mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 09:20:10 +00:00
add convex versus plane contact generation
This commit is contained in:
erwin coumans
parent
0a721ce5a3
commit
ce5652c26a
@ -38,9 +38,9 @@ public:
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:useOpenCL(true),
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preferredOpenCLPlatformIndex(-1),
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preferredOpenCLDeviceIndex(-1),
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arraySizeX(1),
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arraySizeY(1),
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arraySizeZ(1),
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arraySizeX(10),
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arraySizeY(31),
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arraySizeZ(10),
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m_useConcaveMesh(false),
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gapX(14.3),
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gapY(14.0),
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@ -59,7 +59,8 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
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{
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float mass = 1.f;
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btVector3 position((j&1)+i*2.2,2+j*2.,(j&1)+k*2.2);
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btVector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
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//btVector3 position(i*2.2,1+j*2.,k*2.2);
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btQuaternion orn(0,0,0,1);
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@ -125,7 +126,7 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
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btQuaternion orn(0,0,0,1);
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// btQuaternion orn(btVector3(1,0,0),0.3);
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btVector4 color(0,0,1,1);
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btVector4 scaling(100,0.0001,100,1);
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btVector4 scaling(100,0.1,100,1);
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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@ -672,10 +672,11 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
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if (1)
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{
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BT_PROFILE("GPU solveContactConstraint");
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m_data->m_solverGPU->m_nIterations = 4;//10
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if (gpuSolveConstraint)
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{
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BT_PROFILE("GPU solveContactConstraint");
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m_data->m_solverGPU->solveContactConstraint(
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m_data->m_bodyBufferGPU,
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m_data->m_inertiaBufferGPU,
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@ -685,6 +686,8 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
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}
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else
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{
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BT_PROFILE("Host solveContactConstraint");
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m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU,0, nContactOut ,maxNumBatches);
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}
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@ -131,7 +131,7 @@ m_totalContactsOut(m_context, m_queue)
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{
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const char* primitiveContactsSrc = primitiveContactsKernelsCL;
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cl_program primitiveContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_sat/kernels/primitiveContacts.cl");
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cl_program primitiveContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_sat/kernels/primitiveContacts.cl",true);
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btAssert(errNum==CL_SUCCESS);
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m_primitiveContactsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
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@ -291,6 +291,102 @@ inline bool IsPointInPolygon(const float4& p,
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return true;
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}
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#define normalize3(a) (a.normalize())
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int extractManifoldSequentialGlobal( const float4* p, int nPoints, const float4& nearNormal, btInt4* contactIdx)
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{
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if( nPoints == 0 )
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return 0;
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if (nPoints <=4)
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return nPoints;
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if (nPoints >64)
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nPoints = 64;
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float4 center = make_float4(0,0,0,0);
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{
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for (int i=0;i<nPoints;i++)
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center += p[i];
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center /= (float)nPoints;
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}
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// sample 4 directions
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float4 aVector = p[0] - center;
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float4 u = cross3( nearNormal, aVector );
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float4 v = cross3( nearNormal, u );
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u = normalize3( u );
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v = normalize3( v );
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//keep point with deepest penetration
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float minW= FLT_MAX;
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int minIndex=-1;
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float4 maxDots;
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maxDots.x = FLT_MIN;
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maxDots.y = FLT_MIN;
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maxDots.z = FLT_MIN;
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maxDots.w = FLT_MIN;
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// idx, distance
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for(int ie = 0; ie<nPoints; ie++ )
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{
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if (p[ie].w<minW)
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{
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minW = p[ie].w;
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minIndex=ie;
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}
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float f;
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float4 r = p[ie]-center;
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f = dot3F4( u, r );
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if (f<maxDots.x)
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{
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maxDots.x = f;
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contactIdx[0].x = ie;
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}
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f = dot3F4( -u, r );
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if (f<maxDots.y)
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{
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maxDots.y = f;
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contactIdx[0].y = ie;
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}
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f = dot3F4( v, r );
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if (f<maxDots.z)
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{
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maxDots.z = f;
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contactIdx[0].z = ie;
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}
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f = dot3F4( -v, r );
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if (f<maxDots.w)
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{
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maxDots.w = f;
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contactIdx[0].w = ie;
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}
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}
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if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
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{
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//replace the first contact with minimum (todo: replace contact with least penetration)
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contactIdx[0].x = minIndex;
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}
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return 4;
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}
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void computeContactPlaneConvex(int pairIndex,
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int bodyIndexA, int bodyIndexB,
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int collidableIndexA, int collidableIndexB,
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@ -318,6 +414,7 @@ void computeContactPlaneConvex(int pairIndex,
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btVector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
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btVector3 planeNormal(planeEq.x,planeEq.y,planeEq.z);
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btVector3 planeNormalWorld = quatRotate(ornA,planeNormal);
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float planeConstant = planeEq.w;
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btTransform convexWorldTransform;
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convexWorldTransform.setIdentity();
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@ -330,85 +427,94 @@ void computeContactPlaneConvex(int pairIndex,
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btTransform planeInConvex;
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planeInConvex= convexWorldTransform.inverse() * planeTransform;
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btTransform convexInPlane;
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convexInPlane = planeTransform.inverse() * convexWorldTransform;
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btVector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
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float maxDot = -1e30;
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int hitVertex=-1;
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btVector3 hitVtx;
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#define MAX_PLANE_CONVEX_POINTS 64
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btVector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
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int numPoints = 0;
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btInt4 contactIdx;
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contactIdx.s[0] = 0;
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contactIdx.s[1] = 1;
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contactIdx.s[2] = 2;
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contactIdx.s[3] = 3;
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for (int i=0;i<hullB->m_numVertices;i++)
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{
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btVector3 vtx = convexVertices[hullB->m_vertexOffset+i];
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float curDot = vtx.dot(planeNormalInConvex);
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if (curDot>maxDot)
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{
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hitVertex=i;
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maxDot=curDot;
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hitVtx = vtx;
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//make sure the deepest points is always included
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if (numPoints==MAX_PLANE_CONVEX_POINTS)
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numPoints--;
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}
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if (numPoints<MAX_PLANE_CONVEX_POINTS)
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{
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btVector3 vtxWorld = convexWorldTransform*vtx;
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btVector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
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float dist = planeNormal.dot(vtxInPlane)-planeConstant;
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if (dist<0.f)
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{
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vtxWorld.w = dist;
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contactPoints[numPoints] = vtxWorld;
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numPoints++;
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}
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}
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}
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btVector3 hitVtxWorld = convexWorldTransform*hitVtx;
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float dist = 0;
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int numReducedPoints = 0;
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numReducedPoints = numPoints;
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if (numPoints>4)
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{
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numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
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}
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int dstIdx;
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// dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
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if (nGlobalContactsOut < maxContactCapacity)
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if (numReducedPoints>0)
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{
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dstIdx=nGlobalContactsOut;
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nGlobalContactsOut++;
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btContact4* c = &globalContactsOut[dstIdx];
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c->m_worldNormal = -planeNormalInConvex;
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c->setFrictionCoeff(0.7);
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c->setRestituitionCoeff(0.f);
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c->m_batchIdx = pairIndex;
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c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
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c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
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btVector3 pOnB1 = hitVtxWorld;
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pOnB1[3] = -0.01f;
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c->m_worldPos[0] = pOnB1;
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int numPoints = 1;
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c->m_worldNormal[3] = numPoints;
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}//if (dstIdx < numPairs)
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/*
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int closestFaceB=-1;
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float dmax = -FLT_MAX;
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{
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for(int face=0;face<hullB->m_numFaces;face++)
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if (nGlobalContactsOut < maxContactCapacity)
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{
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const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,
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faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);
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const float4 WorldNormal = quatRotate(ornB, Normal);
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float d = dot3F4(WorldNormal,separatingNormal);
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if (d > dmax)
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dstIdx=nGlobalContactsOut;
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nGlobalContactsOut++;
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btContact4* c = &globalContactsOut[dstIdx];
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c->m_worldNormal = planeNormalWorld;
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c->setFrictionCoeff(0.7);
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c->setRestituitionCoeff(0.f);
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c->m_batchIdx = pairIndex;
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c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
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c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
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for (int i=0;i<numReducedPoints;i++)
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{
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dmax = d;
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closestFaceB = face;
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btVector3 pOnB1 = contactPoints[contactIdx.s[i]];
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c->m_worldPos[i] = pOnB1;
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}
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}
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}
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{
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const btGpuFace polyB = faces[hullB->m_faceOffset+closestFaceB];
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const int numVertices = polyB.m_numIndices;
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for(int e0=0;e0<numVertices;e0++)
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{
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const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];
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worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(b,posB,ornB);
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}
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}
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c->m_worldNormal[3] = numReducedPoints;
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}//if (dstIdx < numPairs)
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}
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*/
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printf("computeContactPlaneConvex\n");
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// printf("computeContactPlaneConvex\n");
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}
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void computeContactSphereConvex(int pairIndex,
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@ -597,7 +703,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
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return;
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#define CHECK_ON_HOST
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//#define CHECK_ON_HOST
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#ifdef CHECK_ON_HOST
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btAlignedObjectArray<btYetAnotherAabb> hostAabbs;
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clAabbsWS.copyToHost(hostAabbs);
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@ -666,7 +772,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
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{
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computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
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&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
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printf("convex-plane\n");
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// printf("convex-plane\n");
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}
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@ -675,7 +781,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
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{
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computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
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&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,nPairs);
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printf("plane-convex\n");
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// printf("plane-convex\n");
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}
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@ -494,8 +494,149 @@ void computeContactSphereConvex(int pairIndex,
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void computeContactPlaneConvex(int pairIndex,
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#define MAX_PLANE_CONVEX_POINTS 64
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void computeContactPlaneConvex(int pairIndex,
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int bodyIndexA, int bodyIndexB,
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int collidableIndexA, int collidableIndexB,
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__global const BodyData* rigidBodies,
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__global const btCollidableGpu*collidables,
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__global const ConvexPolyhedronCL* convexShapes,
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__global const float4* convexVertices,
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__global const int* convexIndices,
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__global const btGpuFace* faces,
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__global Contact4* restrict globalContactsOut,
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counter32_t nGlobalContactsOut,
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int maxContactCapacity)
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{
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int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
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__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
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float4 posB;
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posB = rigidBodies[bodyIndexB].m_pos;
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Quaternion ornB;
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ornB = rigidBodies[bodyIndexB].m_quat;
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float4 posA;
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posA = rigidBodies[bodyIndexA].m_pos;
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Quaternion ornA;
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ornA = rigidBodies[bodyIndexA].m_quat;
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int numContactsOut = 0;
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int numWorldVertsB1= 0;
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float4 planeEq;
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planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
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float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);
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float4 planeNormalWorld;
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planeNormalWorld = qtRotate(ornA,planeNormal);
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float planeConstant = planeEq.w;
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float4 invPosA;Quaternion invOrnA;
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float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;
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{
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trInverse(posA,ornA,&invPosA,&invOrnA);
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trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);
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}
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float4 invPosB;Quaternion invOrnB;
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float4 planeInConvexPos1; Quaternion planeInConvexOrn1;
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{
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trInverse(posB,ornB,&invPosB,&invOrnB);
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trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);
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}
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float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);
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float maxDot = -1e30;
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int hitVertex=-1;
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float4 hitVtx;
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float4 contactPoints[MAX_PLANE_CONVEX_POINTS];
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int numPoints = 0;
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int4 contactIdx;
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contactIdx=make_int4(0,1,2,3);
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for (int i=0;i<hullB->m_numVertices;i++)
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{
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float4 vtx = convexVertices[hullB->m_vertexOffset+i];
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float curDot = dot(vtx,planeNormalInConvex);
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if (curDot>maxDot)
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{
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hitVertex=i;
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maxDot=curDot;
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hitVtx = vtx;
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//make sure the deepest points is always included
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if (numPoints==MAX_PLANE_CONVEX_POINTS)
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numPoints--;
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}
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if (numPoints<MAX_PLANE_CONVEX_POINTS)
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{
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float4 vtxWorld = transform(&vtx, &posB, &ornB);
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float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;
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float dist = dot(planeNormal,vtxInPlane)-planeConstant;
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if (dist<0.f)
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{
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vtxWorld.w = dist;
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contactPoints[numPoints] = vtxWorld;
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numPoints++;
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}
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}
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}
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int numReducedPoints = numPoints;
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//if (numPoints>4)
|
||||
//{
|
||||
// numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
|
||||
//}
|
||||
|
||||
if (numReducedPoints>0)
|
||||
{
|
||||
int dstIdx;
|
||||
AppendInc( nGlobalContactsOut, dstIdx );
|
||||
|
||||
if (dstIdx < maxContactCapacity)
|
||||
{
|
||||
__global Contact4* c = &globalContactsOut[dstIdx];
|
||||
c->m_worldNormal = planeNormalWorld;
|
||||
//c->setFrictionCoeff(0.7);
|
||||
//c->setRestituitionCoeff(0.f);
|
||||
c->m_coeffs = (u32)(0.f*0xffff) | ((u32)(0.7f*0xffff)<<16);
|
||||
c->m_batchIdx = pairIndex;
|
||||
c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
|
||||
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
|
||||
|
||||
switch (numReducedPoints)
|
||||
{
|
||||
case 4:
|
||||
c->m_worldPos[3] = contactPoints[contactIdx.w];
|
||||
case 3:
|
||||
c->m_worldPos[2] = contactPoints[contactIdx.z];
|
||||
case 2:
|
||||
c->m_worldPos[1] = contactPoints[contactIdx.y];
|
||||
case 1:
|
||||
c->m_worldPos[0] = contactPoints[contactIdx.x];
|
||||
default:
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
GET_NPOINTS(*c) = numReducedPoints;
|
||||
}//if (dstIdx < numPairs)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void computeContactPlaneSphere(int pairIndex,
|
||||
int bodyIndexA, int bodyIndexB,
|
||||
int collidableIndexA, int collidableIndexB,
|
||||
__global const BodyData* rigidBodies,
|
||||
@ -557,8 +698,6 @@ void computeContactPlaneConvex(int pairIndex,
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
__kernel void primitiveContactsKernel( __global const int2* pairs,
|
||||
__global const BodyData* rigidBodies,
|
||||
__global const btCollidableGpu* collidables,
|
||||
@ -594,27 +733,51 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
|
||||
int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
|
||||
int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
||||
{
|
||||
computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
||||
rigidBodies,collidables,convexShapes,vertices,indices,
|
||||
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
||||
return;
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
||||
rigidBodies,collidables,convexShapes,vertices,indices,
|
||||
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
||||
computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
|
||||
rigidBodies,collidables,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
|
||||
{
|
||||
|
||||
|
||||
computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
|
||||
rigidBodies,collidables,
|
||||
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
||||
@ -649,6 +812,7 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
|
||||
|
||||
Loading…
Reference in New Issue
Block a user