2017-08-01 14:30:58 +02:00
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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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2019-01-03 14:26:51 +01:00
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static const char* satClipKernelsCL =
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"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
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"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
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"#ifdef cl_ext_atomic_counters_32\n"
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"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
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"#else\n"
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"#define counter32_t volatile __global int*\n"
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"#endif\n"
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"#define GET_GROUP_IDX get_group_id(0)\n"
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"#define GET_LOCAL_IDX get_local_id(0)\n"
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"#define GET_GLOBAL_IDX get_global_id(0)\n"
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"#define GET_GROUP_SIZE get_local_size(0)\n"
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"#define GET_NUM_GROUPS get_num_groups(0)\n"
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"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
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"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
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"#define AtomInc(x) atom_inc(&(x))\n"
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"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
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"#define AppendInc(x, out) out = atomic_inc(x)\n"
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"#define AtomAdd(x, value) atom_add(&(x), value)\n"
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"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
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"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
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"#define max2 max\n"
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"#define min2 min\n"
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"typedef unsigned int u32;\n"
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"#ifndef B3_CONTACT4DATA_H\n"
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"#define B3_CONTACT4DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#define B3_FLOAT4_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#define B3_PLATFORM_DEFINITIONS_H\n"
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"struct MyTest\n"
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"{\n"
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" int bla;\n"
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"};\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
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"#define B3_LARGE_FLOAT 1e18f\n"
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"#define B3_INFINITY 1e18f\n"
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"#define b3Assert(a)\n"
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"#define b3ConstArray(a) __global const a*\n"
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"#define b3AtomicInc atomic_inc\n"
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"#define b3AtomicAdd atomic_add\n"
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"#define b3Fabs fabs\n"
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"#define b3Sqrt native_sqrt\n"
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"#define b3Sin native_sin\n"
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"#define b3Cos native_cos\n"
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"#define B3_STATIC\n"
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"#endif\n"
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"#endif\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Float4;\n"
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" #define b3Float4ConstArg const b3Float4\n"
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" #define b3MakeFloat4 (float4)\n"
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" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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" }\n"
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" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return cross(a1, b1);\n"
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" }\n"
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" #define b3MinFloat4 min\n"
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" #define b3MaxFloat4 max\n"
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" #define b3Normalized(a) normalize(a)\n"
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"#endif \n"
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" \n"
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"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
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"{\n"
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" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
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" return false;\n"
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" return true;\n"
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"}\n"
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"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
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"{\n"
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" float maxDot = -B3_INFINITY;\n"
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" int i = 0;\n"
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" int ptIndex = -1;\n"
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" for( i = 0; i < vecLen; i++ )\n"
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" {\n"
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" float dot = b3Dot3F4(vecArray[i],vec);\n"
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" \n"
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" if( dot > maxDot )\n"
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" {\n"
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" maxDot = dot;\n"
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" ptIndex = i;\n"
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" }\n"
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" }\n"
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" b3Assert(ptIndex>=0);\n"
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" if (ptIndex<0)\n"
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" {\n"
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" ptIndex = 0;\n"
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" }\n"
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" *dotOut = maxDot;\n"
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" return ptIndex;\n"
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"}\n"
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"#endif //B3_FLOAT4_H\n"
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"typedef struct b3Contact4Data b3Contact4Data_t;\n"
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"struct b3Contact4Data\n"
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"{\n"
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" b3Float4 m_worldPosB[4];\n"
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"// b3Float4 m_localPosA[4];\n"
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"// b3Float4 m_localPosB[4];\n"
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" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
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" unsigned short m_restituitionCoeffCmp;\n"
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" unsigned short m_frictionCoeffCmp;\n"
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" int m_batchIdx;\n"
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" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
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" int m_bodyBPtrAndSignBit;\n"
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" int m_childIndexA;\n"
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" int m_childIndexB;\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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"};\n"
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"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
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"{\n"
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" return (int)contact->m_worldNormalOnB.w;\n"
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"};\n"
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"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
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"{\n"
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" contact->m_worldNormalOnB.w = (float)numPoints;\n"
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"};\n"
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"#endif //B3_CONTACT4DATA_H\n"
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"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
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"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifndef B3_QUAT_H\n"
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"#define B3_QUAT_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif\n"
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"#endif\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Quat;\n"
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" #define b3QuatConstArg const b3Quat\n"
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" \n"
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" \n"
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"inline float4 b3FastNormalize4(float4 v)\n"
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"{\n"
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" v = (float4)(v.xyz,0.f);\n"
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" return fast_normalize(v);\n"
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"}\n"
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" \n"
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"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
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"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
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"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
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"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
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"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
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"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
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"{\n"
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" b3Quat ans;\n"
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" ans = b3Cross3( a, b );\n"
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" ans += a.w*b+b.w*a;\n"
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"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
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" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
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" return ans;\n"
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"}\n"
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"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
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"{\n"
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" b3Quat q;\n"
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" q=in;\n"
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" //return b3FastNormalize4(in);\n"
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" float len = native_sqrt(dot(q, q));\n"
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" if(len > 0.f)\n"
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" {\n"
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" q *= 1.f / len;\n"
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" }\n"
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" else\n"
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" {\n"
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" q.x = q.y = q.z = 0.f;\n"
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" q.w = 1.f;\n"
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" }\n"
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" return q;\n"
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"}\n"
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"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
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"{\n"
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" b3Quat qInv = b3QuatInvert( q );\n"
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" float4 vcpy = vec;\n"
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" vcpy.w = 0.f;\n"
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" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
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" return out;\n"
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"}\n"
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"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
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"{\n"
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" return (b3Quat)(-q.xyz, q.w);\n"
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"}\n"
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"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
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"{\n"
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" return (b3Quat)(-q.xyz, q.w);\n"
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"}\n"
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"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
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"{\n"
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" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
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"}\n"
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"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
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"{\n"
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" return b3QuatRotate( orientation, point ) + (translation);\n"
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"}\n"
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" \n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"typedef struct b3GpuFace b3GpuFace_t;\n"
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"struct b3GpuFace\n"
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"{\n"
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" b3Float4 m_plane;\n"
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" int m_indexOffset;\n"
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" int m_numIndices;\n"
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" int m_unusedPadding1;\n"
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" int m_unusedPadding2;\n"
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"};\n"
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"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
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"struct b3ConvexPolyhedronData\n"
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"{\n"
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" b3Float4 m_localCenter;\n"
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" b3Float4 m_extents;\n"
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" b3Float4 mC;\n"
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" b3Float4 mE;\n"
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" float m_radius;\n"
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" int m_faceOffset;\n"
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" int m_numFaces;\n"
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" int m_numVertices;\n"
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" int m_vertexOffset;\n"
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" int m_uniqueEdgesOffset;\n"
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" int m_numUniqueEdges;\n"
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" int m_unused;\n"
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"};\n"
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"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
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"#ifndef B3_COLLIDABLE_H\n"
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"#define B3_COLLIDABLE_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifndef B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"enum b3ShapeTypes\n"
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"{\n"
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" SHAPE_HEIGHT_FIELD=1,\n"
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" SHAPE_CONVEX_HULL=3,\n"
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" SHAPE_PLANE=4,\n"
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" SHAPE_CONCAVE_TRIMESH=5,\n"
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" SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
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" SHAPE_SPHERE=7,\n"
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" MAX_NUM_SHAPE_TYPES,\n"
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"};\n"
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"typedef struct b3Collidable b3Collidable_t;\n"
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"struct b3Collidable\n"
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|
|
"{\n"
|
|
|
|
|
" union {\n"
|
|
|
|
|
" int m_numChildShapes;\n"
|
|
|
|
|
" int m_bvhIndex;\n"
|
|
|
|
|
" };\n"
|
|
|
|
|
" union\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float m_radius;\n"
|
|
|
|
|
" int m_compoundBvhIndex;\n"
|
|
|
|
|
" };\n"
|
|
|
|
|
" int m_shapeType;\n"
|
|
|
|
|
" int m_shapeIndex;\n"
|
|
|
|
|
"};\n"
|
|
|
|
|
"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
|
|
|
|
|
"struct b3GpuChildShape\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Float4 m_childPosition;\n"
|
|
|
|
|
" b3Quat m_childOrientation;\n"
|
|
|
|
|
" int m_shapeIndex;\n"
|
|
|
|
|
" int m_unused0;\n"
|
|
|
|
|
" int m_unused1;\n"
|
|
|
|
|
" int m_unused2;\n"
|
|
|
|
|
"};\n"
|
|
|
|
|
"struct b3CompoundOverlappingPair\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int m_bodyIndexA;\n"
|
|
|
|
|
" int m_bodyIndexB;\n"
|
|
|
|
|
"// int m_pairType;\n"
|
|
|
|
|
" int m_childShapeIndexA;\n"
|
|
|
|
|
" int m_childShapeIndexB;\n"
|
|
|
|
|
"};\n"
|
|
|
|
|
"#endif //B3_COLLIDABLE_H\n"
|
|
|
|
|
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
|
|
|
|
"#define B3_RIGIDBODY_DATA_H\n"
|
|
|
|
|
"#ifndef B3_FLOAT4_H\n"
|
|
|
|
|
"#ifdef __cplusplus\n"
|
|
|
|
|
"#else\n"
|
|
|
|
|
"#endif \n"
|
|
|
|
|
"#endif //B3_FLOAT4_H\n"
|
|
|
|
|
"#ifndef B3_QUAT_H\n"
|
|
|
|
|
"#ifdef __cplusplus\n"
|
|
|
|
|
"#else\n"
|
|
|
|
|
"#endif \n"
|
|
|
|
|
"#endif //B3_QUAT_H\n"
|
|
|
|
|
"#ifndef B3_MAT3x3_H\n"
|
|
|
|
|
"#define B3_MAT3x3_H\n"
|
|
|
|
|
"#ifndef B3_QUAT_H\n"
|
|
|
|
|
"#ifdef __cplusplus\n"
|
|
|
|
|
"#else\n"
|
|
|
|
|
"#endif \n"
|
|
|
|
|
"#endif //B3_QUAT_H\n"
|
|
|
|
|
"#ifdef __cplusplus\n"
|
|
|
|
|
"#else\n"
|
|
|
|
|
"typedef struct\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Float4 m_row[3];\n"
|
|
|
|
|
"}b3Mat3x3;\n"
|
|
|
|
|
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
|
|
|
|
|
"#define b3GetRow(m,row) (m.m_row[row])\n"
|
|
|
|
|
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
|
|
|
|
|
" b3Mat3x3 out;\n"
|
|
|
|
|
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
|
|
|
|
|
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
|
|
|
|
|
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
|
|
|
|
|
" out.m_row[0].w = 0.f;\n"
|
|
|
|
|
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
|
|
|
|
|
" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
|
|
|
|
|
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
|
|
|
|
|
" out.m_row[1].w = 0.f;\n"
|
|
|
|
|
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
|
|
|
|
|
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
|
|
|
|
|
" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
|
|
|
|
|
" out.m_row[2].w = 0.f;\n"
|
|
|
|
|
" return out;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Mat3x3 out;\n"
|
|
|
|
|
" out.m_row[0] = fabs(matIn.m_row[0]);\n"
|
|
|
|
|
" out.m_row[1] = fabs(matIn.m_row[1]);\n"
|
|
|
|
|
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
|
|
|
|
|
" return out;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtZero();\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtIdentity();\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtZero()\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Mat3x3 m;\n"
|
|
|
|
|
" m.m_row[0] = (b3Float4)(0.f);\n"
|
|
|
|
|
" m.m_row[1] = (b3Float4)(0.f);\n"
|
|
|
|
|
" m.m_row[2] = (b3Float4)(0.f);\n"
|
|
|
|
|
" return m;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtIdentity()\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Mat3x3 m;\n"
|
|
|
|
|
" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
|
|
|
|
|
" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
|
|
|
|
|
" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
|
|
|
|
|
" return m;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Mat3x3 out;\n"
|
|
|
|
|
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
|
|
|
|
|
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
|
|
|
|
|
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
|
|
|
|
|
" return out;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Mat3x3 transB;\n"
|
|
|
|
|
" transB = mtTranspose( b );\n"
|
|
|
|
|
" b3Mat3x3 ans;\n"
|
|
|
|
|
" // why this doesn't run when 0ing in the for{}\n"
|
|
|
|
|
" a.m_row[0].w = 0.f;\n"
|
|
|
|
|
" a.m_row[1].w = 0.f;\n"
|
|
|
|
|
" a.m_row[2].w = 0.f;\n"
|
|
|
|
|
" for(int i=0; i<3; i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
"// a.m_row[i].w = 0.f;\n"
|
|
|
|
|
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
|
|
|
|
|
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
|
|
|
|
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
|
|
|
|
|
" ans.m_row[i].w = 0.f;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return ans;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Float4 ans;\n"
|
|
|
|
|
" ans.x = b3Dot3F4( a.m_row[0], b );\n"
|
|
|
|
|
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
|
|
|
|
|
" ans.z = b3Dot3F4( a.m_row[2], b );\n"
|
|
|
|
|
" ans.w = 0.f;\n"
|
|
|
|
|
" return ans;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
|
|
|
|
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
|
|
|
|
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
|
|
|
|
" b3Float4 ans;\n"
|
|
|
|
|
" ans.x = b3Dot3F4( a, colx );\n"
|
|
|
|
|
" ans.y = b3Dot3F4( a, coly );\n"
|
|
|
|
|
" ans.z = b3Dot3F4( a, colz );\n"
|
|
|
|
|
" return ans;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"#endif\n"
|
|
|
|
|
"#endif //B3_MAT3x3_H\n"
|
|
|
|
|
"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
|
|
|
|
|
"struct b3RigidBodyData\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Float4 m_pos;\n"
|
|
|
|
|
" b3Quat m_quat;\n"
|
|
|
|
|
" b3Float4 m_linVel;\n"
|
|
|
|
|
" b3Float4 m_angVel;\n"
|
|
|
|
|
" int m_collidableIdx;\n"
|
|
|
|
|
" float m_invMass;\n"
|
|
|
|
|
" float m_restituitionCoeff;\n"
|
|
|
|
|
" float m_frictionCoeff;\n"
|
|
|
|
|
"};\n"
|
|
|
|
|
"typedef struct b3InertiaData b3InertiaData_t;\n"
|
|
|
|
|
"struct b3InertiaData\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" b3Mat3x3 m_invInertiaWorld;\n"
|
|
|
|
|
" b3Mat3x3 m_initInvInertia;\n"
|
|
|
|
|
"};\n"
|
|
|
|
|
"#endif //B3_RIGIDBODY_DATA_H\n"
|
|
|
|
|
" \n"
|
|
|
|
|
"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
|
|
|
|
|
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
|
|
|
|
"#define make_float4 (float4)\n"
|
|
|
|
|
"#define make_float2 (float2)\n"
|
|
|
|
|
"#define make_uint4 (uint4)\n"
|
|
|
|
|
"#define make_int4 (int4)\n"
|
|
|
|
|
"#define make_uint2 (uint2)\n"
|
|
|
|
|
"#define make_int2 (int2)\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float fastDiv(float numerator, float denominator)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return native_divide(numerator, denominator); \n"
|
|
|
|
|
"// return numerator/denominator; \n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 fastDiv4(float4 numerator, float4 denominator)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return native_divide(numerator, denominator); \n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 cross3(float4 a, float4 b)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return cross(a,b);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"//#define dot3F4 dot\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float dot3F4(float4 a, float4 b)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" float4 a1 = make_float4(a.xyz,0.f);\n"
|
|
|
|
|
" float4 b1 = make_float4(b.xyz,0.f);\n"
|
|
|
|
|
" return dot(a1, b1);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 fastNormalize4(float4 v)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return fast_normalize(v);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"///////////////////////////////////////\n"
|
|
|
|
|
"// Quaternion\n"
|
|
|
|
|
"///////////////////////////////////////\n"
|
|
|
|
|
"typedef float4 Quaternion;\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"Quaternion qtMul(Quaternion a, Quaternion b);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"Quaternion qtNormalize(Quaternion in);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 qtRotate(Quaternion q, float4 vec);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"Quaternion qtInvert(Quaternion q);\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"Quaternion qtMul(Quaternion a, Quaternion b)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" Quaternion ans;\n"
|
|
|
|
|
" ans = cross3( a, b );\n"
|
|
|
|
|
" ans += a.w*b+b.w*a;\n"
|
|
|
|
|
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
|
|
|
|
" ans.w = a.w*b.w - dot3F4(a, b);\n"
|
|
|
|
|
" return ans;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"Quaternion qtNormalize(Quaternion in)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return fastNormalize4(in);\n"
|
|
|
|
|
"// in /= length( in );\n"
|
|
|
|
|
"// return in;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 qtRotate(Quaternion q, float4 vec)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" Quaternion qInv = qtInvert( q );\n"
|
|
|
|
|
" float4 vcpy = vec;\n"
|
|
|
|
|
" vcpy.w = 0.f;\n"
|
|
|
|
|
" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
|
|
|
|
|
" return out;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"Quaternion qtInvert(Quaternion q)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return (Quaternion)(-q.xyz, q.w);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return qtRotate( qtInvert( q ), vec );\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return qtRotate( *orientation, *p ) + (*translation);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline\n"
|
|
|
|
|
"float4 normalize3(const float4 a)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
|
|
|
|
|
" return fastNormalize4( n );\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__inline float4 lerp3(const float4 a,const float4 b, float t)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" return make_float4( a.x + (b.x - a.x) * t,\n"
|
|
|
|
|
" a.y + (b.y - a.y) * t,\n"
|
|
|
|
|
" a.z + (b.z - a.z) * t,\n"
|
|
|
|
|
" 0.f);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
|
|
|
|
|
"int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int ve;\n"
|
|
|
|
|
" float ds, de;\n"
|
|
|
|
|
" int numVertsOut = 0;\n"
|
|
|
|
|
" //double-check next test\n"
|
|
|
|
|
" if (numVertsIn < 2)\n"
|
|
|
|
|
" return 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 firstVertex=pVtxIn[numVertsIn-1];\n"
|
|
|
|
|
" float4 endVertex = pVtxIn[0];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" for (ve = 0; ve < numVertsIn; ve++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" endVertex=pVtxIn[ve];\n"
|
|
|
|
|
" de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
|
|
|
|
|
" if (ds<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" if (de<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // Start < 0, end < 0, so output endVertex\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = endVertex;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" else\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // Start < 0, end >= 0, so output intersection\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" else\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" if (de<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // Start >= 0, end < 0 so output intersection and end\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = endVertex;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" firstVertex = endVertex;\n"
|
|
|
|
|
" ds = de;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return numVertsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
|
|
|
|
|
"int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int ve;\n"
|
|
|
|
|
" float ds, de;\n"
|
|
|
|
|
" int numVertsOut = 0;\n"
|
|
|
|
|
"//double-check next test\n"
|
|
|
|
|
" if (numVertsIn < 2)\n"
|
|
|
|
|
" return 0;\n"
|
|
|
|
|
" float4 firstVertex=pVtxIn[numVertsIn-1];\n"
|
|
|
|
|
" float4 endVertex = pVtxIn[0];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
|
|
|
|
|
" for (ve = 0; ve < numVertsIn; ve++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" endVertex=pVtxIn[ve];\n"
|
|
|
|
|
" de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
|
|
|
|
|
" if (ds<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" if (de<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // Start < 0, end < 0, so output endVertex\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = endVertex;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" else\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // Start < 0, end >= 0, so output intersection\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" else\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" if (de<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // Start >= 0, end < 0 so output intersection and end\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
|
|
|
|
|
" ppVtxOut[numVertsOut++] = endVertex;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" firstVertex = endVertex;\n"
|
|
|
|
|
" ds = de;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return numVertsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA, \n"
|
|
|
|
|
" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
|
|
|
|
|
" float4* worldVertsB2, int capacityWorldVertsB2,\n"
|
|
|
|
|
" const float minDist, float maxDist,\n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" float4* contactsOut,\n"
|
|
|
|
|
" int contactCapacity)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int numContactsOut = 0;\n"
|
|
|
|
|
" float4* pVtxIn = worldVertsB1;\n"
|
|
|
|
|
" float4* pVtxOut = worldVertsB2;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numVertsIn = numWorldVertsB1;\n"
|
|
|
|
|
" int numVertsOut = 0;\n"
|
|
|
|
|
" int closestFaceA=-1;\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float dmin = FLT_MAX;\n"
|
|
|
|
|
" for(int face=0;face<hullA->m_numFaces;face++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 Normal = make_float4(\n"
|
|
|
|
|
" faces[hullA->m_faceOffset+face].m_plane.x, \n"
|
|
|
|
|
" faces[hullA->m_faceOffset+face].m_plane.y, \n"
|
|
|
|
|
" faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
|
|
|
|
|
" const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float d = dot3F4(faceANormalWS,separatingNormal);\n"
|
|
|
|
|
" if (d < dmin)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" dmin = d;\n"
|
|
|
|
|
" closestFaceA = face;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (closestFaceA<0)\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
" b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n"
|
|
|
|
|
" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
|
|
|
|
|
" int numVerticesA = polyA.m_numIndices;\n"
|
|
|
|
|
" for(int e0=0;e0<numVerticesA;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n"
|
|
|
|
|
" const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
|
|
|
|
|
" const float4 edge0 = a - b;\n"
|
|
|
|
|
" const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
|
|
|
|
|
" float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
|
|
|
|
|
" float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
|
|
|
|
|
" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
|
|
|
|
|
" float4 worldA1 = transform(&a,&posA,&ornA);\n"
|
|
|
|
|
" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 planeNormalWS = planeNormalWS1;\n"
|
|
|
|
|
" float planeEqWS=planeEqWS1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" //clip face\n"
|
|
|
|
|
" //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
|
|
|
|
|
" numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
|
|
|
|
|
" //btSwap(pVtxIn,pVtxOut);\n"
|
|
|
|
|
" float4* tmp = pVtxOut;\n"
|
|
|
|
|
" pVtxOut = pVtxIn;\n"
|
|
|
|
|
" pVtxIn = tmp;\n"
|
|
|
|
|
" numVertsIn = numVertsOut;\n"
|
|
|
|
|
" numVertsOut = 0;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" // only keep points that are behind the witness face\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
|
|
|
|
|
" float localPlaneEq = polyA.m_plane.w;\n"
|
|
|
|
|
" float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
|
|
|
|
|
" float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
|
|
|
|
|
" for (int i=0;i<numVertsIn;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
|
|
|
|
|
" if (depth <=minDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" depth = minDist;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (depth <=maxDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 pointInWorld = pVtxIn[i];\n"
|
|
|
|
|
" //resultOut.addContactPoint(separatingNormal,point,depth);\n"
|
|
|
|
|
" contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA, \n"
|
|
|
|
|
" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
|
|
|
|
|
" float4* worldVertsB2, int capacityWorldVertsB2,\n"
|
|
|
|
|
" const float minDist, float maxDist,\n"
|
|
|
|
|
" const float4* verticesA,\n"
|
|
|
|
|
" const b3GpuFace_t* facesA,\n"
|
|
|
|
|
" const int* indicesA,\n"
|
|
|
|
|
" __global const float4* verticesB,\n"
|
|
|
|
|
" __global const b3GpuFace_t* facesB,\n"
|
|
|
|
|
" __global const int* indicesB,\n"
|
|
|
|
|
" float4* contactsOut,\n"
|
|
|
|
|
" int contactCapacity)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int numContactsOut = 0;\n"
|
|
|
|
|
" float4* pVtxIn = worldVertsB1;\n"
|
|
|
|
|
" float4* pVtxOut = worldVertsB2;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numVertsIn = numWorldVertsB1;\n"
|
|
|
|
|
" int numVertsOut = 0;\n"
|
|
|
|
|
" int closestFaceA=-1;\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float dmin = FLT_MAX;\n"
|
|
|
|
|
" for(int face=0;face<hullA->m_numFaces;face++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 Normal = make_float4(\n"
|
|
|
|
|
" facesA[hullA->m_faceOffset+face].m_plane.x, \n"
|
|
|
|
|
" facesA[hullA->m_faceOffset+face].m_plane.y, \n"
|
|
|
|
|
" facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
|
|
|
|
|
" const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float d = dot3F4(faceANormalWS,separatingNormal);\n"
|
|
|
|
|
" if (d < dmin)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" dmin = d;\n"
|
|
|
|
|
" closestFaceA = face;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (closestFaceA<0)\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
" b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n"
|
|
|
|
|
" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
|
|
|
|
|
" int numVerticesA = polyA.m_numIndices;\n"
|
|
|
|
|
" for(int e0=0;e0<numVerticesA;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n"
|
|
|
|
|
" const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
|
|
|
|
|
" const float4 edge0 = a - b;\n"
|
|
|
|
|
" const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
|
|
|
|
|
" float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
|
|
|
|
|
" float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
|
|
|
|
|
" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
|
|
|
|
|
" float4 worldA1 = transform(&a,&posA,&ornA);\n"
|
|
|
|
|
" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 planeNormalWS = planeNormalWS1;\n"
|
|
|
|
|
" float planeEqWS=planeEqWS1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" //clip face\n"
|
|
|
|
|
" //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
|
|
|
|
|
" numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
|
|
|
|
|
" //btSwap(pVtxIn,pVtxOut);\n"
|
|
|
|
|
" float4* tmp = pVtxOut;\n"
|
|
|
|
|
" pVtxOut = pVtxIn;\n"
|
|
|
|
|
" pVtxIn = tmp;\n"
|
|
|
|
|
" numVertsIn = numVertsOut;\n"
|
|
|
|
|
" numVertsOut = 0;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" // only keep points that are behind the witness face\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
|
|
|
|
|
" float localPlaneEq = polyA.m_plane.w;\n"
|
|
|
|
|
" float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
|
|
|
|
|
" float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
|
|
|
|
|
" for (int i=0;i<numVertsIn;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
|
|
|
|
|
" if (depth <=minDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" depth = minDist;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (depth <=maxDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 pointInWorld = pVtxIn[i];\n"
|
|
|
|
|
" //resultOut.addContactPoint(separatingNormal,point,depth);\n"
|
|
|
|
|
" contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int clipHullAgainstHull(const float4 separatingNormal,\n"
|
|
|
|
|
" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
|
|
|
|
|
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
|
|
|
|
|
" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
|
|
|
|
|
" const float minDist, float maxDist,\n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" float4* localContactsOut,\n"
|
|
|
|
|
" int localContactCapacity)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int numContactsOut = 0;\n"
|
|
|
|
|
" int numWorldVertsB1= 0;\n"
|
|
|
|
|
" int closestFaceB=-1;\n"
|
|
|
|
|
" float dmax = -FLT_MAX;\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" for(int face=0;face<hullB->m_numFaces;face++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n"
|
|
|
|
|
" faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
|
|
|
|
|
" const float4 WorldNormal = qtRotate(ornB, Normal);\n"
|
|
|
|
|
" float d = dot3F4(WorldNormal,separatingNormal);\n"
|
|
|
|
|
" if (d > dmax)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" dmax = d;\n"
|
|
|
|
|
" closestFaceB = face;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
|
|
|
|
|
" const int numVertices = polyB.m_numIndices;\n"
|
|
|
|
|
" for(int e0=0;e0<numVertices;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
|
|
|
|
|
" worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (closestFaceB>=0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n"
|
|
|
|
|
" posA,ornA,\n"
|
|
|
|
|
" worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n"
|
|
|
|
|
" faces,\n"
|
|
|
|
|
" indices,localContactsOut,localContactCapacity);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int clipHullAgainstHullLocalA(const float4 separatingNormal,\n"
|
|
|
|
|
" const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
|
|
|
|
|
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
|
|
|
|
|
" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
|
|
|
|
|
" const float minDist, float maxDist,\n"
|
|
|
|
|
" const float4* verticesA,\n"
|
|
|
|
|
" const b3GpuFace_t* facesA,\n"
|
|
|
|
|
" const int* indicesA,\n"
|
|
|
|
|
" __global const float4* verticesB,\n"
|
|
|
|
|
" __global const b3GpuFace_t* facesB,\n"
|
|
|
|
|
" __global const int* indicesB,\n"
|
|
|
|
|
" float4* localContactsOut,\n"
|
|
|
|
|
" int localContactCapacity)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int numContactsOut = 0;\n"
|
|
|
|
|
" int numWorldVertsB1= 0;\n"
|
|
|
|
|
" int closestFaceB=-1;\n"
|
|
|
|
|
" float dmax = -FLT_MAX;\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" for(int face=0;face<hullB->m_numFaces;face++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n"
|
|
|
|
|
" facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
|
|
|
|
|
" const float4 WorldNormal = qtRotate(ornB, Normal);\n"
|
|
|
|
|
" float d = dot3F4(WorldNormal,separatingNormal);\n"
|
|
|
|
|
" if (d > dmax)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" dmax = d;\n"
|
|
|
|
|
" closestFaceB = face;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
|
|
|
|
|
" const int numVertices = polyB.m_numIndices;\n"
|
|
|
|
|
" for(int e0=0;e0<numVertices;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
|
|
|
|
|
" worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (closestFaceB>=0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n"
|
|
|
|
|
" posA,ornA,\n"
|
|
|
|
|
" worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n"
|
|
|
|
|
" verticesA,facesA,indicesA,\n"
|
|
|
|
|
" verticesB,facesB,indicesB,\n"
|
|
|
|
|
" localContactsOut,localContactCapacity);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n"
|
|
|
|
|
"#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n"
|
|
|
|
|
"#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n"
|
|
|
|
|
"#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n"
|
|
|
|
|
"int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" if( nPoints == 0 )\n"
|
|
|
|
|
" return 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (nPoints <=4)\n"
|
|
|
|
|
" return nPoints;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (nPoints >64)\n"
|
|
|
|
|
" nPoints = 64;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 center = make_float4(0.f);\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" for (int i=0;i<nPoints;i++)\n"
|
|
|
|
|
" center += p[i];\n"
|
|
|
|
|
" center /= (float)nPoints;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" // sample 4 directions\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 aVector = p[0] - center;\n"
|
|
|
|
|
" float4 u = cross3( nearNormal, aVector );\n"
|
|
|
|
|
" float4 v = cross3( nearNormal, u );\n"
|
|
|
|
|
" u = normalize3( u );\n"
|
|
|
|
|
" v = normalize3( v );\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" //keep point with deepest penetration\n"
|
|
|
|
|
" float minW= FLT_MAX;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int minIndex=-1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 maxDots;\n"
|
|
|
|
|
" maxDots.x = FLT_MIN;\n"
|
|
|
|
|
" maxDots.y = FLT_MIN;\n"
|
|
|
|
|
" maxDots.z = FLT_MIN;\n"
|
|
|
|
|
" maxDots.w = FLT_MIN;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" // idx, distance\n"
|
|
|
|
|
" for(int ie = 0; ie<nPoints; ie++ )\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" if (p[ie].w<minW)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" minW = p[ie].w;\n"
|
|
|
|
|
" minIndex=ie;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" float f;\n"
|
|
|
|
|
" float4 r = p[ie]-center;\n"
|
|
|
|
|
" f = dot3F4( u, r );\n"
|
|
|
|
|
" if (f<maxDots.x)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" maxDots.x = f;\n"
|
|
|
|
|
" contactIdx[0].x = ie;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" f = dot3F4( -u, r );\n"
|
|
|
|
|
" if (f<maxDots.y)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" maxDots.y = f;\n"
|
|
|
|
|
" contactIdx[0].y = ie;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" f = dot3F4( v, r );\n"
|
|
|
|
|
" if (f<maxDots.z)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" maxDots.z = f;\n"
|
|
|
|
|
" contactIdx[0].z = ie;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" f = dot3F4( -v, r );\n"
|
|
|
|
|
" if (f<maxDots.w)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" maxDots.w = f;\n"
|
|
|
|
|
" contactIdx[0].w = ie;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" //replace the first contact with minimum (todo: replace contact with least penetration)\n"
|
|
|
|
|
" contactIdx[0].x = minIndex;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" return 4;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" contactIdx[0] = 0;\n"
|
|
|
|
|
" contactIdx[1] = 1;\n"
|
|
|
|
|
" contactIdx[2] = 2;\n"
|
|
|
|
|
" contactIdx[3] = 3;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if( nPoints == 0 ) return 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" nPoints = min2( nPoints, 4 );\n"
|
|
|
|
|
" return nPoints;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" if( nPoints == 0 ) return 0;\n"
|
|
|
|
|
" nPoints = min2( nPoints, 64 );\n"
|
|
|
|
|
" float4 center = make_float4(0.f);\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 v[64];\n"
|
|
|
|
|
" for (int i=0;i<nPoints;i++)\n"
|
|
|
|
|
" v[i] = p[i];\n"
|
|
|
|
|
" //memcpy( v, p, nPoints*sizeof(float4) );\n"
|
|
|
|
|
" PARALLEL_SUM( v, nPoints );\n"
|
|
|
|
|
" center = v[0]/(float)nPoints;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" { // sample 4 directions\n"
|
|
|
|
|
" if( nPoints < 4 )\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" for(int i=0; i<nPoints; i++) \n"
|
|
|
|
|
" contactIdx[i] = i;\n"
|
|
|
|
|
" return nPoints;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" float4 aVector = p[0] - center;\n"
|
|
|
|
|
" float4 u = cross3( nearNormal, aVector );\n"
|
|
|
|
|
" float4 v = cross3( nearNormal, u );\n"
|
|
|
|
|
" u = normalize3( u );\n"
|
|
|
|
|
" v = normalize3( v );\n"
|
|
|
|
|
" int idx[4];\n"
|
|
|
|
|
" float2 max00 = make_float2(0,FLT_MAX);\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" // idx, distance\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" int4 a[64];\n"
|
|
|
|
|
" for(int ie = 0; ie<nPoints; ie++ )\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float f;\n"
|
|
|
|
|
" float4 r = p[ie]-center;\n"
|
|
|
|
|
" f = dot3F4( u, r );\n"
|
|
|
|
|
" a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
|
|
|
|
|
" f = dot3F4( -u, r );\n"
|
|
|
|
|
" a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
|
|
|
|
|
" f = dot3F4( v, r );\n"
|
|
|
|
|
" a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
|
|
|
|
|
" f = dot3F4( -v, r );\n"
|
|
|
|
|
" a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" for(int ie=0; ie<nPoints; ie++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n"
|
|
|
|
|
" a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n"
|
|
|
|
|
" a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n"
|
|
|
|
|
" a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" idx[0] = (int)a[0].x & 0xff;\n"
|
|
|
|
|
" idx[1] = (int)a[0].y & 0xff;\n"
|
|
|
|
|
" idx[2] = (int)a[0].z & 0xff;\n"
|
|
|
|
|
" idx[3] = (int)a[0].w & 0xff;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float2 h[64];\n"
|
|
|
|
|
" PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n"
|
|
|
|
|
" REDUCE_MIN( h, nPoints );\n"
|
|
|
|
|
" max00 = h[0];\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" contactIdx[0] = idx[0];\n"
|
|
|
|
|
" contactIdx[1] = idx[1];\n"
|
|
|
|
|
" contactIdx[2] = idx[2];\n"
|
|
|
|
|
" contactIdx[3] = idx[3];\n"
|
|
|
|
|
" return 4;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
|
|
|
|
" __global const float4* closestPointsWorld,\n"
|
|
|
|
|
" __global const float4* separatingNormalsWorld,\n"
|
|
|
|
|
" __global const int* contactCounts,\n"
|
|
|
|
|
" __global const int* contactOffsets,\n"
|
|
|
|
|
" __global struct b3Contact4Data* restrict contactsOut,\n"
|
|
|
|
|
" counter32_t nContactsOut,\n"
|
|
|
|
|
" int contactCapacity,\n"
|
|
|
|
|
" int numPairs,\n"
|
|
|
|
|
" int pairIndex\n"
|
|
|
|
|
" )\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int idx = get_global_id(0);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (idx<numPairs)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 normal = separatingNormalsWorld[idx];\n"
|
|
|
|
|
" int nPoints = contactCounts[idx];\n"
|
|
|
|
|
" __global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n"
|
|
|
|
|
" float4 localPoints[64];\n"
|
|
|
|
|
" for (int i=0;i<nPoints;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" localPoints[i] = pointsIn[i];\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" int contactIdx[4];// = {-1,-1,-1,-1};\n"
|
|
|
|
|
" contactIdx[0] = -1;\n"
|
|
|
|
|
" contactIdx[1] = -1;\n"
|
|
|
|
|
" contactIdx[2] = -1;\n"
|
|
|
|
|
" contactIdx[3] = -1;\n"
|
|
|
|
|
" int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n"
|
|
|
|
|
" int dstIdx;\n"
|
|
|
|
|
" AppendInc( nContactsOut, dstIdx );\n"
|
|
|
|
|
" if (dstIdx<contactCapacity)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global struct b3Contact4Data* c = contactsOut + dstIdx;\n"
|
|
|
|
|
" c->m_worldNormalOnB = -normal;\n"
|
|
|
|
|
" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
|
|
|
|
|
" c->m_batchIdx = idx;\n"
|
|
|
|
|
" int bodyA = pairs[pairIndex].x;\n"
|
|
|
|
|
" int bodyB = pairs[pairIndex].y;\n"
|
|
|
|
|
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
|
|
|
|
|
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
|
|
|
|
|
" c->m_childIndexA = -1;\n"
|
|
|
|
|
" c->m_childIndexB = -1;\n"
|
|
|
|
|
" for (int i=0;i<nContacts;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" c->m_worldPosB[i] = localPoints[contactIdx[i]];\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" GET_NPOINTS(*c) = nContacts;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"void trInverse(float4 translationIn, Quaternion orientationIn,\n"
|
|
|
|
|
" float4* translationOut, Quaternion* orientationOut)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" *orientationOut = qtInvert(orientationIn);\n"
|
|
|
|
|
" *translationOut = qtRotate(*orientationOut, -translationIn);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"void trMul(float4 translationA, Quaternion orientationA,\n"
|
|
|
|
|
" float4 translationB, Quaternion orientationB,\n"
|
|
|
|
|
" float4* translationOut, Quaternion* orientationOut)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" *orientationOut = qtMul(orientationA,orientationB);\n"
|
|
|
|
|
" *translationOut = transform(&translationB,&translationA,&orientationA);\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void clipHullHullKernel( __global int4* pairs, \n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
|
|
|
|
" __global const b3Collidable_t* collidables,\n"
|
|
|
|
|
" __global const b3ConvexPolyhedronData_t* convexShapes, \n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const float4* uniqueEdges,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" __global const float4* separatingNormals,\n"
|
|
|
|
|
" __global const int* hasSeparatingAxis,\n"
|
|
|
|
|
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
|
|
|
|
" counter32_t nGlobalContactsOut,\n"
|
|
|
|
|
" int numPairs,\n"
|
|
|
|
|
" int contactCapacity)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 worldVertsB1[64];\n"
|
|
|
|
|
" float4 worldVertsB2[64];\n"
|
|
|
|
|
" int capacityWorldVerts = 64; \n"
|
|
|
|
|
" float4 localContactsOut[64];\n"
|
|
|
|
|
" int localContactCapacity=64;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float minDist = -1e30f;\n"
|
|
|
|
|
" float maxDist = 0.02f;\n"
|
|
|
|
|
" if (i<numPairs)\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"
|
|
|
|
|
" if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
|
|
|
|
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n"
|
|
|
|
|
" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
|
|
|
|
|
" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
|
|
|
|
|
" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
|
|
|
|
|
" worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
|
|
|
|
|
" minDist, maxDist,\n"
|
|
|
|
|
" vertices,faces,indices,\n"
|
|
|
|
|
" localContactsOut,localContactCapacity);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (numLocalContactsOut>0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 normal = -separatingNormals[i];\n"
|
|
|
|
|
" int nPoints = numLocalContactsOut;\n"
|
|
|
|
|
" float4* pointsIn = localContactsOut;\n"
|
|
|
|
|
" int contactIdx[4];// = {-1,-1,-1,-1};\n"
|
|
|
|
|
" contactIdx[0] = -1;\n"
|
|
|
|
|
" contactIdx[1] = -1;\n"
|
|
|
|
|
" contactIdx[2] = -1;\n"
|
|
|
|
|
" contactIdx[3] = -1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int mprContactIndex = pairs[pairIndex].z;\n"
|
|
|
|
|
" int dstIdx = mprContactIndex;\n"
|
|
|
|
|
" if (dstIdx<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" if (dstIdx<contactCapacity)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" pairs[pairIndex].z = dstIdx;\n"
|
|
|
|
|
" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
|
|
|
|
|
" c->m_worldNormalOnB = -normal;\n"
|
|
|
|
|
" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
|
|
|
|
|
" c->m_batchIdx = pairIndex;\n"
|
|
|
|
|
" int bodyA = pairs[pairIndex].x;\n"
|
|
|
|
|
" int bodyB = pairs[pairIndex].y;\n"
|
|
|
|
|
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
|
|
|
|
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
|
|
|
|
" c->m_childIndexA = -1;\n"
|
|
|
|
|
" c->m_childIndexB = -1;\n"
|
|
|
|
|
" for (int i=0;i<nReducedContacts;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" //this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n"
|
|
|
|
|
" if (i>0||(mprContactIndex<0))\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" GET_NPOINTS(*c) = nReducedContacts;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }// if (numContactsOut>0)\n"
|
|
|
|
|
" }// if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" }// if (i<numPairs)\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
|
|
|
|
" __global const b3Collidable_t* collidables,\n"
|
|
|
|
|
" __global const b3ConvexPolyhedronData_t* convexShapes, \n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const float4* uniqueEdges,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" __global const b3GpuChildShape_t* gpuChildShapes,\n"
|
|
|
|
|
" __global const float4* gpuCompoundSepNormalsOut,\n"
|
|
|
|
|
" __global const int* gpuHasCompoundSepNormalsOut,\n"
|
|
|
|
|
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
|
|
|
|
" counter32_t nGlobalContactsOut,\n"
|
|
|
|
|
" int numCompoundPairs, int maxContactCapacity)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 worldVertsB1[64];\n"
|
|
|
|
|
" float4 worldVertsB2[64];\n"
|
|
|
|
|
" int capacityWorldVerts = 64; \n"
|
|
|
|
|
" float4 localContactsOut[64];\n"
|
|
|
|
|
" int localContactCapacity=64;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float minDist = -1e30f;\n"
|
|
|
|
|
" float maxDist = 0.02f;\n"
|
|
|
|
|
" if (i<numCompoundPairs)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" if (gpuHasCompoundSepNormalsOut[i])\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" int bodyIndexA = gpuCompoundPairs[i].x;\n"
|
|
|
|
|
" int bodyIndexB = gpuCompoundPairs[i].y;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int childShapeIndexA = gpuCompoundPairs[i].z;\n"
|
|
|
|
|
" int childShapeIndexB = gpuCompoundPairs[i].w;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int collidableIndexA = -1;\n"
|
|
|
|
|
" int collidableIndexB = -1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
|
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
|
|
|
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (childShapeIndexA >= 0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
|
|
|
|
|
" float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
|
|
|
|
|
" float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
|
|
|
|
|
" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
|
|
|
|
|
" float4 newOrnA = qtMul(ornA,childOrnA);\n"
|
|
|
|
|
" posA = newPosA;\n"
|
|
|
|
|
" ornA = newOrnA;\n"
|
|
|
|
|
" } else\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (childShapeIndexB>=0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
|
|
|
|
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
|
|
|
|
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
|
|
|
|
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
|
|
|
|
|
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
|
|
|
|
" posB = newPosB;\n"
|
|
|
|
|
" ornB = newOrnB;\n"
|
|
|
|
|
" } else\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; \n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
|
|
|
|
|
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n"
|
|
|
|
|
" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
|
|
|
|
|
" posA,ornA,\n"
|
|
|
|
|
" posB,ornB,\n"
|
|
|
|
|
" worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
|
|
|
|
|
" minDist, maxDist,\n"
|
|
|
|
|
" vertices,faces,indices,\n"
|
|
|
|
|
" localContactsOut,localContactCapacity);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (numLocalContactsOut>0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 normal = -gpuCompoundSepNormalsOut[i];\n"
|
|
|
|
|
" int nPoints = numLocalContactsOut;\n"
|
|
|
|
|
" float4* pointsIn = localContactsOut;\n"
|
|
|
|
|
" int contactIdx[4];// = {-1,-1,-1,-1};\n"
|
|
|
|
|
" contactIdx[0] = -1;\n"
|
|
|
|
|
" contactIdx[1] = -1;\n"
|
|
|
|
|
" contactIdx[2] = -1;\n"
|
|
|
|
|
" contactIdx[3] = -1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int dstIdx;\n"
|
|
|
|
|
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
|
|
|
|
" if ((dstIdx+nReducedContacts) < maxContactCapacity)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
|
|
|
|
|
" c->m_worldNormalOnB = -normal;\n"
|
|
|
|
|
" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
|
|
|
|
|
" c->m_batchIdx = pairIndex;\n"
|
|
|
|
|
" int bodyA = gpuCompoundPairs[pairIndex].x;\n"
|
|
|
|
|
" int bodyB = gpuCompoundPairs[pairIndex].y;\n"
|
|
|
|
|
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
|
|
|
|
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
|
|
|
|
" c->m_childIndexA = childShapeIndexA;\n"
|
|
|
|
|
" c->m_childIndexB = childShapeIndexB;\n"
|
|
|
|
|
" for (int i=0;i<nReducedContacts;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" GET_NPOINTS(*c) = nReducedContacts;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }// if (numContactsOut>0)\n"
|
|
|
|
|
" }// if (gpuHasCompoundSepNormalsOut[i])\n"
|
|
|
|
|
" }// if (i<numCompoundPairs)\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
|
|
|
|
" __global const b3Collidable_t* collidables,\n"
|
|
|
|
|
" __global const float4* separatingNormals,\n"
|
|
|
|
|
" __global const int* hasSeparatingAxis,\n"
|
|
|
|
|
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
|
|
|
|
" counter32_t nGlobalContactsOut,\n"
|
|
|
|
|
" int contactCapacity,\n"
|
|
|
|
|
" int numPairs)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (i<numPairs)\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"
|
|
|
|
|
" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
|
|
|
|
|
" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" //sphere-sphere\n"
|
|
|
|
|
" float radiusA = collidables[collidableIndexA].m_radius;\n"
|
|
|
|
|
" float radiusB = collidables[collidableIndexB].m_radius;\n"
|
|
|
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
|
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
|
|
|
" float4 diff = posA-posB;\n"
|
|
|
|
|
" float len = length(diff);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" ///iff distance positive, don't generate a new contact\n"
|
|
|
|
|
" if ( len <= (radiusA+radiusB))\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" ///distance (negative means penetration)\n"
|
|
|
|
|
" float dist = len - (radiusA+radiusB);\n"
|
|
|
|
|
" float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
|
|
|
|
|
" if (len > 0.00001)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" normalOnSurfaceB = diff / len;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
|
|
|
|
|
" contactPosB.w = dist;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int dstIdx;\n"
|
|
|
|
|
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
|
|
|
|
" if (dstIdx < contactCapacity)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
|
|
|
|
|
" c->m_worldNormalOnB = -normalOnSurfaceB;\n"
|
|
|
|
|
" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
|
|
|
|
|
" c->m_batchIdx = pairIndex;\n"
|
|
|
|
|
" int bodyA = pairs[pairIndex].x;\n"
|
|
|
|
|
" int bodyB = pairs[pairIndex].y;\n"
|
|
|
|
|
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
|
|
|
|
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
|
|
|
|
" c->m_worldPosB[0] = contactPosB;\n"
|
|
|
|
|
" c->m_childIndexA = -1;\n"
|
|
|
|
|
" c->m_childIndexB = -1;\n"
|
|
|
|
|
" GET_NPOINTS(*c) = 1;\n"
|
|
|
|
|
" }//if (dstIdx < numPairs)\n"
|
|
|
|
|
" }//if ( len <= (radiusA+radiusB))\n"
|
|
|
|
|
" }//SHAPE_SPHERE SHAPE_SPHERE\n"
|
|
|
|
|
" }//if (i<numPairs)\n"
|
|
|
|
|
"} \n"
|
|
|
|
|
"__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
|
|
|
|
" __global const b3Collidable_t* collidables,\n"
|
|
|
|
|
" __global const b3ConvexPolyhedronData_t* convexShapes, \n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const float4* uniqueEdges,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" __global const b3GpuChildShape_t* gpuChildShapes,\n"
|
|
|
|
|
" __global const float4* separatingNormals,\n"
|
|
|
|
|
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
|
|
|
|
" counter32_t nGlobalContactsOut,\n"
|
|
|
|
|
" int contactCapacity,\n"
|
|
|
|
|
" int numConcavePairs)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 worldVertsB1[64];\n"
|
|
|
|
|
" float4 worldVertsB2[64];\n"
|
|
|
|
|
" int capacityWorldVerts = 64; \n"
|
|
|
|
|
" float4 localContactsOut[64];\n"
|
|
|
|
|
" int localContactCapacity=64;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float minDist = -1e30f;\n"
|
|
|
|
|
" float maxDist = 0.02f;\n"
|
|
|
|
|
" if (i<numConcavePairs)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" //negative value means that the pair is invalid\n"
|
|
|
|
|
" if (concavePairsIn[i].w<0)\n"
|
|
|
|
|
" return;\n"
|
|
|
|
|
" int bodyIndexA = concavePairsIn[i].x;\n"
|
|
|
|
|
" int bodyIndexB = concavePairsIn[i].y;\n"
|
|
|
|
|
" int f = concavePairsIn[i].z;\n"
|
|
|
|
|
" int childShapeIndexA = f;\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"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" bool overlap = false;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" b3ConvexPolyhedronData_t convexPolyhedronA;\n"
|
|
|
|
|
" //add 3 vertices of the triangle\n"
|
|
|
|
|
" convexPolyhedronA.m_numVertices = 3;\n"
|
|
|
|
|
" convexPolyhedronA.m_vertexOffset = 0;\n"
|
|
|
|
|
" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
|
|
|
|
|
" b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 verticesA[3];\n"
|
|
|
|
|
" for (int i=0;i<3;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" int index = indices[face.m_indexOffset+i];\n"
|
|
|
|
|
" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
|
|
|
|
|
" verticesA[i] = vert;\n"
|
|
|
|
|
" localCenter += vert;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" float dmin = FLT_MAX;\n"
|
|
|
|
|
" int localCC=0;\n"
|
|
|
|
|
" //a triangle has 3 unique edges\n"
|
|
|
|
|
" convexPolyhedronA.m_numUniqueEdges = 3;\n"
|
|
|
|
|
" convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
|
|
|
|
|
" float4 uniqueEdgesA[3];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
|
|
|
|
|
" uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
|
|
|
|
|
" uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
|
|
|
|
|
" convexPolyhedronA.m_faceOffset = 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
|
|
|
|
|
" int indicesA[3+3+2+2+2];\n"
|
|
|
|
|
" int curUsedIndices=0;\n"
|
|
|
|
|
" int fidx=0;\n"
|
|
|
|
|
" //front size of triangle\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
|
|
|
|
" indicesA[0] = 0;\n"
|
|
|
|
|
" indicesA[1] = 1;\n"
|
|
|
|
|
" indicesA[2] = 2;\n"
|
|
|
|
|
" curUsedIndices+=3;\n"
|
|
|
|
|
" float c = face.m_plane.w;\n"
|
|
|
|
|
" facesA[fidx].m_plane.x = normal.x;\n"
|
|
|
|
|
" facesA[fidx].m_plane.y = normal.y;\n"
|
|
|
|
|
" facesA[fidx].m_plane.z = normal.z;\n"
|
|
|
|
|
" facesA[fidx].m_plane.w = c;\n"
|
|
|
|
|
" facesA[fidx].m_numIndices=3;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" fidx++;\n"
|
|
|
|
|
" //back size of triangle\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
|
|
|
|
" indicesA[3]=2;\n"
|
|
|
|
|
" indicesA[4]=1;\n"
|
|
|
|
|
" indicesA[5]=0;\n"
|
|
|
|
|
" curUsedIndices+=3;\n"
|
|
|
|
|
" float c = dot3F4(normal,verticesA[0]);\n"
|
|
|
|
|
" float c1 = -face.m_plane.w;\n"
|
|
|
|
|
" facesA[fidx].m_plane.x = -normal.x;\n"
|
|
|
|
|
" facesA[fidx].m_plane.y = -normal.y;\n"
|
|
|
|
|
" facesA[fidx].m_plane.z = -normal.z;\n"
|
|
|
|
|
" facesA[fidx].m_plane.w = c;\n"
|
|
|
|
|
" facesA[fidx].m_numIndices=3;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" fidx++;\n"
|
|
|
|
|
" bool addEdgePlanes = true;\n"
|
|
|
|
|
" if (addEdgePlanes)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" int numVertices=3;\n"
|
|
|
|
|
" int prevVertex = numVertices-1;\n"
|
|
|
|
|
" for (int i=0;i<numVertices;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 v0 = verticesA[i];\n"
|
|
|
|
|
" float4 v1 = verticesA[prevVertex];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
|
|
|
|
|
" float c = -dot3F4(edgeNormal,v0);\n"
|
|
|
|
|
" facesA[fidx].m_numIndices = 2;\n"
|
|
|
|
|
" facesA[fidx].m_indexOffset=curUsedIndices;\n"
|
|
|
|
|
" indicesA[curUsedIndices++]=i;\n"
|
|
|
|
|
" indicesA[curUsedIndices++]=prevVertex;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" facesA[fidx].m_plane.x = edgeNormal.x;\n"
|
|
|
|
|
" facesA[fidx].m_plane.y = edgeNormal.y;\n"
|
|
|
|
|
" facesA[fidx].m_plane.z = edgeNormal.z;\n"
|
|
|
|
|
" facesA[fidx].m_plane.w = c;\n"
|
|
|
|
|
" fidx++;\n"
|
|
|
|
|
" prevVertex = i;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
|
|
|
|
|
" convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
|
|
|
|
|
" float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
|
|
|
|
|
" posA.w = 0.f;\n"
|
|
|
|
|
" float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
|
|
|
|
|
" posB.w = 0.f;\n"
|
|
|
|
|
" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
|
|
|
|
|
" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
|
|
|
|
|
" float4 sepAxis = separatingNormals[i];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
|
|
|
|
|
" int childShapeIndexB =-1;\n"
|
|
|
|
|
" if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" ///////////////////\n"
|
|
|
|
|
" ///compound shape support\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" childShapeIndexB = concavePairsIn[pairIndex].w;\n"
|
|
|
|
|
" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
|
|
|
|
|
" shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
|
|
|
|
|
" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
|
|
|
|
|
" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
|
|
|
|
|
" float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
|
|
|
|
|
" float4 newOrnB = qtMul(ornB,childOrnB);\n"
|
|
|
|
|
" posB = newPosB;\n"
|
|
|
|
|
" ornB = newOrnB;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" ////////////////////////////////////////\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n"
|
|
|
|
|
" &convexPolyhedronA, &convexShapes[shapeIndexB],\n"
|
|
|
|
|
" posA,ornA,\n"
|
|
|
|
|
" posB,ornB,\n"
|
|
|
|
|
" worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
|
|
|
|
|
" minDist, maxDist,\n"
|
|
|
|
|
" &verticesA,&facesA,&indicesA,\n"
|
|
|
|
|
" vertices,faces,indices,\n"
|
|
|
|
|
" localContactsOut,localContactCapacity);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (numLocalContactsOut>0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 normal = -separatingNormals[i];\n"
|
|
|
|
|
" int nPoints = numLocalContactsOut;\n"
|
|
|
|
|
" float4* pointsIn = localContactsOut;\n"
|
|
|
|
|
" int contactIdx[4];// = {-1,-1,-1,-1};\n"
|
|
|
|
|
" contactIdx[0] = -1;\n"
|
|
|
|
|
" contactIdx[1] = -1;\n"
|
|
|
|
|
" contactIdx[2] = -1;\n"
|
|
|
|
|
" contactIdx[3] = -1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int dstIdx;\n"
|
|
|
|
|
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
|
|
|
|
" if (dstIdx<contactCapacity)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
|
|
|
|
|
" c->m_worldNormalOnB = -normal;\n"
|
|
|
|
|
" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
|
|
|
|
|
" c->m_batchIdx = pairIndex;\n"
|
|
|
|
|
" int bodyA = concavePairsIn[pairIndex].x;\n"
|
|
|
|
|
" int bodyB = concavePairsIn[pairIndex].y;\n"
|
|
|
|
|
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
|
|
|
|
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
|
|
|
|
" c->m_childIndexA = childShapeIndexA;\n"
|
|
|
|
|
" c->m_childIndexB = childShapeIndexB;\n"
|
|
|
|
|
" for (int i=0;i<nReducedContacts;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" GET_NPOINTS(*c) = nReducedContacts;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }// if (numContactsOut>0)\n"
|
|
|
|
|
" }// if (i<numPairs)\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int findClippingFaces(const float4 separatingNormal,\n"
|
|
|
|
|
" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n"
|
|
|
|
|
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
|
|
|
|
|
" __global float4* worldVertsA1,\n"
|
|
|
|
|
" __global float4* worldNormalsA1,\n"
|
|
|
|
|
" __global float4* worldVertsB1,\n"
|
|
|
|
|
" int capacityWorldVerts,\n"
|
|
|
|
|
" const float minDist, float maxDist,\n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" __global int4* clippingFaces, int pairIndex)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int numContactsOut = 0;\n"
|
|
|
|
|
" int numWorldVertsB1= 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int closestFaceB=-1;\n"
|
|
|
|
|
" float dmax = -FLT_MAX;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" for(int face=0;face<hullB->m_numFaces;face++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n"
|
|
|
|
|
" faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
|
|
|
|
|
" const float4 WorldNormal = qtRotate(ornB, Normal);\n"
|
|
|
|
|
" float d = dot3F4(WorldNormal,separatingNormal);\n"
|
|
|
|
|
" if (d > dmax)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" dmax = d;\n"
|
|
|
|
|
" closestFaceB = face;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
|
|
|
|
|
" const int numVertices = polyB.m_numIndices;\n"
|
|
|
|
|
" for(int e0=0;e0<numVertices;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
|
|
|
|
|
" worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int closestFaceA=-1;\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float dmin = FLT_MAX;\n"
|
|
|
|
|
" for(int face=0;face<hullA->m_numFaces;face++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 Normal = make_float4(\n"
|
|
|
|
|
" faces[hullA->m_faceOffset+face].m_plane.x,\n"
|
|
|
|
|
" faces[hullA->m_faceOffset+face].m_plane.y,\n"
|
|
|
|
|
" faces[hullA->m_faceOffset+face].m_plane.z,\n"
|
|
|
|
|
" 0.f);\n"
|
|
|
|
|
" const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float d = dot3F4(faceANormalWS,separatingNormal);\n"
|
|
|
|
|
" if (d < dmin)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" dmin = d;\n"
|
|
|
|
|
" closestFaceA = face;\n"
|
|
|
|
|
" worldNormalsA1[pairIndex] = faceANormalWS;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
|
|
|
|
|
" for(int e0=0;e0<numVerticesA;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
|
|
|
|
|
" worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" clippingFaces[pairIndex].x = closestFaceA;\n"
|
|
|
|
|
" clippingFaces[pairIndex].y = closestFaceB;\n"
|
|
|
|
|
" clippingFaces[pairIndex].z = numVerticesA;\n"
|
|
|
|
|
" clippingFaces[pairIndex].w = numWorldVertsB1;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"int clipFaces(__global float4* worldVertsA1,\n"
|
|
|
|
|
" __global float4* worldNormalsA1,\n"
|
|
|
|
|
" __global float4* worldVertsB1,\n"
|
|
|
|
|
" __global float4* worldVertsB2, \n"
|
|
|
|
|
" int capacityWorldVertsB2,\n"
|
|
|
|
|
" const float minDist, float maxDist,\n"
|
|
|
|
|
" __global int4* clippingFaces,\n"
|
|
|
|
|
" int pairIndex)\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int numContactsOut = 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int closestFaceA = clippingFaces[pairIndex].x;\n"
|
|
|
|
|
" int closestFaceB = clippingFaces[pairIndex].y;\n"
|
|
|
|
|
" int numVertsInA = clippingFaces[pairIndex].z;\n"
|
|
|
|
|
" int numVertsInB = clippingFaces[pairIndex].w;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numVertsOut = 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (closestFaceA<0)\n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
|
|
|
|
|
" __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" for(int e0=0;e0<numVertsInA;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
|
|
|
|
|
" const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
|
|
|
|
|
" const float4 WorldEdge0 = aw - bw;\n"
|
|
|
|
|
" float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
|
|
|
|
|
" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
|
|
|
|
|
" float4 worldA1 = aw;\n"
|
|
|
|
|
" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
|
|
|
|
|
" float4 planeNormalWS = planeNormalWS1;\n"
|
|
|
|
|
" float planeEqWS=planeEqWS1;\n"
|
|
|
|
|
" numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
|
|
|
|
|
" __global float4* tmp = pVtxOut;\n"
|
|
|
|
|
" pVtxOut = pVtxIn;\n"
|
|
|
|
|
" pVtxIn = tmp;\n"
|
|
|
|
|
" numVertsInB = numVertsOut;\n"
|
|
|
|
|
" numVertsOut = 0;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" //float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
|
|
|
|
|
" //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" /*for (int i=0;i<numVertsInB;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" pVtxOut[i] = pVtxIn[i];\n"
|
|
|
|
|
" }*/\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" //numVertsInB=0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
|
|
|
|
|
" float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
|
|
|
|
|
" for (int i=0;i<numVertsInB;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
|
|
|
|
|
" if (depth <=minDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" depth = minDist;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (depth <=maxDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 pointInWorld = pVtxIn[i];\n"
|
|
|
|
|
" pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" clippingFaces[pairIndex].w =numContactsOut;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" return numContactsOut;\n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void findClippingFacesKernel( __global const int4* pairs,\n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies,\n"
|
|
|
|
|
" __global const b3Collidable_t* collidables,\n"
|
|
|
|
|
" __global const b3ConvexPolyhedronData_t* convexShapes,\n"
|
|
|
|
|
" __global const float4* vertices,\n"
|
|
|
|
|
" __global const float4* uniqueEdges,\n"
|
|
|
|
|
" __global const b3GpuFace_t* faces,\n"
|
|
|
|
|
" __global const int* indices,\n"
|
|
|
|
|
" __global const float4* separatingNormals,\n"
|
|
|
|
|
" __global const int* hasSeparatingAxis,\n"
|
|
|
|
|
" __global int4* clippingFacesOut,\n"
|
|
|
|
|
" __global float4* worldVertsA1,\n"
|
|
|
|
|
" __global float4* worldNormalsA1,\n"
|
|
|
|
|
" __global float4* worldVertsB1,\n"
|
|
|
|
|
" int capacityWorldVerts,\n"
|
|
|
|
|
" int numPairs\n"
|
|
|
|
|
" )\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float minDist = -1e30f;\n"
|
|
|
|
|
" float maxDist = 0.02f;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (i<numPairs)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (hasSeparatingAxis[i])\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"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n"
|
|
|
|
|
" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
|
|
|
|
|
" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
|
|
|
|
|
" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
|
|
|
|
|
" worldVertsA1,\n"
|
|
|
|
|
" worldNormalsA1,\n"
|
|
|
|
|
" worldVertsB1,capacityWorldVerts,\n"
|
|
|
|
|
" minDist, maxDist,\n"
|
|
|
|
|
" vertices,faces,indices,\n"
|
|
|
|
|
" clippingFacesOut,i);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }// if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" }// if (i<numPairs)\n"
|
|
|
|
|
" \n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void clipFacesAndFindContactsKernel( __global const float4* separatingNormals,\n"
|
|
|
|
|
" __global const int* hasSeparatingAxis,\n"
|
|
|
|
|
" __global int4* clippingFacesOut,\n"
|
|
|
|
|
" __global float4* worldVertsA1,\n"
|
|
|
|
|
" __global float4* worldNormalsA1,\n"
|
|
|
|
|
" __global float4* worldVertsB1,\n"
|
|
|
|
|
" __global float4* worldVertsB2,\n"
|
|
|
|
|
" int vertexFaceCapacity,\n"
|
|
|
|
|
" int numPairs,\n"
|
|
|
|
|
" int debugMode\n"
|
|
|
|
|
" )\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float minDist = -1e30f;\n"
|
|
|
|
|
" float maxDist = 0.02f;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (i<numPairs)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
"// int bodyIndexA = pairs[i].x;\n"
|
|
|
|
|
" // int bodyIndexB = pairs[i].y;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numLocalContactsOut = 0;\n"
|
|
|
|
|
" int capacityWorldVertsB2 = vertexFaceCapacity;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
|
|
|
|
|
" __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global int4* clippingFaces = clippingFacesOut;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int closestFaceA = clippingFaces[pairIndex].x;\n"
|
|
|
|
|
" int closestFaceB = clippingFaces[pairIndex].y;\n"
|
|
|
|
|
" int numVertsInA = clippingFaces[pairIndex].z;\n"
|
|
|
|
|
" int numVertsInB = clippingFaces[pairIndex].w;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int numVertsOut = 0;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (closestFaceA>=0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" for(int e0=0;e0<numVertsInA;e0++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
|
|
|
|
|
" const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
|
|
|
|
|
" const float4 WorldEdge0 = aw - bw;\n"
|
|
|
|
|
" float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
|
|
|
|
|
" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
|
|
|
|
|
" float4 worldA1 = aw;\n"
|
|
|
|
|
" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
|
|
|
|
|
" float4 planeNormalWS = planeNormalWS1;\n"
|
|
|
|
|
" float planeEqWS=planeEqWS1;\n"
|
|
|
|
|
" numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
|
|
|
|
|
" __global float4* tmp = pVtxOut;\n"
|
|
|
|
|
" pVtxOut = pVtxIn;\n"
|
|
|
|
|
" pVtxIn = tmp;\n"
|
|
|
|
|
" numVertsInB = numVertsOut;\n"
|
|
|
|
|
" numVertsOut = 0;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
|
|
|
|
|
" float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" for (int i=0;i<numVertsInB;i++)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
|
|
|
|
|
" if (depth <=minDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" depth = minDist;\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (depth <=maxDist)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" float4 pointInWorld = pVtxIn[i];\n"
|
|
|
|
|
" pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" clippingFaces[pairIndex].w =numLocalContactsOut;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" for (int i=0;i<numLocalContactsOut;i++)\n"
|
|
|
|
|
" pVtxIn[i] = pVtxOut[i];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }// if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" }// if (i<numPairs)\n"
|
|
|
|
|
" \n"
|
|
|
|
|
"}\n"
|
|
|
|
|
"__kernel void newContactReductionKernel( __global int4* pairs,\n"
|
|
|
|
|
" __global const b3RigidBodyData_t* rigidBodies,\n"
|
|
|
|
|
" __global const float4* separatingNormals,\n"
|
|
|
|
|
" __global const int* hasSeparatingAxis,\n"
|
|
|
|
|
" __global struct b3Contact4Data* globalContactsOut,\n"
|
|
|
|
|
" __global int4* clippingFaces,\n"
|
|
|
|
|
" __global float4* worldVertsB2,\n"
|
|
|
|
|
" volatile __global int* nGlobalContactsOut,\n"
|
|
|
|
|
" int vertexFaceCapacity,\n"
|
|
|
|
|
" int contactCapacity,\n"
|
|
|
|
|
" int numPairs\n"
|
|
|
|
|
" )\n"
|
|
|
|
|
"{\n"
|
|
|
|
|
" int i = get_global_id(0);\n"
|
|
|
|
|
" int pairIndex = i;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int4 contactIdx;\n"
|
|
|
|
|
" contactIdx=make_int4(0,1,2,3);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (i<numPairs)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int nPoints = clippingFaces[pairIndex].w;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (nPoints>0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n"
|
|
|
|
|
" float4 normal = -separatingNormals[i];\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" int mprContactIndex = pairs[pairIndex].z;\n"
|
|
|
|
|
" int dstIdx = mprContactIndex;\n"
|
|
|
|
|
" if (dstIdx<0)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" AppendInc( nGlobalContactsOut, dstIdx );\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
"//#if 0\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" if (dstIdx < contactCapacity)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
|
|
|
|
|
" c->m_worldNormalOnB = -normal;\n"
|
|
|
|
|
" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
|
|
|
|
|
" c->m_batchIdx = pairIndex;\n"
|
|
|
|
|
" int bodyA = pairs[pairIndex].x;\n"
|
|
|
|
|
" int bodyB = pairs[pairIndex].y;\n"
|
|
|
|
|
" pairs[pairIndex].w = dstIdx;\n"
|
|
|
|
|
" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
|
|
|
|
|
" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
|
|
|
|
|
" c->m_childIndexA =-1;\n"
|
|
|
|
|
" c->m_childIndexB =-1;\n"
|
|
|
|
|
" switch (nReducedContacts)\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" case 4:\n"
|
|
|
|
|
" c->m_worldPosB[3] = pointsIn[contactIdx.w];\n"
|
|
|
|
|
" case 3:\n"
|
|
|
|
|
" c->m_worldPosB[2] = pointsIn[contactIdx.z];\n"
|
|
|
|
|
" case 2:\n"
|
|
|
|
|
" c->m_worldPosB[1] = pointsIn[contactIdx.y];\n"
|
|
|
|
|
" case 1:\n"
|
|
|
|
|
" if (mprContactIndex<0)//test\n"
|
|
|
|
|
" c->m_worldPosB[0] = pointsIn[contactIdx.x];\n"
|
|
|
|
|
" default:\n"
|
|
|
|
|
" {\n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" };\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" GET_NPOINTS(*c) = nReducedContacts;\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
"//#endif\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" }// if (numContactsOut>0)\n"
|
|
|
|
|
" }// if (hasSeparatingAxis[i])\n"
|
|
|
|
|
" }// if (i<numPairs)\n"
|
|
|
|
|
" \n"
|
|
|
|
|
" \n"
|
|
|
|
|
"}\n";
|
