int CLPhysicsDemo::registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes)
{
int collidableIndex = m_narrowphaseAndSolver->allocateCollidable();
btCollidable& col = m_narrowphaseAndSolver->getCollidableCpu(collidableIndex);
col.m_shapeType = CollisionShape::SHAPE_COMPOUND_OF_CONVEX_HULLS;
col.m_shapeIndex = m_narrowphaseAndSolver->registerCompoundShape(childShapes);
col.m_numChildShapes = childShapes->size();
btAABBHost aabbMin, aabbMax;
btVector3 myAabbMin(1e30f,1e30f,1e30f);
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
//compute local AABB of the compound of all children
for (int i=0;i<childShapes->size();i++)
{
int childColIndex = childShapes->at(i).m_shapeIndex;
btCollidable& childCol = m_narrowphaseAndSolver->getCollidableCpu(childColIndex);
btAABBHost aabbMinLoc =m_data->m_localShapeAABBCPU->at(childColIndex*2);
btAABBHost aabbMaxLoc =m_data->m_localShapeAABBCPU->at(childColIndex*2+1);
btVector3 childLocalAabbMin(aabbMinLoc.fx,aabbMinLoc.fy,aabbMinLoc.fz);
btVector3 childLocalAabbMax(aabbMaxLoc.fx,aabbMaxLoc.fy,aabbMaxLoc.fz);
btVector3 aMin,aMax;
btScalar margin(0.f);
btTransform childTr;
childTr.setIdentity();
childTr.setOrigin(btVector3(childShapes->at(i).m_childPosition[0],
childShapes->at(i).m_childPosition[1],
childShapes->at(i).m_childPosition[2]));
childTr.setRotation(btQuaternion(childShapes->at(i).m_childOrientation[0],
childShapes->at(i).m_childOrientation[1],
childShapes->at(i).m_childOrientation[2],
childShapes->at(i).m_childOrientation[3]));
btTransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
}
aabbMin.fx = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbMin.fy = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbMin.fz= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbMin.uw = 0;
aabbMax.fx = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbMax.fy = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbMax.fz= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbMax.uw = 0;
m_data->m_localShapeAABBCPU->push_back(aabbMin);
m_data->m_localShapeAABBGPU->push_back(aabbMin);
m_data->m_localShapeAABBCPU->push_back(aabbMax);
m_data->m_localShapeAABBGPU->push_back(aabbMax);
clFinish(g_cqCommandQue);
return collidableIndex;
}
int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
col.m_shapeIndex = m_data->m_cpuChildShapes.size();
{
b3Assert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
for (int i=0;i<childShapes->size();i++)
{
m_data->m_cpuChildShapes.push_back(childShapes->at(i));
}
}
col.m_numChildShapes = childShapes->size();
b3SapAabb aabbWS;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
//compute local AABB of the compound of all children
for (int i=0;i<childShapes->size();i++)
{
int childColIndex = childShapes->at(i).m_shapeIndex;
b3Collidable& childCol = getCollidableCpu(childColIndex);
b3SapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
b3Vector3 childLocalAabbMin(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
b3Vector3 childLocalAabbMax(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
b3Vector3 aMin,aMax;
b3Scalar margin(0.f);
b3Transform childTr;
childTr.setIdentity();
childTr.setOrigin(b3Vector3(childShapes->at(i).m_childPosition[0],
childShapes->at(i).m_childPosition[1],
childShapes->at(i).m_childPosition[2]));
childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation[0],
childShapes->at(i).m_childOrientation[1],
childShapes->at(i).m_childOrientation[2],
childShapes->at(i).m_childOrientation[3]));
b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
}
aabbWS.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbWS.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbWS.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbWS.m_minIndices[3] = 0;
aabbWS.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbWS.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbWS.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbWS.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabbWS);
// m_data->m_localShapeAABBGPU->push_back(aabbWS);
clFinish(m_queue);
return collidableIndex;
}
