fix some out-of-bounds error in the OpenCL rigid body pipeline
re-enable an OpenCL/gpu rigid body example (box-box stack)
This commit is contained in:
erwincoumans
651
examples/OpenCL/rigidbody/GpuConvexScene.cpp
Normal file
651
examples/OpenCL/rigidbody/GpuConvexScene.cpp
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@@ -0,0 +1,651 @@
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#include "GpuConvexScene.h"
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#include "GpuRigidBodyDemo.h"
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#include "../OpenGLWindow/ShapeData.h"
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#include "../OpenGLWindow/GLInstancingRenderer.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "../CommonInterfaces/CommonWindowInterface.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "../CommonOpenCL/GpuDemoInternalData.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "../OpenGLWindow/OpenGLInclude.h"
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#include "../OpenGLWindow/GLInstanceRendererInternalData.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
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#include "GpuRigidBodyDemoInternalData.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
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#include "../OpenGLWindow/GLPrimitiveRenderer.h"
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#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h"
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#include "../OpenGLWindow/GLRenderToTexture.h"
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static bool gUseInstancedCollisionShapes = true;
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extern int gGpuArraySizeX;
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extern int gGpuArraySizeY;
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extern int gGpuArraySizeZ;
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#include "GpuRigidBodyDemo.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
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class GpuConvexScene : public GpuRigidBodyDemo
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{
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protected:
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class b3GpuRaycast* m_raycaster;
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public:
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GpuConvexScene(GUIHelperInterface* helper)
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:GpuRigidBodyDemo(helper), m_raycaster(0)
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{
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}
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virtual ~GpuConvexScene(){}
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virtual const char* getName()
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{
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return "Tetrahedra";
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}
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virtual void setupScene();
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virtual void destroyScene();
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virtual int createDynamicsObjects();
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virtual int createDynamicsObjects2(const float* vertices, int numVertices, const int* indices,int numIndices);
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virtual void createStaticEnvironment();
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};
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class GpuConvexPlaneScene : public GpuConvexScene
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{
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public:
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GpuConvexPlaneScene(GUIHelperInterface* helper)
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:GpuConvexScene(helper){}
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virtual ~GpuConvexPlaneScene(){}
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virtual const char* getName()
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{
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return "ConvexOnPlane";
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}
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virtual void createStaticEnvironment();
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};
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class GpuBoxPlaneScene : public GpuConvexPlaneScene
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{
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public:
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GpuBoxPlaneScene(GUIHelperInterface* helper):GpuConvexPlaneScene(helper){}
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virtual ~GpuBoxPlaneScene(){}
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virtual const char* getName()
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{
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return "BoxBox";
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}
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virtual int createDynamicsObjects();
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};
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class GpuTetraScene : public GpuConvexScene
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{
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protected:
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void createFromTetGenData(const char* ele, const char* node);
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public:
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virtual const char* getName()
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{
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return "TetraBreakable";
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}
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virtual int createDynamicsObjects();
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};
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1,0,0,1),
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b3MakeVector4(0,1,0,1),
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b3MakeVector4(0,1,1,1),
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b3MakeVector4(1,1,0,1),
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};
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void GpuConvexScene::setupScene()
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{
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m_raycaster = new b3GpuRaycast(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
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int index=0;
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createStaticEnvironment();
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index+=createDynamicsObjects();
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m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
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float camPos[4]={0,0,0,0};//ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(camPos[0],camPos[1],camPos[2]);
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m_instancingRenderer->getActiveCamera()->setCameraDistance(150);
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//m_instancingRenderer->setCameraYaw(85);
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m_instancingRenderer->getActiveCamera()->setCameraYaw(30);
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m_instancingRenderer->getActiveCamera()->setCameraPitch(225);
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m_instancingRenderer->updateCamera();
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char msg[1024];
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int numInstances = index;
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sprintf(msg,"Num objects = %d",numInstances);
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b3Printf(msg);
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//if (ci.m_gui)
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// ci.m_gui->setStatusBarMessage(msg,true);
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}
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void GpuConvexScene::destroyScene()
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{
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delete m_raycaster;
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m_raycaster = 0;
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}
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int GpuConvexScene::createDynamicsObjects()
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{
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int strideInBytes = 9*sizeof(float);
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/*int numVertices = sizeof(barrel_vertices)/strideInBytes;
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int numIndices = sizeof(barrel_indices)/sizeof(int);
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return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices);
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*/
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int numVertices = sizeof(tetra_vertices)/strideInBytes;
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int numIndices = sizeof(tetra_indices)/sizeof(int);
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return createDynamicsObjects2(tetra_vertices,numVertices,tetra_indices,numIndices);
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}
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int GpuBoxPlaneScene::createDynamicsObjects()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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return createDynamicsObjects2(cube_vertices_textured,numVertices,cube_indices,numIndices);
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}
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int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertices, const int* indices, int numIndices)
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{
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int strideInBytes = 9*sizeof(float);
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int textureIndex = -1;
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if (0)
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{
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int width,height,n;
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const char* filename = "data/cube.png";
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const unsigned char* image=0;
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const char* prefix[]={"./","../","../../","../../../","../../../../"};
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int numprefix = sizeof(prefix)/sizeof(const char*);
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for (int i=0;!image && i<numprefix;i++)
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{
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char relativeFileName[1024];
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sprintf(relativeFileName,"%s%s",prefix[i],filename);
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image = loadImage(relativeFileName,width,height,n);
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}
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b3Assert(image);
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if (image)
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{
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textureIndex = m_instancingRenderer->registerTexture(image,width,height);
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}
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}
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int shapeId = m_instancingRenderer->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
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int group=1;
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int mask=1;
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int index=0;
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{
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int curColor = 0;
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float scaling[4] = {1,1,1,1};
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int prevBody = -1;
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int insta = 0;
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b3ConvexUtility* utilPtr = new b3ConvexUtility();
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{
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b3AlignedObjectArray<b3Vector3> verts;
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unsigned char* vts = (unsigned char*) vertices;
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for (int i=0;i<numVertices;i++)
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{
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float* vertex = (float*) &vts[i*strideInBytes];
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verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
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}
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bool merge = true;
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if (numVertices)
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{
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utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
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}
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}
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int colIndex=-1;
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if (gUseInstancedCollisionShapes)
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colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
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//int colIndex = m_data->m_np->registerSphereShape(1);
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for (int i=0;i<gGpuArraySizeX;i++)
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{
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//printf("%d of %d\n", i, ci.arraySizeX);
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for (int j=0;j<gGpuArraySizeY;j++)
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{
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for (int k=0;k<gGpuArraySizeZ;k++)
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{
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//int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
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if (!gUseInstancedCollisionShapes)
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colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
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float mass = 1.f;
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if (j==0)//ci.arraySizeY-1)
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{
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//mass=0.f;
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}
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b3Vector3 position = b3MakeVector3(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
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//b3Vector3 position = b3MakeVector3(i*2,1+j*2,k*2);
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//b3Vector3 position=b3MakeVector3(1,0.9,1);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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b3Vector4 scalin=b3MakeVector4(1,1,1,1);
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int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
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if (prevBody>=0)
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{
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//b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
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// m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
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}
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prevBody = pid;
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index++;
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}
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}
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}
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delete utilPtr;
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}
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return index;
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}
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void GpuConvexScene::createStaticEnvironment()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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{
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b3Vector4 scaling=b3MakeVector4(400,400,400,1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position=b3MakeVector3(0,-400,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color=b3MakeVector4(0,0,1,1);
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int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
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}
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}
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void GpuConvexPlaneScene::createStaticEnvironment()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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{
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b3Vector4 scaling=b3MakeVector4(400,400,400,1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position=b3MakeVector3(0,-400,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color=b3MakeVector4(0,0,1,1);
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int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
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}
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}
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/*
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void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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{
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b3Vector4 scaling=b3MakeVector4(100,0.001,100,1);
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//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 normal=b3MakeVector3(0,1,0);
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float constant=0.f;
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int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position=b3MakeVector3(0,0,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color=b3MakeVector4(0,0,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
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}
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}
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*/
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struct TetraBunny
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{
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#include "bunny.inl"
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};
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struct TetraCube
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{
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#include "cube.inl"
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};
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static int nextLine(const char* buffer)
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{
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int numBytesRead=0;
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while (*buffer != '\n')
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{
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buffer++;
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numBytesRead++;
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}
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if (buffer[0]==0x0a)
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{
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buffer++;
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numBytesRead++;
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}
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return numBytesRead;
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}
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static float mytetra_vertices[] =
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{
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-1.f, 0, -1.f, 0.5f, 0, 1,0, 0,0,
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-1.f, 0, 1.f, 0.5f, 0, 1,0, 1,0,
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1.f, 0, 1.f, 0.5f, 0, 1,0, 1,1,
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1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1
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};
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static int mytetra_indices[]=
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{
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0,1,2,
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3,1,2,3,2,0,
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3,0,1
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};
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/* Create from TetGen .ele, .face, .node data */
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void GpuTetraScene::createFromTetGenData(const char* ele,
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const char* node)
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{
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b3Scalar scaling(10);
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b3AlignedObjectArray<b3Vector3> pos;
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int nnode=0;
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int ndims=0;
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int nattrb=0;
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int hasbounds=0;
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int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
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result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
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node += nextLine(node);
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//b3AlignedObjectArray<b3Vector3> rigidBodyPositions;
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//b3AlignedObjectArray<int> rigidBodyIds;
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pos.resize(nnode);
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for(int i=0;i<pos.size();++i)
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{
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int index=0;
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//int bound=0;
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float x,y,z;
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sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
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// sn>>index;
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// sn>>x;sn>>y;sn>>z;
|
||||
node += nextLine(node);
|
||||
|
||||
//for(int j=0;j<nattrb;++j)
|
||||
// sn>>a;
|
||||
|
||||
//if(hasbounds)
|
||||
// sn>>bound;
|
||||
|
||||
pos[index].setX(b3Scalar(x)*scaling);
|
||||
pos[index].setY(b3Scalar(y)*scaling);
|
||||
pos[index].setZ(b3Scalar(z)*scaling);
|
||||
}
|
||||
|
||||
|
||||
if(ele&&ele[0])
|
||||
{
|
||||
int ntetra=0;
|
||||
int ncorner=0;
|
||||
int neattrb=0;
|
||||
sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
|
||||
ele += nextLine(ele);
|
||||
|
||||
//se>>ntetra;se>>ncorner;se>>neattrb;
|
||||
for(int i=0;i<ntetra;++i)
|
||||
{
|
||||
int index=0;
|
||||
int ni[4];
|
||||
|
||||
//se>>index;
|
||||
//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
|
||||
sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
|
||||
ele+=nextLine(ele);
|
||||
|
||||
b3Vector3 average=b3MakeVector3(0,0,0);
|
||||
|
||||
for (int v=0;v<4;v++)
|
||||
{
|
||||
average+=pos[ni[v]];
|
||||
}
|
||||
average/=4;
|
||||
|
||||
for (int v=0;v<4;v++)
|
||||
{
|
||||
b3Vector3 shiftedPos = pos[ni[v]]-average;
|
||||
mytetra_vertices[0+v*9] = shiftedPos.getX();
|
||||
mytetra_vertices[1+v*9] = shiftedPos.getY();
|
||||
mytetra_vertices[2+v*9] = shiftedPos.getZ();
|
||||
}
|
||||
//todo: subtract average
|
||||
|
||||
int strideInBytes = 9*sizeof(float);
|
||||
int numVertices = sizeof(mytetra_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(mytetra_indices)/sizeof(int);
|
||||
int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
|
||||
int group=1;
|
||||
int mask=1;
|
||||
|
||||
|
||||
|
||||
{
|
||||
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
|
||||
int colIndex = m_data->m_np->registerConvexHullShape(&mytetra_vertices[0],strideInBytes,numVertices, scaling);
|
||||
b3Vector3 position=b3MakeVector3(0,150,0);
|
||||
// position+=average;//*1.2;//*2;
|
||||
position+=average*1.2;//*2;
|
||||
//rigidBodyPositions.push_back(position);
|
||||
b3Quaternion orn(0,0,0,1);
|
||||
|
||||
static int curColor=0;
|
||||
b3Vector4 color = colors[curColor++];
|
||||
curColor&=3;
|
||||
|
||||
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
|
||||
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
|
||||
//rigidBodyIds.push_back(pid);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
//for(int j=0;j<neattrb;++j)
|
||||
// se>>a;
|
||||
//psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
|
||||
|
||||
}
|
||||
// printf("Nodes: %u\r\n",psb->m_nodes.size());
|
||||
// printf("Links: %u\r\n",psb->m_links.size());
|
||||
// printf("Faces: %u\r\n",psb->m_faces.size());
|
||||
// printf("Tetras: %u\r\n",psb->m_tetras.size());
|
||||
|
||||
}
|
||||
|
||||
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
|
||||
m_data->m_np->writeAllBodiesToGpu();
|
||||
m_data->m_bp->writeAabbsToGpu();
|
||||
m_data->m_rigidBodyPipeline->setupGpuAabbsFull();
|
||||
m_data->m_bp->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
|
||||
|
||||
int numPairs = m_data->m_bp->getNumOverlap();
|
||||
cl_mem pairs = m_data->m_bp->getOverlappingPairBuffer();
|
||||
b3OpenCLArray<b3Int2> clPairs(m_clData->m_clContext,m_clData->m_clQueue);
|
||||
clPairs.setFromOpenCLBuffer(pairs,numPairs);
|
||||
b3AlignedObjectArray<b3Int2> allPairs;
|
||||
clPairs.copyToHost(allPairs);
|
||||
|
||||
for (int p=0;p<allPairs.size();p++)
|
||||
{
|
||||
b3Vector3 posA,posB;
|
||||
b3Quaternion ornA,ornB;
|
||||
int bodyIndexA = allPairs[p].x;
|
||||
int bodyIndexB = allPairs[p].y;
|
||||
|
||||
m_data->m_np->getObjectTransformFromCpu(posA,ornA,bodyIndexA);
|
||||
m_data->m_np->getObjectTransformFromCpu(posB,ornB,bodyIndexB);
|
||||
|
||||
b3Vector3 pivotWorld = (posA+posB)*0.5f;
|
||||
b3Transform transA,transB;
|
||||
transA.setIdentity();
|
||||
transA.setOrigin(posA);
|
||||
transA.setRotation(ornA);
|
||||
transB.setIdentity();
|
||||
transB.setOrigin(posB);
|
||||
transB.setRotation(ornB);
|
||||
b3Vector3 pivotInA = transA.inverse()*pivotWorld;
|
||||
b3Vector3 pivotInB = transB.inverse()*pivotWorld;
|
||||
|
||||
b3Transform frameInA,frameInB;
|
||||
frameInA.setIdentity();
|
||||
frameInB.setIdentity();
|
||||
frameInA.setOrigin(pivotInA);
|
||||
frameInB.setOrigin(pivotInB);
|
||||
b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
|
||||
|
||||
//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
|
||||
float breakingThreshold = 45;//37.f;
|
||||
//c->setBreakingImpulseThreshold(37.1);
|
||||
bool useGPU = true;
|
||||
if (useGPU)
|
||||
{
|
||||
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
|
||||
} else
|
||||
{
|
||||
b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);
|
||||
c->setBreakingImpulseThreshold(breakingThreshold);
|
||||
m_data->m_rigidBodyPipeline->addConstraint(c);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
printf("numPairs = %d\n",numPairs);
|
||||
|
||||
}
|
||||
|
||||
|
||||
int GpuTetraScene::createDynamicsObjects()
|
||||
{
|
||||
|
||||
//createFromTetGenData(TetraCube::getElements(),TetraCube::getNodes());
|
||||
createFromTetGenData(TetraBunny::getElements(),TetraBunny::getNodes());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
class CommonExampleInterface* OpenCLBoxBoxCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new GpuBoxPlaneScene(options.m_guiHelper);
|
||||
}
|
||||
Reference in New Issue
Block a user