void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)
{
// only positions need to be updated -- data.m_jacobians and force
// directions were set in the ctor and never change.
if (m_numDofsFinalized != m_jacSizeBoth)
{
finalizeMultiDof();
}
//don't crash
if (m_numDofsFinalized != m_jacSizeBoth)
return;
if (m_maxAppliedImpulse==0.f)
return;
// note: we rely on the fact that data.m_jacobians are
// always initialized to zero by the Constraint ctor
int linkDoF = 0;
unsigned int offsetA = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
unsigned int offsetB = 6 + (m_bodyB->getLink(m_linkB).m_dofOffset + linkDoF);
// row 0: the lower bound
jacobianA(0)[offsetA] = 1;
jacobianB(0)[offsetB] = m_gearRatio;
const btScalar posError = 0;
const btVector3 dummy(0, 0, 0);
btScalar erp = infoGlobal.m_erp;
btScalar kp = 1;
btScalar kd = 1;
int numRows = getNumRows();
for (int row=0;row<numRows;row++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
int dof = 0;
btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
btScalar auxVel = 0;
if (m_gearAuxLink>=0)
{
auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
}
currentVelocity += auxVel;
//btScalar positionStabiliationTerm = erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
//btScalar velocityError = (m_desiredVelocity - currentVelocity);
btScalar desiredRelativeVelocity = auxVel;
fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);
constraintRow.m_orgConstraint = this;
constraintRow.m_orgDofIndex = row;
{
//expect either prismatic or revolute joint type for now
btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
switch (m_bodyA->getLink(m_linkA).m_jointType)
{
case btMultibodyLink::eRevolute:
{
constraintRow.m_contactNormal1.setZero();
constraintRow.m_contactNormal2.setZero();
btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
break;
}
case btMultibodyLink::ePrismatic:
{
btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
constraintRow.m_contactNormal1=prismaticAxisInWorld;
constraintRow.m_contactNormal2=-prismaticAxisInWorld;
constraintRow.m_relpos1CrossNormal.setZero();
constraintRow.m_relpos2CrossNormal.setZero();
break;
}
default:
{
btAssert(0);
}
};
}
}
}
MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other)
{
btAssert(0);
(void)other;
return *this;
}
void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
{
(void)index;
btAssert(m_useQuantization);
int curNodeSubPart=-1;
//get access info to trianglemesh data
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
btVector3 triangleVerts[3];
btVector3 aabbMin,aabbMax;
const btVector3& meshScaling = meshInterface->getScaling();
int i;
for (i=endNode-1; i>=firstNode; i--)
{
btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
if (curNode.isLeafNode())
{
//recalc aabb from triangle data
int nodeSubPart = curNode.getPartId();
int nodeTriangleIndex = curNode.getTriangleIndex();
if (nodeSubPart != curNodeSubPart)
{
if (curNodeSubPart >= 0)
meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
curNodeSubPart = nodeSubPart;
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
}
//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
for (int j=2; j>=0; j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
}
}
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
aabbMax.setMax(triangleVerts[1]);
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
//combine aabb from both children
btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
{
for (int i=0; i<3; i++)
{
curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
}
}
}
}
if (curNodeSubPart >= 0)
meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
}
/**
basic algorithm:
- convert input aabb to local coordinates (scale down and shift for local origin)
- convert input aabb to a range of heightfield grid points (quantize)
- iterate over all triangles in that subset of the grid
*/
void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
// scale down the input aabb's so they are in local (non-scaled) coordinates
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
// account for local origin
localAabbMin += m_localOrigin;
localAabbMax += m_localOrigin;
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
int quantizedAabbMin[3];
int quantizedAabbMax[3];
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
// expand the min/max quantized values
// this is to catch the case where the input aabb falls between grid points!
for (int i = 0; i < 3; ++i) {
quantizedAabbMin[i]--;
quantizedAabbMax[i]++;
}
int startX=0;
int endX=m_heightStickWidth-1;
int startJ=0;
int endJ=m_heightStickLength-1;
switch (m_upAxis)
{
case 0:
{
if (quantizedAabbMin[1]>startX)
startX = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endX)
endX = quantizedAabbMax[1];
if (quantizedAabbMin[2]>startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2]<endJ)
endJ = quantizedAabbMax[2];
break;
}
case 1:
{
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[2]>startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2]<endJ)
endJ = quantizedAabbMax[2];
break;
};
case 2:
{
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[1]>startJ)
startJ = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endJ)
endJ = quantizedAabbMax[1];
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
for(int j=startJ; j<endJ; j++)
{
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision && !(j & 1)))
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
// getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
} else
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
//getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}
}
}
}
void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
{
btAssert(0);
}
void SpuContactManifoldCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
}
void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
#endif
{
m_cachedSeparatingDistance = 0.f;
btScalar distance=btScalar(0.);
btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 pointOnA,pointOnB;
btTransform localTransA = input.m_transformA;
btTransform localTransB = input.m_transformB;
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
btScalar marginA = m_marginA;
btScalar marginB = m_marginB;
gNumGjkChecks++;
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("inside gjk\n");
#endif
//for CCD we don't use margins
if (m_ignoreMargin)
{
marginA = btScalar(0.);
marginB = btScalar(0.);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("ignoring margin\n");
#endif
}
m_curIter = 0;
int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
m_cachedSeparatingAxis.setValue(0,1,0);
bool isValid = false;
bool checkSimplex = false;
bool checkPenetration = true;
m_degenerateSimplex = 0;
m_lastUsedMethod = -1;
{
btScalar squaredDistance = BT_LARGE_FLOAT;
btScalar delta = btScalar(0.);
btScalar margin = marginA + marginB;
m_simplexSolver->reset();
for ( ; ; )
//while (true)
{
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
#if 1
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
// btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
// btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
#else
#ifdef __SPU__
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
#else
btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
#ifdef TEST_NON_VIRTUAL
btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
btAssert((pInAv-pInA).length() < 0.0001);
btAssert((qInBv-qInB).length() < 0.0001);
#endif //
#endif //__SPU__
#endif
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("got local supporting vertices\n");
#endif
if (check2d)
{
pWorld[2] = 0.f;
qWorld[2] = 0.f;
}
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
// potential exit, they don't overlap
if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
{
m_degenerateSimplex = 10;
checkSimplex=true;
//checkPenetration = false;
break;
}
//exit 0: the new point is already in the simplex, or we didn't come any closer
if (m_simplexSolver->inSimplex(w))
{
m_degenerateSimplex = 1;
checkSimplex = true;
break;
}
// are we getting any closer ?
btScalar f0 = squaredDistance - delta;
btScalar f1 = squaredDistance * REL_ERROR2;
if (f0 <= f1)
{
if (f0 <= btScalar(0.))
{
m_degenerateSimplex = 2;
} else
{
m_degenerateSimplex = 11;
}
checkSimplex = true;
break;
}
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 1\n");
#endif
//add current vertex to simplex
m_simplexSolver->addVertex(w, pWorld, qWorld);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 2\n");
#endif
btVector3 newCachedSeparatingAxis;
//calculate the closest point to the origin (update vector v)
if (!m_simplexSolver->closest(newCachedSeparatingAxis))
{
m_degenerateSimplex = 3;
checkSimplex = true;
break;
}
if(newCachedSeparatingAxis.length2()<REL_ERROR2)
{
m_cachedSeparatingAxis = newCachedSeparatingAxis;
m_degenerateSimplex = 6;
checkSimplex = true;
break;
}
btScalar previousSquaredDistance = squaredDistance;
squaredDistance = newCachedSeparatingAxis.length2();
#if 0
///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
if (squaredDistance>previousSquaredDistance)
{
m_degenerateSimplex = 7;
squaredDistance = previousSquaredDistance;
checkSimplex = false;
break;
}
#endif //
//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
//are we getting any closer ?
if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
{
// m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
checkSimplex = true;
m_degenerateSimplex = 12;
break;
}
m_cachedSeparatingAxis = newCachedSeparatingAxis;
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (m_curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
m_cachedSeparatingAxis.getX(),
m_cachedSeparatingAxis.getY(),
m_cachedSeparatingAxis.getZ(),
squaredDistance,
m_minkowskiA->getShapeType(),
m_minkowskiB->getShapeType());
#endif
break;
}
bool check = (!m_simplexSolver->fullSimplex());
//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
if (!check)
{
//do we need this backup_closest here ?
// m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
m_degenerateSimplex = 13;
break;
}
}
if (checkSimplex)
{
m_simplexSolver->compute_points(pointOnA, pointOnB);
normalInB = m_cachedSeparatingAxis;
btScalar lenSqr =m_cachedSeparatingAxis.length2();
//valid normal
if (lenSqr < 0.0001)
{
m_degenerateSimplex = 5;
}
if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
normalInB *= rlen; //normalize
btScalar s = btSqrt(squaredDistance);
btAssert(s > btScalar(0.0));
pointOnA -= m_cachedSeparatingAxis * (marginA / s);
pointOnB += m_cachedSeparatingAxis * (marginB / s);
distance = ((btScalar(1.)/rlen) - margin);
isValid = true;
m_lastUsedMethod = 1;
} else
{
m_lastUsedMethod = 2;
}
}
bool catchDegeneratePenetrationCase =
(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01));
//if (checkPenetration && !isValid)
if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
{
//penetration case
//if there is no way to handle penetrations, bail out
if (m_penetrationDepthSolver)
{
// Penetration depth case.
btVector3 tmpPointOnA,tmpPointOnB;
gNumDeepPenetrationChecks++;
m_cachedSeparatingAxis.setZero();
bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
*m_simplexSolver,
m_minkowskiA,m_minkowskiB,
localTransA,localTransB,
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
debugDraw
);
if (isValid2)
{
btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
btScalar lenSqr = tmpNormalInB.length2();
if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB = m_cachedSeparatingAxis;
lenSqr = m_cachedSeparatingAxis.length2();
}
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 3;
} else
{
m_lastUsedMethod = 8;
}
} else
{
m_lastUsedMethod = 9;
}
} else
{
///this is another degenerate case, where the initial GJK calculation reports a degenerate case
///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
///reports a valid positive distance. Use the results of the second GJK instead of failing.
///thanks to Jacob.Langford for the reproduction case
///http://code.google.com/p/bullet/issues/detail?id=250
if (m_cachedSeparatingAxis.length2() > btScalar(0.))
{
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= m_cachedSeparatingAxis * marginA ;
pointOnB += m_cachedSeparatingAxis * marginB ;
normalInB = m_cachedSeparatingAxis;
normalInB.normalize();
isValid = true;
m_lastUsedMethod = 6;
} else
{
m_lastUsedMethod = 5;
}
}
}
}
}
}
if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
{
#if 0
///some debugging
// if (check2d)
{
printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]);
printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex);
}
#endif
if (m_fixContactNormalDirection)
{
///@workaround for sticky convex collisions
//in some degenerate cases (usually when the use uses very small margins)
//the contact normal is pointing the wrong direction
//so fix it now (until we can deal with all degenerate cases in GJK and EPA)
//contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
//We like to use a dot product of the normal against the difference of the centroids,
//once the centroid is available in the API
//until then we use the center of the aabb to approximate the centroid
btVector3 aabbMin,aabbMax;
m_minkowskiA->getAabb(localTransA,aabbMin,aabbMax);
btVector3 posA = (aabbMax+aabbMin)*btScalar(0.5);
m_minkowskiB->getAabb(localTransB,aabbMin,aabbMax);
btVector3 posB = (aabbMin+aabbMax)*btScalar(0.5);
btVector3 diff = posA-posB;
if (diff.dot(normalInB) < 0.f)
normalInB *= -1.f;
}
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;
output.addContactPoint(
normalInB,
pointOnB+positionOffset,
distance);
}
}
void OpenGL2Renderer::renderPhysicsWorld(int numObjects, btCollisionObject** objectArray)
{
init();
updateCamera();
if (1)
{
if(m_enableshadows)
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
GLint err = glGetError();
btAssert(err==GL_NO_ERROR);
renderscene(0,numObjects,objectArray);
err = glGetError();
btAssert(err==GL_NO_ERROR);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
glDepthFunc(GL_LEQUAL);
glEnable(GL_STENCIL_TEST);
glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
renderscene(1,numObjects,objectArray);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
renderscene(1,numObjects,objectArray);
glFrontFace(GL_CCW);
err = glGetError();
btAssert(err==GL_NO_ERROR);
glPolygonMode(GL_FRONT,GL_FILL);
glPolygonMode(GL_BACK,GL_FILL);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHTING);
glDepthMask(GL_TRUE);
glCullFace(GL_BACK);
glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
glDepthFunc(GL_LEQUAL);
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
renderscene(2,numObjects,objectArray);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
err = glGetError();
btAssert(err==GL_NO_ERROR);
}
else
{
glDisable(GL_CULL_FACE);
renderscene(0,numObjects,objectArray);
}
int xOffset = 10;
int yStart = 20;
int yIncr = 20;
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
//showProfileInfo(xOffset,yStart,yIncr);
#if 0//#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
resetPerspectiveProjection();
}
glDisable(GL_LIGHTING);
}
updateCamera();
}
void OpenGL2Renderer::updateCamera()
{
GLint err = glGetError();
btAssert(err==GL_NO_ERROR);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btScalar rele = m_ele * btScalar(0.01745329251994329547);// rads per deg
btScalar razi = m_azi * btScalar(0.01745329251994329547);// rads per deg
btQuaternion rot(m_cameraUp,razi);
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
err = glGetError();
btAssert(err==GL_NO_ERROR);
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
m_cameraPosition[2] = eyePos.getZ();
m_cameraPosition += m_cameraTargetPosition;
if (m_openglViewportWidth == 0 && m_openglViewportHeight == 0)
return;
btScalar aspect;
btVector3 extents;
aspect = m_openglViewportWidth / (btScalar)m_openglViewportHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
if (m_ortho)
{
// reset matrix
glLoadIdentity();
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
} else
{
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}
err = glGetError();
btAssert(err==GL_NO_ERROR);
}
void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
(void)aabbMin;
(void)aabbMax;
int numtotalphysicsverts = 0;
int part, graphicssubparts = getNumSubParts();
const unsigned char * vertexbase;
const unsigned char * indexbase;
int indexstride;
PHY_ScalarType type;
PHY_ScalarType gfxindextype;
int stride, numverts, numtriangles;
int gfxindex;
btVector3 triangle[3];
btVector3 meshScaling = getScaling();
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
for (part=0; part<graphicssubparts ; part++)
{
getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
numtotalphysicsverts+=numtriangles*3; //upper bound
///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
///so disable this feature by default
///see patch http://code.google.com/p/bullet/issues/detail?id=213
switch (type)
{
case PHY_FLOAT:
{
float* graphicsbase;
switch (gfxindextype)
{
case PHY_INTEGER:
{
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle, part, gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle, part, gfxindex);
}
break;
}
case PHY_UCHAR:
{
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(), graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle, part, gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
case PHY_DOUBLE:
{
double* graphicsbase;
switch (gfxindextype)
{
case PHY_INTEGER:
{
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle, part, gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle, part, gfxindex);
}
break;
}
case PHY_UCHAR:
{
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(), (btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle, part, gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
default:
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
unLockReadOnlyVertexBase(part);
}
}
void OpenGL2Renderer::renderscene(int pass, int numObjects, btCollisionObject** objArray)
{
GLint err = glGetError();
btAssert(err==GL_NO_ERROR);
ATTRIBUTE_ALIGNED16(btScalar) m[16];
btMatrix3x3 rot;rot.setIdentity();
btVector3 wireColor(1,0,0);
for(int i=0;i<numObjects;i++)
{
const btCollisionObject* colObj=objArray[i];
const btRigidBody* body=btRigidBody::upcast(colObj);
if(body&&body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
rot=myMotionState->m_graphicsWorldTrans.getBasis();
}
else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
rot=colObj->getWorldTransform().getBasis();
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
}
else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if(colObj->getActivationState()==2) //ISLAND_SLEEPING
{
if(i&1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
}
else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
err = glGetError();
btAssert(err==GL_NO_ERROR);
btVector3 aabbMin(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
btVector3 aabbMax(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
//world->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
//aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
//aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
{
switch(pass)
{
case 0: m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
case 1: m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*btScalar(0.3),0,aabbMin,aabbMax);break;
}
}
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
{
btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer;
trimeshData->m_numMeshParts = getNumSubParts();
//void* uniquePtr = 0;
trimeshData->m_meshPartsPtr = 0;
if (trimeshData->m_numMeshParts)
{
btChunk* chunk = serializer->allocate(sizeof(btMeshPartData), trimeshData->m_numMeshParts);
btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr);
// int numtotalphysicsverts = 0;
int part, graphicssubparts = getNumSubParts();
const unsigned char * vertexbase;
const unsigned char * indexbase;
int indexstride;
PHY_ScalarType type;
PHY_ScalarType gfxindextype;
int stride, numverts, numtriangles;
int gfxindex;
// btVector3 triangle[3];
// btVector3 meshScaling = getScaling();
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
for (part=0; part<graphicssubparts ; part++, memPtr++)
{
getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles
memPtr->m_numVertices = numverts;
memPtr->m_indices16 = 0;
memPtr->m_indices32 = 0;
memPtr->m_3indices16 = 0;
memPtr->m_3indices8 = 0;
memPtr->m_vertices3f = 0;
memPtr->m_vertices3d = 0;
switch (gfxindextype)
{
case PHY_INTEGER:
{
int numindices = numtriangles*3;
if (numindices)
{
btChunk* chunk = serializer->allocate(sizeof(btIntIndexData), numindices);
btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
tmpIndices[gfxindex*3].m_value = tri_indices[0];
tmpIndices[gfxindex*3+1].m_value = tri_indices[1];
tmpIndices[gfxindex*3+2].m_value = tri_indices[2];
}
serializer->finalizeChunk(chunk, "btIntIndexData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
}
break;
}
case PHY_SHORT:
{
if (numtriangles)
{
btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData), numtriangles);
btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices);
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
tmpIndices[gfxindex].m_values[0] = tri_indices[0];
tmpIndices[gfxindex].m_values[1] = tri_indices[1];
tmpIndices[gfxindex].m_values[2] = tri_indices[2];
}
serializer->finalizeChunk(chunk, "btShortIntIndexTripletData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
}
break;
}
case PHY_UCHAR:
{
if (numtriangles)
{
btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData), numtriangles);
btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
for (gfxindex=0; gfxindex<numtriangles; gfxindex++)
{
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
tmpIndices[gfxindex].m_values[0] = tri_indices[0];
tmpIndices[gfxindex].m_values[1] = tri_indices[1];
tmpIndices[gfxindex].m_values[2] = tri_indices[2];
}
serializer->finalizeChunk(chunk, "btCharIndexTripletData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
}
break;
}
default:
{
btAssert(0);
//unknown index type
}
}
switch (type)
{
case PHY_FLOAT:
{
float* graphicsbase;
if (numverts)
{
btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData), numverts);
btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr;
memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices);
for (int i=0; i<numverts; i++)
{
graphicsbase = (float*)(vertexbase+i*stride);
tmpVertices[i].m_floats[0] = graphicsbase[0];
tmpVertices[i].m_floats[1] = graphicsbase[1];
tmpVertices[i].m_floats[2] = graphicsbase[2];
}
serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
}
break;
}
case PHY_DOUBLE:
{
if (numverts)
{
btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData), numverts);
btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr;
memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices);
for (int i=0; i<numverts; i++)
{
double* graphicsbase = (double*)(vertexbase+i*stride);//for now convert to float, might leave it at double
tmpVertices[i].m_floats[0] = graphicsbase[0];
tmpVertices[i].m_floats[1] = graphicsbase[1];
tmpVertices[i].m_floats[2] = graphicsbase[2];
}
serializer->finalizeChunk(chunk, "btVector3DoubleData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
}
break;
}
default:
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
unLockReadOnlyVertexBase(part);
}
serializer->finalizeChunk(chunk, "btMeshPartData", BT_ARRAY_CODE, chunk->m_oldPtr);
}
m_scaling.serializeFloat(trimeshData->m_scaling);
return "btStridingMeshInterfaceData";
}
void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
{
btAssert(!m_useSolveConstraintObsolete);
int i, s = info->rowskip;
// transforms in world space
btTransform trA = transA*m_rbAFrame;
btTransform trB = transB*m_rbBFrame;
// pivot point
btVector3 pivotAInW = trA.getOrigin();
btVector3 pivotBInW = trB.getOrigin();
#if 1
// difference between frames in WCS
btVector3 ofs = trB.getOrigin() - trA.getOrigin();
// now get weight factors depending on masses
btScalar miA = getRigidBodyA().getInvMass();
btScalar miB = getRigidBodyB().getInvMass();
bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
btScalar miS = miA + miB;
btScalar factA, factB;
if(miS > btScalar(0.f))
{
factA = miB / miS;
}
else
{
factA = btScalar(0.5f);
}
factB = btScalar(1.0f) - factA;
// get the desired direction of hinge axis
// as weighted sum of Z-orthos of frameA and frameB in WCS
btVector3 ax1A = trA.getBasis().getColumn(2);
btVector3 ax1B = trB.getBasis().getColumn(2);
btVector3 ax1 = ax1A * factA + ax1B * factB;
ax1.normalize();
// fill first 3 rows
// we want: velA + wA x relA == velB + wB x relB
btTransform bodyA_trans = transA;
btTransform bodyB_trans = transB;
int s0 = 0;
int s1 = s;
int s2 = s * 2;
int nrow = 2; // last filled row
btVector3 tmpA, tmpB, relA, relB, p, q;
// get vector from bodyB to frameB in WCS
relB = trB.getOrigin() - bodyB_trans.getOrigin();
// get its projection to hinge axis
btVector3 projB = ax1 * relB.dot(ax1);
// get vector directed from bodyB to hinge axis (and orthogonal to it)
btVector3 orthoB = relB - projB;
// same for bodyA
relA = trA.getOrigin() - bodyA_trans.getOrigin();
btVector3 projA = ax1 * relA.dot(ax1);
btVector3 orthoA = relA - projA;
btVector3 totalDist = projA - projB;
// get offset vectors relA and relB
relA = orthoA + totalDist * factA;
relB = orthoB - totalDist * factB;
// now choose average ortho to hinge axis
p = orthoB * factA + orthoA * factB;
btScalar len2 = p.length2();
if(len2 > SIMD_EPSILON)
{
p /= btSqrt(len2);
}
else
{
p = trA.getBasis().getColumn(1);
}
// make one more ortho
q = ax1.cross(p);
// fill three rows
tmpA = relA.cross(p);
tmpB = relB.cross(p);
for (i=0; i<3; i++) info->m_J1angularAxis[s0+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s0+i] = -tmpB[i];
tmpA = relA.cross(q);
tmpB = relB.cross(q);
if(hasStaticBody && getSolveLimit())
{ // to make constraint between static and dynamic objects more rigid
// remove wA (or wB) from equation if angular limit is hit
tmpB *= factB;
tmpA *= factA;
}
for (i=0; i<3; i++) info->m_J1angularAxis[s1+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s1+i] = -tmpB[i];
tmpA = relA.cross(ax1);
tmpB = relB.cross(ax1);
if(hasStaticBody)
{ // to make constraint between static and dynamic objects more rigid
// remove wA (or wB) from equation
tmpB *= factB;
tmpA *= factA;
}
for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
btScalar k = info->fps * info->erp;
if (!m_angularOnly)
{
for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
// compute three elements of right hand side
btScalar rhs = k * p.dot(ofs);
info->m_constraintError[s0] = rhs;
rhs = k * q.dot(ofs);
info->m_constraintError[s1] = rhs;
rhs = k * ax1.dot(ofs);
info->m_constraintError[s2] = rhs;
}
// the hinge axis should be the only unconstrained
// rotational axis, the angular velocity of the two bodies perpendicular to
// the hinge axis should be equal. thus the constraint equations are
// p*w1 - p*w2 = 0
// q*w1 - q*w2 = 0
// where p and q are unit vectors normal to the hinge axis, and w1 and w2
// are the angular velocity vectors of the two bodies.
int s3 = 3 * s;
int s4 = 4 * s;
info->m_J1angularAxis[s3 + 0] = p[0];
info->m_J1angularAxis[s3 + 1] = p[1];
info->m_J1angularAxis[s3 + 2] = p[2];
info->m_J1angularAxis[s4 + 0] = q[0];
info->m_J1angularAxis[s4 + 1] = q[1];
info->m_J1angularAxis[s4 + 2] = q[2];
info->m_J2angularAxis[s3 + 0] = -p[0];
info->m_J2angularAxis[s3 + 1] = -p[1];
info->m_J2angularAxis[s3 + 2] = -p[2];
info->m_J2angularAxis[s4 + 0] = -q[0];
info->m_J2angularAxis[s4 + 1] = -q[1];
info->m_J2angularAxis[s4 + 2] = -q[2];
// compute the right hand side of the constraint equation. set relative
// body velocities along p and q to bring the hinge back into alignment.
// if ax1A,ax1B are the unit length hinge axes as computed from bodyA and
// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
// if "theta" is the angle between ax1 and ax2, we need an angular velocity
// along u to cover angle erp*theta in one step :
// |angular_velocity| = angle/time = erp*theta / stepsize
// = (erp*fps) * theta
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
// ...as ax1 and ax2 are unit length. if theta is smallish,
// theta ~= sin(theta), so
// angular_velocity = (erp*fps) * (ax1 x ax2)
// ax1 x ax2 is in the plane space of ax1, so we project the angular
// velocity to p and q to find the right hand side.
k = info->fps * info->erp;
btVector3 u = ax1A.cross(ax1B);
info->m_constraintError[s3] = k * u.dot(p);
info->m_constraintError[s4] = k * u.dot(q);
#endif
// check angular limits
nrow = 4; // last filled row
int srow;
btScalar limit_err = btScalar(0.0);
int limit = 0;
if(getSolveLimit())
{
#ifdef _BT_USE_CENTER_LIMIT_
limit_err = m_limit.getCorrection() * m_referenceSign;
#else
limit_err = m_correction * m_referenceSign;
#endif
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
}
// if the hinge has joint limits or motor, add in the extra row
int powered = 0;
if(getEnableAngularMotor())
{
powered = 1;
}
if(limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
info->m_J1angularAxis[srow+0] = ax1[0];
info->m_J1angularAxis[srow+1] = ax1[1];
info->m_J1angularAxis[srow+2] = ax1[2];
info->m_J2angularAxis[srow+0] = -ax1[0];
info->m_J2angularAxis[srow+1] = -ax1[1];
info->m_J2angularAxis[srow+2] = -ax1[2];
btScalar lostop = getLowerLimit();
btScalar histop = getUpperLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
if(powered)
{
if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
{
info->cfm[srow] = m_normalCFM;
}
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
info->m_lowerLimit[srow] = - m_maxMotorImpulse;
info->m_upperLimit[srow] = m_maxMotorImpulse;
}
if(limit)
{
k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
{
info->cfm[srow] = m_stopCFM;
}
if(lostop == histop)
{
// limited low and high simultaneously
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else if(limit == 1)
{ // low limit
info->m_lowerLimit[srow] = 0;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else
{ // high limit
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = 0;
}
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
#ifdef _BT_USE_CENTER_LIMIT_
btScalar bounce = m_limit.getRelaxationFactor();
#else
btScalar bounce = m_relaxationFactor;
#endif
if(bounce > btScalar(0.0))
{
btScalar vel = angVelA.dot(ax1);
vel -= angVelB.dot(ax1);
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
if(limit == 1)
{ // low limit
if(vel < 0)
{
btScalar newc = -bounce * vel;
if(newc > info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
else
{ // high limit - all those computations are reversed
if(vel > 0)
{
btScalar newc = -bounce * vel;
if(newc < info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
}
#ifdef _BT_USE_CENTER_LIMIT_
info->m_constraintError[srow] *= m_limit.getBiasFactor();
#else
info->m_constraintError[srow] *= m_biasFactor;
#endif
} // if(limit)
} // if angular limit or powered
}
void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
{
btAssert(!m_useSolveConstraintObsolete);
int i, skip = info->rowskip;
// transforms in world space
btTransform trA = transA*m_rbAFrame;
btTransform trB = transB*m_rbBFrame;
// pivot point
btVector3 pivotAInW = trA.getOrigin();
btVector3 pivotBInW = trB.getOrigin();
#if 0
if (0)
{
for (i=0; i<6; i++)
{
info->m_J1linearAxis[i*skip]=0;
info->m_J1linearAxis[i*skip+1]=0;
info->m_J1linearAxis[i*skip+2]=0;
info->m_J1angularAxis[i*skip]=0;
info->m_J1angularAxis[i*skip+1]=0;
info->m_J1angularAxis[i*skip+2]=0;
info->m_J2angularAxis[i*skip]=0;
info->m_J2angularAxis[i*skip+1]=0;
info->m_J2angularAxis[i*skip+2]=0;
info->m_constraintError[i*skip]=0.f;
}
}
#endif //#if 0
// linear (all fixed)
if (!m_angularOnly)
{
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[skip + 1] = 1;
info->m_J1linearAxis[2 * skip + 2] = 1;
}
btVector3 a1 = pivotAInW - transA.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip);
btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip);
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
btVector3 a2 = pivotBInW - transB.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip);
btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip);
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// linear RHS
btScalar k = info->fps * info->erp;
if (!m_angularOnly)
{
for(i = 0; i < 3; i++)
{
info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]);
}
}
// make rotations around X and Y equal
// the hinge axis should be the only unconstrained
// rotational axis, the angular velocity of the two bodies perpendicular to
// the hinge axis should be equal. thus the constraint equations are
// p*w1 - p*w2 = 0
// q*w1 - q*w2 = 0
// where p and q are unit vectors normal to the hinge axis, and w1 and w2
// are the angular velocity vectors of the two bodies.
// get hinge axis (Z)
btVector3 ax1 = trA.getBasis().getColumn(2);
// get 2 orthos to hinge axis (X, Y)
btVector3 p = trA.getBasis().getColumn(0);
btVector3 q = trA.getBasis().getColumn(1);
// set the two hinge angular rows
int s3 = 3 * info->rowskip;
int s4 = 4 * info->rowskip;
info->m_J1angularAxis[s3 + 0] = p[0];
info->m_J1angularAxis[s3 + 1] = p[1];
info->m_J1angularAxis[s3 + 2] = p[2];
info->m_J1angularAxis[s4 + 0] = q[0];
info->m_J1angularAxis[s4 + 1] = q[1];
info->m_J1angularAxis[s4 + 2] = q[2];
info->m_J2angularAxis[s3 + 0] = -p[0];
info->m_J2angularAxis[s3 + 1] = -p[1];
info->m_J2angularAxis[s3 + 2] = -p[2];
info->m_J2angularAxis[s4 + 0] = -q[0];
info->m_J2angularAxis[s4 + 1] = -q[1];
info->m_J2angularAxis[s4 + 2] = -q[2];
// compute the right hand side of the constraint equation. set relative
// body velocities along p and q to bring the hinge back into alignment.
// if ax1,ax2 are the unit length hinge axes as computed from body1 and
// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
// if `theta' is the angle between ax1 and ax2, we need an angular velocity
// along u to cover angle erp*theta in one step :
// |angular_velocity| = angle/time = erp*theta / stepsize
// = (erp*fps) * theta
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
// ...as ax1 and ax2 are unit length. if theta is smallish,
// theta ~= sin(theta), so
// angular_velocity = (erp*fps) * (ax1 x ax2)
// ax1 x ax2 is in the plane space of ax1, so we project the angular
// velocity to p and q to find the right hand side.
btVector3 ax2 = trB.getBasis().getColumn(2);
btVector3 u = ax1.cross(ax2);
info->m_constraintError[s3] = k * u.dot(p);
info->m_constraintError[s4] = k * u.dot(q);
// check angular limits
int nrow = 4; // last filled row
int srow;
btScalar limit_err = btScalar(0.0);
int limit = 0;
if(getSolveLimit())
{
#ifdef _BT_USE_CENTER_LIMIT_
limit_err = m_limit.getCorrection() * m_referenceSign;
#else
limit_err = m_correction * m_referenceSign;
#endif
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
}
// if the hinge has joint limits or motor, add in the extra row
int powered = 0;
if(getEnableAngularMotor())
{
powered = 1;
}
if(limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
info->m_J1angularAxis[srow+0] = ax1[0];
info->m_J1angularAxis[srow+1] = ax1[1];
info->m_J1angularAxis[srow+2] = ax1[2];
info->m_J2angularAxis[srow+0] = -ax1[0];
info->m_J2angularAxis[srow+1] = -ax1[1];
info->m_J2angularAxis[srow+2] = -ax1[2];
btScalar lostop = getLowerLimit();
btScalar histop = getUpperLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
if(powered)
{
if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
{
info->cfm[srow] = m_normalCFM;
}
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
info->m_lowerLimit[srow] = - m_maxMotorImpulse;
info->m_upperLimit[srow] = m_maxMotorImpulse;
}
if(limit)
{
k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
{
info->cfm[srow] = m_stopCFM;
}
if(lostop == histop)
{
// limited low and high simultaneously
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else if(limit == 1)
{ // low limit
info->m_lowerLimit[srow] = 0;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else
{ // high limit
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = 0;
}
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
#ifdef _BT_USE_CENTER_LIMIT_
btScalar bounce = m_limit.getRelaxationFactor();
#else
btScalar bounce = m_relaxationFactor;
#endif
if(bounce > btScalar(0.0))
{
btScalar vel = angVelA.dot(ax1);
vel -= angVelB.dot(ax1);
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
if(limit == 1)
{ // low limit
if(vel < 0)
{
btScalar newc = -bounce * vel;
if(newc > info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
else
{ // high limit - all those computations are reversed
if(vel > 0)
{
btScalar newc = -bounce * vel;
if(newc < info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
}
#ifdef _BT_USE_CENTER_LIMIT_
info->m_constraintError[srow] *= m_limit.getBiasFactor();
#else
info->m_constraintError[srow] *= m_biasFactor;
#endif
} // if(limit)
} // if angular limit or powered
}
void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)
{
// int i=1;
int numDim = BTMBP2PCONSTRAINT_DIM;
for (int i=0;i<numDim;i++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal1.setValue(0,0,0);
constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal2.setValue(0,0,0);
constraintRow.m_angularComponentA.setValue(0,0,0);
constraintRow.m_angularComponentB.setValue(0,0,0);
constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
btVector3 contactNormalOnB(0,0,0);
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
contactNormalOnB[i] = -1;
#else
contactNormalOnB[i%3] = -1;
#endif
btScalar penetration = 0;
// Convert local points back to world
btVector3 pivotAworld = m_pivotInA;
if (m_rigidBodyA)
{
constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
} else
{
if (m_bodyA)
pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
}
btVector3 pivotBworld = m_pivotInB;
if (m_rigidBodyB)
{
constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
} else
{
if (m_bodyB)
pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
}
btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
fillMultiBodyConstraint(constraintRow, data, 0, 0,
contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
posError,
infoGlobal,
-m_maxAppliedImpulse, m_maxAppliedImpulse
);
//@todo: support the case of btMultiBody versus btRigidBody,
//see btPoint2PointConstraint::getInfo2NonVirtual
#else
const btVector3 dummy(0, 0, 0);
btAssert(m_bodyA->isMultiDof());
btScalar* jac1 = jacobianA(i);
const btVector3 &normalAng = i >= 3 ? contactNormalOnB : dummy;
const btVector3 &normalLin = i < 3 ? contactNormalOnB : dummy;
m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
fillMultiBodyConstraint(constraintRow, data, jac1, 0,
dummy, dummy, dummy, //sucks but let it be this way "for the time being"
posError,
infoGlobal,
-m_maxAppliedImpulse, m_maxAppliedImpulse
);
#endif
}
}
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
{
btAssert((index >= 0) && (index < 6));
m_equilibriumPoint[index] = val;
}
bool btPolyhedralConvexShape::initializePolyhedralFeatures()
{
if (m_polyhedron)
btAlignedFree(m_polyhedron);
void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
m_polyhedron = new (mem) btConvexPolyhedron;
btAlignedObjectArray<btVector3> orgVertices;
for (int i=0;i<getNumVertices();i++)
{
btVector3& newVertex = orgVertices.expand();
getVertex(i,newVertex);
}
#if 0
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] -= getMargin();
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> tmpVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
btConvexHullComputer conv;
conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
#else
btConvexHullComputer conv;
conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
#endif
btAlignedObjectArray<btVector3> faceNormals;
int numFaces = conv.faces.size();
faceNormals.resize(numFaces);
btConvexHullComputer* convexUtil = &conv;
btAlignedObjectArray<btFace> tmpFaces;
tmpFaces.resize(numFaces);
int numVertices = convexUtil->vertices.size();
m_polyhedron->m_vertices.resize(numVertices);
for (int p=0;p<numVertices;p++)
{
m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
}
for (int i=0;i<numFaces;i++)
{
int face = convexUtil->faces[i];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
const btConvexHullComputer::Edge* edge = firstEdge;
btVector3 edges[3];
int numEdges = 0;
//compute face normals
btScalar maxCross2 = 0.f;
int chosenEdge = -1;
do
{
int src = edge->getSourceVertex();
tmpFaces[i].m_indices.push_back(src);
int targ = edge->getTargetVertex();
btVector3 wa = convexUtil->vertices[src];
btVector3 wb = convexUtil->vertices[targ];
btVector3 newEdge = wb-wa;
newEdge.normalize();
if (numEdges<2)
edges[numEdges++] = newEdge;
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
btScalar planeEq = 1e30f;
if (numEdges==2)
{
faceNormals[i] = edges[0].cross(edges[1]);
faceNormals[i].normalize();
tmpFaces[i].m_plane[0] = faceNormals[i].getX();
tmpFaces[i].m_plane[1] = faceNormals[i].getY();
tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
tmpFaces[i].m_plane[3] = planeEq;
}
else
{
btAssert(0);//degenerate?
faceNormals[i].setZero();
}
for (int v=0;v<tmpFaces[i].m_indices.size();v++)
{
btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
if (planeEq>eq)
{
planeEq=eq;
}
}
tmpFaces[i].m_plane[3] = -planeEq;
}
//merge coplanar faces and copy them to m_polyhedron
btScalar faceWeldThreshold= 0.999f;
btAlignedObjectArray<int> todoFaces;
for (int i=0;i<tmpFaces.size();i++)
todoFaces.push_back(i);
while (todoFaces.size())
{
btAlignedObjectArray<int> coplanarFaceGroup;
int refFace = todoFaces[todoFaces.size()-1];
coplanarFaceGroup.push_back(refFace);
btFace& faceA = tmpFaces[refFace];
todoFaces.pop_back();
btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
for (int j=todoFaces.size()-1;j>=0;j--)
{
int i = todoFaces[j];
btFace& faceB = tmpFaces[i];
btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
{
coplanarFaceGroup.push_back(i);
todoFaces.remove(i);
}
}
if (coplanarFaceGroup.size()>1)
{
//do the merge: use Graham Scan 2d convex hull
btAlignedObjectArray<GrahamVector2> orgpoints;
for (int i=0;i<coplanarFaceGroup.size();i++)
{
// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
btFace& face = tmpFaces[coplanarFaceGroup[i]];
btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
btVector3 xyPlaneNormal(0,0,1);
btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
for (int f=0;f<face.m_indices.size();f++)
{
int orgIndex = face.m_indices[f];
btVector3 pt = m_polyhedron->m_vertices[orgIndex];
btVector3 rotatedPt = quatRotate(rotationArc,pt);
rotatedPt.setZ(0);
bool found = false;
for (int i=0;i<orgpoints.size();i++)
{
//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
if (orgpoints[i].m_orgIndex == orgIndex)
{
found=true;
break;
}
}
if (!found)
orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
}
}
btFace combinedFace;
for (int i=0;i<4;i++)
combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
btAlignedObjectArray<GrahamVector2> hull;
GrahamScanConvexHull2D(orgpoints,hull);
for (int i=0;i<hull.size();i++)
{
combinedFace.m_indices.push_back(hull[i].m_orgIndex);
}
m_polyhedron->m_faces.push_back(combinedFace);
} else
{
for (int i=0;i<coplanarFaceGroup.size();i++)
{
m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
}
}
}
m_polyhedron->initialize();
return true;
}
void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
{
btAssert((index >= 0) && (index < 6));
m_springStiffness[index] = stiffness;
}
btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
return 1.f;
}
void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
{
btAssert((index >= 0) && (index < 6));
m_springDamping[index] = damping;
}
void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
{
// compute the centroid of the polygon in cx,cy
int i,j;
btScalar a,cx,cy,q;
if (n==1) {
cx = p[0];
cy = p[1];
}
else if (n==2) {
cx = btScalar(0.5)*(p[0] + p[2]);
cy = btScalar(0.5)*(p[1] + p[3]);
}
else {
a = 0;
cx = 0;
cy = 0;
for (i=0; i<(n-1); i++) {
q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
a += q;
cx += q*(p[i*2]+p[i*2+2]);
cy += q*(p[i*2+1]+p[i*2+3]);
}
q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
if (btFabs(a+q) > SIMD_EPSILON)
{
a = 1.f/(btScalar(3.0)*(a+q));
} else
{
a=BT_LARGE_FLOAT;
}
cx = a*(cx + q*(p[n*2-2]+p[0]));
cy = a*(cy + q*(p[n*2-1]+p[1]));
}
// compute the angle of each point w.r.t. the centroid
btScalar A[8];
for (i=0; i<n; i++) A[i] = btAtan2(p[i*2+1]-cy,p[i*2]-cx);
// search for points that have angles closest to A[i0] + i*(2*pi/m).
int avail[8];
for (i=0; i<n; i++) avail[i] = 1;
avail[i0] = 0;
iret[0] = i0;
iret++;
for (j=1; j<m; j++) {
a = btScalar(j)*(2*M__PI/m) + A[i0];
if (a > M__PI) a -= 2*M__PI;
btScalar maxdiff=1e9,diff;
*iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
for (i=0; i<n; i++) {
if (avail[i]) {
diff = btFabs (A[i]-a);
if (diff > M__PI) diff = 2*M__PI - diff;
if (diff < maxdiff) {
maxdiff = diff;
*iret = i;
}
}
}
#if defined(DEBUG) || defined (_DEBUG)
btAssert (*iret != i0); // ensure iret got set
#endif
avail[*iret] = 0;
iret++;
}
}
void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)
{
// only positions need to be updated -- data.m_jacobians and force
// directions were set in the ctor and never change.
if (m_numDofsFinalized != m_jacSizeBoth)
{
finalizeMultiDof();
}
//don't crash
if (m_numDofsFinalized != m_jacSizeBoth)
return;
if (m_maxAppliedImpulse==0.f)
return;
const btScalar posError = 0;
const btVector3 dummy(0, 0, 0);
for (int row=0;row<getNumRows();row++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
int dof = 0;
btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
btScalar positionStabiliationTerm = m_erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
btScalar velocityError = (m_desiredVelocity - currentVelocity);
btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError;
if (rhs>m_rhsClamp)
{
rhs=m_rhsClamp;
}
if (rhs<-m_rhsClamp)
{
rhs=-m_rhsClamp;
}
fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,rhs);
constraintRow.m_orgConstraint = this;
constraintRow.m_orgDofIndex = row;
{
//expect either prismatic or revolute joint type for now
btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
switch (m_bodyA->getLink(m_linkA).m_jointType)
{
case btMultibodyLink::eRevolute:
{
constraintRow.m_contactNormal1.setZero();
constraintRow.m_contactNormal2.setZero();
btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
break;
}
case btMultibodyLink::ePrismatic:
{
btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
constraintRow.m_contactNormal1=prismaticAxisInWorld;
constraintRow.m_contactNormal2=-prismaticAxisInWorld;
constraintRow.m_relpos1CrossNormal.setZero();
constraintRow.m_relpos2CrossNormal.setZero();
break;
}
default:
{
btAssert(0);
}
};
}
}
}
void btHeightfieldTerrainShape::initialize
(
int heightStickWidth, int heightStickLength, const void* heightfieldData,
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges
)
{
// validation
btAssert(heightStickWidth > 1 && "bad width");
btAssert(heightStickLength > 1 && "bad length");
btAssert(heightfieldData && "null heightfield data");
// btAssert(heightScale) -- do we care? Trust caller here
btAssert(minHeight <= maxHeight && "bad min/max height");
btAssert(upAxis >= 0 && upAxis < 3 &&
"bad upAxis--should be in range [0,2]");
btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
"Bad height data type enum");
// initialize member variables
m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
m_heightStickWidth = heightStickWidth;
m_heightStickLength = heightStickLength;
m_minHeight = minHeight;
m_maxHeight = maxHeight;
m_width = (btScalar) (heightStickWidth - 1);
m_length = (btScalar) (heightStickLength - 1);
m_heightScale = heightScale;
m_heightfieldDataUnknown = heightfieldData;
m_heightDataType = hdt;
m_flipQuadEdges = flipQuadEdges;
m_useDiamondSubdivision = false;
m_useZigzagSubdivision = false;
m_upAxis = upAxis;
m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
// determine min/max axis-aligned bounding box (aabb) values
switch (m_upAxis)
{
case 0:
{
m_localAabbMin.setValue(m_minHeight, 0, 0);
m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
break;
}
case 1:
{
m_localAabbMin.setValue(0, m_minHeight, 0);
m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
break;
};
case 2:
{
m_localAabbMin.setValue(0, 0, m_minHeight);
m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0 && "Bad m_upAxis");
}
}
// remember origin (defined as exact middle of aabb)
m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
}
void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
{
btAssert (0);
}
//not yet
bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
{
btAssert(0);
return false;
}
void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
{
btAssert(0);
}
void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btDiscreteDynamicsWorld::integrateTransforms(timeStep);
{
BT_PROFILE("btMultiBody stepPositions");
//integrate and update the Featherstone hierarchies
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
for (int b=0;b<m_multiBodies.size();b++)
{
btMultiBody* bod = m_multiBodies[b];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b=0;b<bod->getNumLinks();b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
int nLinks = bod->getNumLinks();
///base + num links
world_to_local.resize(nLinks+1);
local_origin.resize(nLinks+1);
bod->stepPositions(timeStep);
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
if (bod->getBaseCollider())
{
btVector3 posr = local_origin[0];
float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
bod->getBaseCollider()->setWorldTransform(tr);
}
for (int k=0;k<bod->getNumLinks();k++)
{
const int parent = bod->getParent(k);
world_to_local[k+1] = bod->getParentToLocalRot(k) * world_to_local[parent+1];
local_origin[k+1] = local_origin[parent+1] + (quatRotate(world_to_local[k+1].inverse() , bod->getRVector(k)));
}
for (int m=0;m<bod->getNumLinks();m++)
{
btMultiBodyLinkCollider* col = bod->getLink(m).m_collider;
if (col)
{
int link = col->m_link;
btAssert(link == m);
int index = link+1;
btVector3 posr = local_origin[index];
float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
}
}
} else
{
bod->clearVelocities();
}
}
}
}
void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
btRigidBody* body1,
btRigidBody* body2,
const btMatrix3x3& world2A,
const btMatrix3x3& world2B,
const btVector3& invInertiaADiag,
const btScalar invMassA,
const btVector3& linvelA,const btVector3& angvelA,
const btVector3& rel_posA1,
const btVector3& invInertiaBDiag,
const btScalar invMassB,
const btVector3& linvelB,const btVector3& angvelB,
const btVector3& rel_posA2,
btScalar depthA, const btVector3& normalA,
const btVector3& rel_posB1,const btVector3& rel_posB2,
btScalar depthB, const btVector3& normalB,
btScalar& imp0,btScalar& imp1)
{
(void)linvelA;
(void)linvelB;
(void)angvelB;
(void)angvelA;
imp0 = btScalar(0.);
imp1 = btScalar(0.);
btScalar len = btFabs(normalA.length()) - btScalar(1.);
if (btFabs(len) >= SIMD_EPSILON)
return;
btAssert(len < SIMD_EPSILON);
//this jacobian entry could be re-used for all iterations
btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
invInertiaBDiag,invMassB);
//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
// calculate rhs (or error) terms
const btScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
const btScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
// dC/dv * dv = -C
// jacobian * impulse = -error
//
//impulse = jacobianInverse * -error
// inverting 2x2 symmetric system (offdiagonal are equal!)
//
btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
//[a b] [d -c]
//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
//[jA nD] * [imp0] = [dv0]
//[nD jB] [imp1] [dv1]
}
void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
{
///not yet
btAssert(0);
}
void btParticlesDynamicsWorld::initCLKernels(int argc, char** argv)
{
cl_int ciErrNum;
if (!m_cxMainContext)
{
// m_cxMainContext = clCreateContextFromType(0, CL_DEVICE_TYPE_ALL, NULL, NULL, &ciErrNum);
m_cxMainContext = btOclCommon::createContextFromType(CL_DEVICE_TYPE_ALL, &ciErrNum);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
m_cdDevice = btOclGetMaxFlopsDev(m_cxMainContext);
btOclPrintDevInfo(m_cdDevice);
// create a command-queue
m_cqCommandQue = clCreateCommandQueue(m_cxMainContext, m_cdDevice, 0, &ciErrNum);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
// Program Setup
size_t program_length;
char* fileName = "ParticlesOCL.cl";
FILE * fp = fopen(fileName, "rb");
char newFileName[512];
if (fp == NULL)
{
sprintf(newFileName,"..//%s",fileName);
fp = fopen(newFileName, "rb");
if (fp)
fileName = newFileName;
}
if (fp == NULL)
{
sprintf(newFileName,"Demos//ParticlesOpenCL//%s",fileName);
fp = fopen(newFileName, "rb");
if (fp)
fileName = newFileName;
}
if (fp == NULL)
{
sprintf(newFileName,"..//..//..//..//..//Demos//ParticlesOpenCL//%s",fileName);
fp = fopen(newFileName, "rb");
if (fp)
fileName = newFileName;
else
{
printf("cannot find %s\n",newFileName);
exit(0);
}
}
// char *source = oclLoadProgSource(".//Demos//SpheresGrid//SpheresGrid.cl", "", &program_length);
//char *source = btOclLoadProgSource(".//Demos//SpheresOpenCL//Shared//SpheresGrid.cl", "", &program_length);
char *source = btOclLoadProgSource(fileName, "", &program_length);
if(source == NULL)
{
printf("ERROR : OpenCL can't load file %s\n", fileName);
}
// oclCHECKERROR (source == NULL, oclFALSE);
btAssert(source != NULL);
// create the program
printf("OpenCL compiles %s ...", fileName);
m_cpProgram = clCreateProgramWithSource(m_cxMainContext, 1, (const char**)&source, &program_length, &ciErrNum);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
free(source);
// build the program
ciErrNum = clBuildProgram(m_cpProgram, 0, NULL, "-I .", NULL, NULL);
if(ciErrNum != CL_SUCCESS)
{
// write out standard error
// oclLog(LOGBOTH | ERRORMSG, (double)ciErrNum, STDERROR);
// write out the build log and ptx, then exit
char cBuildLog[10240];
// char* cPtx;
// size_t szPtxLength;
clGetProgramBuildInfo(m_cpProgram, btOclGetFirstDev(m_cxMainContext), CL_PROGRAM_BUILD_LOG,
sizeof(cBuildLog), cBuildLog, NULL );
// oclGetProgBinary(m_cpProgram, oclGetFirstDev(m_cxMainContext), &cPtx, &szPtxLength);
// oclLog(LOGBOTH | CLOSELOG, 0.0, "\n\nLog:\n%s\n\n\n\n\nPtx:\n%s\n\n\n", cBuildLog, cPtx);
printf("\n\n%s\n\n\n", cBuildLog);
printf("Press ENTER key to terminate the program\n");
getchar();
exit(-1);
}
printf("OK\n");
// create the kernels
postInitDeviceData();
initKernel(PARTICLES_KERNEL_COMPUTE_CELL_ID, "kComputeCellId");
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_COMPUTE_CELL_ID].m_kernel, 1, sizeof(cl_mem), (void*) &m_dPos);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_COMPUTE_CELL_ID].m_kernel, 2, sizeof(cl_mem), (void*) &m_dPosHash);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_COMPUTE_CELL_ID].m_kernel, 3, sizeof(cl_mem), (void*) &m_dSimParams);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
initKernel(PARTICLES_KERNEL_INTEGRATE_MOTION, "kIntegrateMotion");
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_INTEGRATE_MOTION].m_kernel, 1, sizeof(cl_mem), (void *) &m_dPos);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_INTEGRATE_MOTION].m_kernel, 2, sizeof(cl_mem), (void *) &m_dVel);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_INTEGRATE_MOTION].m_kernel, 3, sizeof(cl_mem), (void *) &m_dSimParams);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
initKernel(PARTICLES_KERNEL_CLEAR_CELL_START, "kClearCellStart");
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_CLEAR_CELL_START].m_kernel, 0, sizeof(int), (void *) &m_numGridCells);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_CLEAR_CELL_START].m_kernel, 1, sizeof(cl_mem), (void*) &m_dCellStart);
initKernel(PARTICLES_KERNEL_FIND_CELL_START, "kFindCellStart");
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 1, sizeof(cl_mem), (void*) &m_dPosHash);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 2, sizeof(cl_mem), (void*) &m_dCellStart);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 3, sizeof(cl_mem), (void*) &m_dPos);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 4, sizeof(cl_mem), (void*) &m_dVel);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 5, sizeof(cl_mem), (void*) &m_dSortedPos);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 6, sizeof(cl_mem), (void*) &m_dSortedVel);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
initKernel(PARTICLES_KERNEL_COLLIDE_PARTICLES, "kCollideParticles");
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_COLLIDE_PARTICLES].m_kernel, 1, sizeof(cl_mem), (void*) &m_dVel);
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_COLLIDE_PARTICLES].m_kernel, 2, sizeof(cl_mem), (void*) &m_dSortedPos);
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_COLLIDE_PARTICLES].m_kernel, 3, sizeof(cl_mem), (void*) &m_dSortedVel);
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_COLLIDE_PARTICLES].m_kernel, 4, sizeof(cl_mem), (void*) &m_dPosHash);
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_COLLIDE_PARTICLES].m_kernel, 5, sizeof(cl_mem), (void*) &m_dCellStart);
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_COLLIDE_PARTICLES].m_kernel, 6, sizeof(cl_mem), (void*) &m_dSimParams);
initKernel(PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_LOCAL, "kBitonicSortCellIdLocal");
initKernel(PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_LOCAL_1, "kBitonicSortCellIdLocal1");
initKernel(PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_MERGE_GLOBAL, "kBitonicSortCellIdMergeGlobal");
initKernel(PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_MERGE_LOCAL, "kBitonicSortCellIdMergeLocal");
}
