more work towards concave trimesh support (no working yet)

erwincoumans · Jul 7, 2012 · 40dbe85 · 40dbe85
1 parent 1d77771
commit 40dbe85
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Showing 4 changed files with 45 additions and 11 deletions.
diff --git a/opencl/gpu_rigidbody_pipeline/btGpuNarrowPhaseAndSolver.cpp b/opencl/gpu_rigidbody_pipeline/btGpuNarrowPhaseAndSolver.cpp
@@ -696,7 +696,6 @@ void btGpuNarrowphaseAndSolver::computeContactsAndSolver(cl_mem broadphasePairs,
 					m_internalData->m_pBufContactOutGPU, 
 					nContactOut, cfgNP, *m_internalData->m_convexPolyhedraGPU,
 					*m_internalData->m_convexVerticesGPU,
-					//*m_internalData->m_convexVerticesGPU,
 					*m_internalData->m_uniqueEdgesGPU,
 					*m_internalData->m_convexFacesGPU,
 					*m_internalData->m_convexIndicesGPU, 
@@ -707,6 +706,7 @@ void btGpuNarrowphaseAndSolver::computeContactsAndSolver(cl_mem broadphasePairs,
 
 					if (broadphasePairsGPU.size())
 					{
+						BT_PROFILE("concave-convex");
 						btAlignedObjectArray<int2> hostPairs;
 						broadphasePairsGPU.copyToHost(hostPairs);
 						m_internalData->m_bodyBufferGPU->copyToHost(*m_internalData->m_bodyBufferCPU);
@@ -726,9 +726,9 @@ void btGpuNarrowphaseAndSolver::computeContactsAndSolver(cl_mem broadphasePairs,
 								printf("concave x\n");
 
 								int collidableA = bodyA.m_collidableIdx;
-								int collidableB = bodyB.m_collidableIdx;
+								int collidableIndexB = bodyB.m_collidableIdx;
 								int shapeA = m_internalData->m_collidablesCPU[collidableA].m_shapeIndex;
-								int shapeB = m_internalData->m_collidablesCPU[collidableB].m_shapeIndex;
+								int shapeB = m_internalData->m_collidablesCPU[collidableIndexB].m_shapeIndex;
 								objLoader* obj = m_concaveMeshes[shapeA];
 
 								for (int f=0;f<obj->faceCount;f++)
@@ -738,6 +738,40 @@ void btGpuNarrowphaseAndSolver::computeContactsAndSolver(cl_mem broadphasePairs,
 									{
 										if (face->vertex_count<=4)
 										{
+
+											int bodyIndexA = pair.x;
+											int bodyIndexB = pair.y;
+											btAlignedObjectArray<btCollidable> hostCollidablesA;
+											btAlignedObjectArray<ConvexPolyhedronCL> hostConvexDataA;
+											int collidableIndexA = 0;
+											btAlignedObjectArray<btVector3> verticesA; 
+											btAlignedObjectArray<btVector3> uniqueEdgesA;
+											btAlignedObjectArray<btGpuFace> facesA;
+											btAlignedObjectArray<int> indicesA;
+
+
+											m_internalData->m_gpuSatCollision->computeConvexConvexContactsGPUSATSingle(
+														bodyIndexA, bodyIndexB,
+														collidableIndexA, collidableIndexB,
+														m_internalData->m_bodyBufferCPU,
+														0,
+														m_internalData->m_pBufContactOutGPU, 
+														nContactOut,cfgNP, 
+														hostConvexDataA,
+														*m_internalData->m_convexPolyhedraGPU,
+														verticesA,
+														uniqueEdgesA,
+														facesA,
+														indicesA,
+														*m_internalData->m_convexVerticesGPU,
+														*m_internalData->m_uniqueEdgesGPU,
+														*m_internalData->m_convexFacesGPU,
+														*m_internalData->m_convexIndicesGPU, 
+														hostCollidablesA,
+														*m_internalData->m_collidablesGPU);
+
+
+
 											//indicesPtr->push_back(face->vertex_index[0]);
 											//indicesPtr->push_back(face->vertex_index[1]);
 											//indicesPtr->push_back(face->vertex_index[2]);

diff --git a/opencl/gpu_rigidbody_pipeline2/BulletDataExtractor.cpp b/opencl/gpu_rigidbody_pipeline2/BulletDataExtractor.cpp
@@ -3,9 +3,9 @@ int NUM_OBJECTS_Y = 25;
 int NUM_OBJECTS_Z = 25;
 
 
-float X_GAP = 4.3f;
-float Y_GAP = 4.f;
-float Z_GAP = 4.3f;
+float X_GAP = 2.3f;
+float Y_GAP = 2.f;
+float Z_GAP = 2.3f;
 
 #include "BulletDataExtractor.h"
 #include "BulletSerialize/BulletFileLoader/btBulletFile.h"

diff --git a/opencl/gpu_rigidbody_pipeline2/ConvexHullContact.cpp b/opencl/gpu_rigidbody_pipeline2/ConvexHullContact.cpp
@@ -820,7 +820,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSATSingle(
 			btAssert(numPoints);
 
 			Contact4& contact = m_hostContactOut[nContacts];
-			contact.m_batchIdx = i;
+			contact.m_batchIdx = 0;//i;
 			contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
 			contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
 
@@ -870,7 +870,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<int
 	btAlignedObjectArray<float4> hostNormals;
 	btAlignedObjectArray<int> hostHasSep;
 
-	bool findSeparatingAxisOnGpu = false;
+	bool findSeparatingAxisOnGpu = true;
 
 
 	{
@@ -1291,7 +1291,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<int
 					btAssert(numPoints);
 
 					Contact4& contact = m_hostContactOut[nContacts];
-					contact.m_batchIdx = i;
+					contact.m_batchIdx = 0;//i;
 					contact.m_bodyAPtrAndSignBit = (hostBodyBuf[indexA].m_invMass==0)? -m_hostPairs[i].x:m_hostPairs[i].x;
 					contact.m_bodyBPtrAndSignBit = (hostBodyBuf[indexB].m_invMass==0)? -m_hostPairs[i].y:m_hostPairs[i].y;
 

diff --git a/opencl/gpu_rigidbody_pipeline2/main.cpp b/opencl/gpu_rigidbody_pipeline2/main.cpp
@@ -38,7 +38,7 @@ subject to the following restrictions:
 #include "OpenGLInclude.h"
 
 static bool printStats  = true;
-bool pauseSimulation = true;
+bool pauseSimulation = false;
 bool shootObject = false;
 extern btVector3 m_cameraPosition;
 extern btVector3 m_cameraTargetPosition;
@@ -206,7 +206,7 @@ int main(int argc, char* argv[])
 
 		 if (printStats && !pauseSimulation)
 		 {
-			static int count = 1;
+			static int count = 3;
 			count--;
 			if (count<0)
 			{