more work towards CPU version

Demos3/CpuDemos/main_opengl3core.cpp

@@ -99,11 +99,14 @@ struct EmptyDemo : public CpuDemo
 
 };
 #include "rendering/RenderDemo.h"
+#include "rigidbody/RigidBodyDemo.h"
+
 
 b3AlignedObjectArray<const char*> demoNames;
 int selectedDemo = 0;
 CpuDemo::CreateFunc* allDemos[]=
 {
+	RigidBodyDemo::MyCreateFunc,
 	RenderDemo::MyCreateFunc,
 	EmptyDemo::MyCreateFunc,
 };
@@ -623,7 +626,7 @@ int main(int argc, char* argv[])
 		bool useGpu = false;
 
 		
-		int maxObjectCapacity=128*1024;
+		int maxObjectCapacity=1024*1024;//128*1024;
 		int maxShapeCapacityInBytes=128*1024;
 
 		//maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10);

Demos3/CpuDemos/rendering/RenderDemo.cpp

@@ -16,7 +16,9 @@ static b3Vector4 colors[4] =
 void    RenderDemo::initPhysics(const ConstructionInfo& ci)
 {
 	m_instancingRenderer = ci.m_instancingRenderer;
-
+	m_instancingRenderer ->setCameraDistance(10);
+	float target[4]={0,0,0,0};
+	m_instancingRenderer->setCameraTargetPosition(target);
 	int strideInBytes = 9*sizeof(float);
 	int numVertices = sizeof(cube_vertices)/strideInBytes;
 	int numIndices = sizeof(cube_indices)/sizeof(int);

Demos3/CpuDemos/rigidbody/RigidBodyDemo.cpp

@@ -0,0 +1,154 @@
+#include "RigidBodyDemo.h"
+#include "OpenGLWindow/GLInstancingRenderer.h"
+#include "OpenGLWindow/ShapeData.h"
+#include "Bullet3Common/b3Quaternion.h"
+
+#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h"
+#include "Bullet3Dynamics/b3CpuRigidBodyPipeline.h"
+#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/b3CpuCollisionWorld.h"
+
+static b3Vector4 colors[4] =
+{
+	b3MakeVector4(1,0,0,1),
+	b3MakeVector4(0,1,0,1),
+	b3MakeVector4(0,1,1,1),
+	b3MakeVector4(1,1,0,1),
+};
+
+
+
+void    RigidBodyDemo::initPhysics(const ConstructionInfo& ci)
+{
+	m_instancingRenderer = ci.m_instancingRenderer;
+
+	int x_dim=30;
+	int y_dim=30;
+	int z_dim=30;
+
+	int aabbCapacity = x_dim*y_dim*z_dim+1;
+
+	b3Config config;
+
+	m_bp = new b3DynamicBvhBroadphase(aabbCapacity);
+	m_np = new b3CpuNarrowPhase(config);
+	m_cd = new b3CpuCollisionWorld(m_bp,m_np);
+	m_rb = new b3CpuRigidBodyPipeline(m_np,m_bp, config);
+
+
+
+
+
+	m_instancingRenderer ->setCameraDistance(100);
+	float target[4]={0,0,0,0};
+	m_instancingRenderer->setCameraTargetPosition(target);
+	int strideInBytes = 9*sizeof(float);
+	int numVertices = sizeof(cube_vertices)/strideInBytes;
+	int numIndices = sizeof(cube_indices)/sizeof(int);
+	int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
+	
+	
+
+
+	
+
+	
+	{
+		static int curColor=0;
+		b3Vector4 color = colors[curColor];
+		curColor++;
+		curColor&=3;
+
+		b3Vector3 position = b3MakeVector3(0,0,0);//((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
+		b3Quaternion orn(0,0,0,1);
+		b3Vector4 scaling=b3MakeVector4(100,1,100,1);
+		int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		float mass=0.f;
+		int collidableIndex = m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
+		int bodyIndex = m_rb->getNumBodies();
+		m_cd->addCollidable(bodyIndex,collidableIndex,position,orn);
+		
+
+		int userData=-1;
+		int rbid = m_rb->registerPhysicsInstance(mass, position, orn, collidableIndex, userData);
+	}
+
+	ci.m_instancingRenderer->writeTransforms();
+
+	{
+		
+		b3Vector4 scaling=b3MakeVector4(1,1,1,1);
+		int collidableIndex = m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
+		for (int x=-x_dim/2;x<x_dim/2;x++)
+		{
+			//for (int y=-y_dim/2;y<y_dim/2;y++)
+			for (int y=1;y<y_dim;y++)
+			{
+				for (int z=-z_dim/2;z<z_dim/2;z++)
+				{
+					static int curColor=0;
+					b3Vector4 color = colors[curColor];
+					curColor++;
+					curColor&=3;
+
+					b3Vector3 position = b3MakeVector3(x*2,y*2,z*2);
+					b3Quaternion orn(0,0,0,1);
+					
+					int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					float mass=1.f;
+					
+					int userData=-1;
+					int bodyIndex = m_rb->getNumBodies();
+					m_cd->addCollidable(bodyIndex,collidableIndex,position,orn);
+					int rbid = m_rb->registerPhysicsInstance(mass, position, orn, collidableIndex, userData);
+					
+				}
+			}
+		}
+	}
+
+	
+	printf("num objects = %d\n",m_rb->getNumBodies());
+
+	
+}
+	
+void    RigidBodyDemo::exitPhysics()
+{
+	delete m_rb;
+	m_rb=0;
+	delete m_np;
+	m_np=0;
+	delete m_bp;
+	m_bp=0;
+}
+	
+void RigidBodyDemo::renderScene()
+{
+	{
+		B3_PROFILE("writeSingleInstanceTransformToCPU");
+		const b3RigidBodyData* bodies = m_rb->getBodyBuffer();
+		//sync transforms
+		int numBodies = m_rb->getNumBodies();
+		for (int i=0;i<numBodies;i++)
+		{
+			m_instancingRenderer->writeSingleInstanceTransformToCPU(&bodies[i].m_pos.x,bodies[i].m_quat,i);
+		}
+	}
+	{
+		B3_PROFILE("writeTransforms");
+		m_instancingRenderer->writeTransforms();
+	}
+	{
+		B3_PROFILE("renderScene");
+		m_instancingRenderer->renderScene();
+	}
+}
+	
+void RigidBodyDemo::clientMoveAndDisplay()
+{
+	m_rb->stepSimulation(1.f/60.f);
+}

Demos3/CpuDemos/rigidbody/RigidBodyDemo.h

@@ -0,0 +1,47 @@
+#ifndef B3_RIGID_BODY_DEMO_H
+#define B3_RIGID_BODY_DEMO_H
+
+#include "../CpuDemo.h"
+
+struct RigidBodyDemo : public CpuDemo
+{
+
+	struct b3DynamicBvhBroadphase* m_bp;
+	struct b3CpuNarrowPhase* m_np;
+	class b3CpuCollisionWorld* m_cd;
+
+	struct b3CpuRigidBodyPipeline* m_rb;
+
+	GLInstancingRenderer*   m_instancingRenderer;
+			
+	virtual void    initPhysics(const ConstructionInfo& ci);
+	
+	virtual void    exitPhysics();
+	
+	virtual void renderScene();
+	
+	virtual void clientMoveAndDisplay();
+	virtual const char* getName() {
+		return "RigidBodyDemo";
+	}
+	virtual bool	mouseMoveCallback(float x,float y)
+	{
+		return false;
+	}
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return false;
+	}
+	virtual bool	keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	static CpuDemo* MyCreateFunc()
+	{
+		CpuDemo* demo = new RigidBodyDemo;
+		return demo;
+	}
+};
+#endif //B3_RIGID_BODY_DEMO_H
+

Demos3/GpuDemos/constraints/ConstraintsDemo.cpp

@@ -27,7 +27,7 @@ subject to the following restrictions:
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "../rigidbody/GpuRigidBodyDemoInternalData.h"
 #include "../gwenUserInterface.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
@@ -36,7 +36,7 @@ subject to the following restrictions:
 
 #include "OpenGLWindow/GLPrimitiveRenderer.h"
 #include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 
 #include "OpenGLWindow/GLRenderToTexture.h"
 

Demos3/GpuDemos/main_opengl3core.cpp

@@ -84,7 +84,7 @@ enum
 };
 
 b3AlignedObjectArray<const char*> demoNames;
-int selectedDemo = 0;
+int selectedDemo = 1;
 GpuDemo::CreateFunc* allDemos[]=
 {
 		//ConcaveCompound2Scene::MyCreateFunc,

Demos3/GpuDemos/raytrace/RaytracedShadowDemo.cpp

@@ -17,13 +17,13 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "../rigidbody/GpuRigidBodyDemoInternalData.h"
 #include "../gwenUserInterface.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
 #include "OpenGLWindow/GLPrimitiveRenderer.h"
 #include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 
 #include "OpenGLWindow/GLRenderToTexture.h"
 

Demos3/GpuDemos/rigidbody/BulletDataExtractor.cpp

@@ -21,7 +21,7 @@ extern bool enableExperimentalCpuConcaveCollision;
 #include "OpenGLWindow/GLInstancingRenderer.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3Matrix3x3.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 #include "OpenGLWindow/ShapeData.h"
 
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"

Demos3/GpuDemos/rigidbody/ConcaveScene.cpp

@@ -13,11 +13,11 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "GpuRigidBodyDemoInternalData.h"
 #include"../../Wavefront/tiny_obj_loader.h"
 #include "Bullet3Common/b3Transform.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 
 #include "../gwenUserInterface.h"
 #include "OpenGLWindow/GLInstanceGraphicsShape.h"

Demos3/GpuDemos/rigidbody/GpuCompoundScene.cpp

@@ -13,7 +13,7 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "GpuRigidBodyDemoInternalData.h"
 #include "Bullet3Common/b3Transform.h"
 

Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp

@@ -13,13 +13,13 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "GpuRigidBodyDemoInternalData.h"
 #include "../gwenUserInterface.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
 #include "OpenGLWindow/GLPrimitiveRenderer.h"
 #include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h"
 
 #include "OpenGLWindow/GLRenderToTexture.h"

Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp

@@ -11,7 +11,7 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "GpuRigidBodyDemoInternalData.h"
 #include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"

Demos3/GpuDemos/rigidbody/GpuRigidBodyDemoInternalData.h

@@ -4,7 +4,7 @@
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3Common/b3Vector3.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 
 struct	GpuRigidBodyDemoInternalData
 {

Demos3/GpuDemos/rigidbody/GpuSphereScene.cpp

@@ -12,7 +12,7 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "GpuRigidBodyDemoInternalData.h"
 #include "../gwenUserInterface.h"
 

Demos3/GpuDemos/softbody/GpuSoftBodyDemo.cpp

@@ -11,7 +11,7 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
-#include "Bullet3OpenCL/RigidBody/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "GpuSoftBodyDemoInternalData.h"
 #include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
 #include "stb_image/stb_image.h"