX_HULL 3\n"
"#define SHAPE_CONCAVE_TRIMESH 5\n"
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
"\n"
"typedef unsigned int u32;\n"
"\n"
"///keep this in sync with btCollidable.h\n"
"typedef struct\n"
"{\n"
" int m_numChildShapes;\n"
" int blaat2;\n"
" int m_shapeType;\n"
" int m_shapeIndex;\n"
" \n"
"} btCollidableGpu;\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_childPosition;\n"
" float4 m_childOrientation;\n"
" int m_shapeIndex;\n"
" int m_unused0;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"} btGpuChildShape;\n"
"\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_pos;\n"
" float4 m_quat;\n"
" float4 m_linVel;\n"
" float4 m_angVel;\n"
"\n"
" u32 m_collidableIdx;\n"
" float m_invMass;\n"
" float m_restituitionCoeff;\n"
" float m_frictionCoeff;\n"
"} BodyData;\n"
"\n"
"typedef struct \n"
"{\n"
" union\n"
" {\n"
" float4 m_min;\n"
" float m_minElems[4];\n"
" int m_minIndices[4];\n"
" };\n"
" union\n"
" {\n"
" float4 m_max;\n"
" float m_maxElems[4];\n"
" int m_maxIndices[4];\n"
" };\n"
"} btAabbCL;\n"
"\n"
"// work-in-progress\n"
"__kernel void bvhTraversalKernel( __global const int2* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global btAabbCL* aabbs,\n"
" __global int4* concavePairsOut,\n"
" __global volatile int* numConcavePairsOut,\n"
" int numPairs,\n"
" int maxNumConcavePairsCapacity\n"
" )\n"
"{\n"
"\n"
" int i = get_global_id(0);\n"
" \n"
" if (i<numPairs)\n"
" {\n"
"\n"
" \n"
" int bodyIndexA = pairs[i].x;\n"
" int bodyIndexB = pairs[i].y;\n"
"\n"
" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
" \n"
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
" \n"
" \n"
" //once the broadphase avoids static-static pairs, we can remove this test\n"
" if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
" {\n"
" return;\n"
" }\n"
" \n"
" if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))// && (collidables[collidableIndexB].m_shapeType==SHAPE_CONVEX_HULL))\n"
" {\n"
" int pairIdx = atomic_inc(numConcavePairsOut);\n"
" if (pairIdx<maxNumConcavePairsCapacity)\n"
" {\n"
" //int4 newPair;\n"
" concavePairsOut[pairIdx].x = bodyIndexA;\n"
" concavePairsOut[pairIdx].y = bodyIndexB;\n"
" concavePairsOut[pairIdx].z = 5;\n"
" concavePairsOut[pairIdx].w = 3;\n"
" }\n"
" }//SHAPE_CONCAVE_TRIMESH\n"
" \n"
" }//i<numpairs\n"
"}\n"
;

5
opencl/gpu_sat/kernels/sat.cl
View File

@ -1,4 +1,7 @@
//keep this enum in sync with the CPU version (in AdlCollisionShape.h)
//keep this enum in sync with the CPU version (in btCollidable.h)
//written by Erwin Coumans
#define SHAPE_CONVEX_HULL 3
#define SHAPE_CONCAVE_TRIMESH 5
#define TRIANGLE_NUM_CONVEX_FACES 5

5
opencl/gpu_sat/kernels/satKernels.h
View File

@ -1,6 +1,9 @@
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* satKernelsCL= \
"//keep this enum in sync with the CPU version (in AdlCollisionShape.h)\n"
"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
"//written by Erwin Coumans\n"
"\n"
"\n"
"#define SHAPE_CONVEX_HULL 3\n"
"#define SHAPE_CONCAVE_TRIMESH 5\n"
"#define TRIANGLE_NUM_CONVEX_FACES 5\n"