virtualx-engine/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
Rémi Verschelde e12c89e8c9 bullet: Streamline bundling, remove extraneous src/ folder
Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.
2018-01-13 14:08:45 +01:00

439 lines
9.3 KiB
Common Lisp

#define SHAPE_CONVEX_HULL 3
#define SHAPE_PLANE 4
#define SHAPE_CONCAVE_TRIMESH 5
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
#define SHAPE_SPHERE 7
typedef struct
{
float4 m_from;
float4 m_to;
} b3RayInfo;
typedef struct
{
float m_hitFraction;
int m_hitResult0;
int m_hitResult1;
int m_hitResult2;
float4 m_hitPoint;
float4 m_hitNormal;
} b3RayHit;
typedef struct
{
float4 m_pos;
float4 m_quat;
float4 m_linVel;
float4 m_angVel;
unsigned int m_collidableIdx;
float m_invMass;
float m_restituitionCoeff;
float m_frictionCoeff;
} Body;
typedef struct Collidable
{
union {
int m_numChildShapes;
int m_bvhIndex;
};
float m_radius;
int m_shapeType;
int m_shapeIndex;
} Collidable;
typedef struct
{
float4 m_localCenter;
float4 m_extents;
float4 mC;
float4 mE;
float m_radius;
int m_faceOffset;
int m_numFaces;
int m_numVertices;
int m_vertexOffset;
int m_uniqueEdgesOffset;
int m_numUniqueEdges;
int m_unused;
} ConvexPolyhedronCL;
typedef struct
{
float4 m_plane;
int m_indexOffset;
int m_numIndices;
} b3GpuFace;
///////////////////////////////////////
// Quaternion
///////////////////////////////////////
typedef float4 Quaternion;
__inline
Quaternion qtMul(Quaternion a, Quaternion b);
__inline
Quaternion qtNormalize(Quaternion in);
__inline
Quaternion qtInvert(Quaternion q);
__inline
float dot3F4(float4 a, float4 b)
{
float4 a1 = (float4)(a.xyz,0.f);
float4 b1 = (float4)(b.xyz,0.f);
return dot(a1, b1);
}
__inline
Quaternion qtMul(Quaternion a, Quaternion b)
{
Quaternion ans;
ans = cross( a, b );
ans += a.w*b+b.w*a;
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
ans.w = a.w*b.w - dot3F4(a, b);
return ans;
}
__inline
Quaternion qtNormalize(Quaternion in)
{
return fast_normalize(in);
// in /= length( in );
// return in;
}
__inline
float4 qtRotate(Quaternion q, float4 vec)
{
Quaternion qInv = qtInvert( q );
float4 vcpy = vec;
vcpy.w = 0.f;
float4 out = qtMul(q,vcpy);
out = qtMul(out,qInv);
return out;
}
__inline
Quaternion qtInvert(Quaternion q)
{
return (Quaternion)(-q.xyz, q.w);
}
__inline
float4 qtInvRotate(const Quaternion q, float4 vec)
{
return qtRotate( qtInvert( q ), vec );
}
void trInverse(float4 translationIn, Quaternion orientationIn,
float4* translationOut, Quaternion* orientationOut)
{
*orientationOut = qtInvert(orientationIn);
*translationOut = qtRotate(*orientationOut, -translationIn);
}
bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,
__global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)
{
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
bool result = true;
float exitFraction = hitFraction[0];
float enterFraction = -0.3f;
float4 curHitNormal = (float4)(0,0,0,0);
for (int i=0;i<numFaces && result;i++)
{
b3GpuFace face = faces[faceOffset+i];
float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;
float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;
if (fromPlaneDist<0.f)
{
if (toPlaneDist >= 0.f)
{
float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
if (exitFraction>fraction)
{
exitFraction = fraction;
}
}
} else
{
if (toPlaneDist<0.f)
{
float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
if (enterFraction <= fraction)
{
enterFraction = fraction;
curHitNormal = face.m_plane;
curHitNormal.w = 0.f;
}
} else
{
result = false;
}
}
if (exitFraction <= enterFraction)
result = false;
}
if (enterFraction < 0.f)
{
result = false;
}
if (result)
{
hitFraction[0] = enterFraction;
hitNormal[0] = curHitNormal;
}
return result;
}
bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)
{
float4 rs = rayFrom - spherePos;
rs.w = 0.f;
float4 rayDir = rayTo-rayFrom;
rayDir.w = 0.f;
float A = dot(rayDir,rayDir);
float B = dot(rs, rayDir);
float C = dot(rs, rs) - (radius * radius);
float D = B * B - A*C;
if (D > 0.0f)
{
float t = (-B - sqrt(D))/A;
if ( (t >= 0.0f) && (t < (*hitFraction)) )
{
*hitFraction = t;
return true;
}
}
return false;
}
float4 setInterpolate3(float4 from, float4 to, float t)
{
float s = 1.0f - t;
float4 result;
result = s * from + t * to;
result.w = 0.f;
return result;
}
__kernel void rayCastKernel(
int numRays,
const __global b3RayInfo* rays,
__global b3RayHit* hitResults,
const int numBodies,
__global Body* bodies,
__global Collidable* collidables,
__global const b3GpuFace* faces,
__global const ConvexPolyhedronCL* convexShapes )
{
int i = get_global_id(0);
if (i>=numRays)
return;
hitResults[i].m_hitFraction = 1.f;
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
float hitFraction = 1.f;
float4 hitPoint;
float4 hitNormal;
int hitBodyIndex= -1;
int cachedCollidableIndex = -1;
Collidable cachedCollidable;
for (int b=0;b<numBodies;b++)
{
if (hitResults[i].m_hitResult2==b)
continue;
Body body = bodies[b];
float4 pos = body.m_pos;
float4 orn = body.m_quat;
if (cachedCollidableIndex != body.m_collidableIdx)
{
cachedCollidableIndex = body.m_collidableIdx;
cachedCollidable = collidables[cachedCollidableIndex];
}
if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)
{
float4 invPos = (float4)(0,0,0,0);
float4 invOrn = (float4)(0,0,0,0);
float4 rayFromLocal = (float4)(0,0,0,0);
float4 rayToLocal = (float4)(0,0,0,0);
invOrn = qtInvert(orn);
invPos = qtRotate(invOrn, -pos);
rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;
rayToLocal = qtRotate( invOrn, rayTo) + invPos;
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;
int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;
if (numFaces)
{
if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
{
hitBodyIndex = b;
}
}
}
if (cachedCollidable.m_shapeType == SHAPE_SPHERE)
{
float radius = cachedCollidable.m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
hitNormal = (float4) (hitPoint-bodies[b].m_pos);
}
}
}
if (hitBodyIndex>=0)
{
hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = hitPoint;
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
}
}
__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs,
__global int* out_firstRayRigidPairIndexPerRay,
__global int* out_numRayRigidPairsPerRay,
int numRayRigidPairs)
{
int rayRigidPairIndex = get_global_id(0);
if (rayRigidPairIndex >= numRayRigidPairs) return;
int rayIndex = rayRigidPairs[rayRigidPairIndex].x;
atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);
atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);
}
__kernel void rayCastPairsKernel(const __global b3RayInfo* rays,
__global b3RayHit* hitResults,
__global int* firstRayRigidPairIndexPerRay,
__global int* numRayRigidPairsPerRay,
__global Body* bodies,
__global Collidable* collidables,
__global const b3GpuFace* faces,
__global const ConvexPolyhedronCL* convexShapes,
__global int2* rayRigidPairs,
int numRays)
{
int i = get_global_id(0);
if (i >= numRays) return;
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
hitResults[i].m_hitFraction = 1.f;
float hitFraction = 1.f;
float4 hitPoint;
float4 hitNormal;
int hitBodyIndex = -1;
//
for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)
{
int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];
int b = rayRigidPairs[rayRigidPairIndex].y;
if (hitResults[i].m_hitResult2 == b) continue;
Body body = bodies[b];
Collidable rigidCollidable = collidables[body.m_collidableIdx];
float4 pos = body.m_pos;
float4 orn = body.m_quat;
if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)
{
float4 invPos = (float4)(0,0,0,0);
float4 invOrn = (float4)(0,0,0,0);
float4 rayFromLocal = (float4)(0,0,0,0);
float4 rayToLocal = (float4)(0,0,0,0);
invOrn = qtInvert(orn);
invPos = qtRotate(invOrn, -pos);
rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;
rayToLocal = qtRotate( invOrn, rayTo) + invPos;
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;
int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;
if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);
}
}
if (rigidCollidable.m_shapeType == SHAPE_SPHERE)
{
float radius = rigidCollidable.m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);
hitNormal = (float4) (hitPoint - bodies[b].m_pos);
}
}
}
if (hitBodyIndex >= 0)
{
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = hitPoint;
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
}
}