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add wavefront loader

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start adding various scenes to test gpu rigid body pipeline
reserve more memory for shapes (concave triangle mesh can be huge) in GLInstancingRenderer
fix a few crashes when 0 objects
This commit is contained in:
erwin coumans
2013-03-18 20:38:40 -07:00
parent fc5e2ad5ba
commit 0fa8eccac0
23 changed files with 1721 additions and 90 deletions
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96
demo/gpudemo/rigidbody/GpuRigidBodyDemo.cpp
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@@ -13,6 +13,7 @@
#include "gpu_rigidbody/host/btGpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/btGpuNarrowPhase.h"
#include "gpu_rigidbody/host/btConfig.h"
#include "GpuRigidBodyDemoInternalData.h"
static btKeyboardCallback oldCallback = 0;
extern bool gReset;
@@ -46,26 +47,7 @@ __kernel void
);
struct GpuRigidBodyDemoInternalData
{
cl_kernel m_copyTransformsToVBOKernel;
btOpenCLArray<btVector4>* m_instancePosOrnColor;
class btGpuRigidBodyPipeline* m_rigidBodyPipeline;
btGpuNarrowPhase* m_np;
btGpuSapBroadphase* m_bp;
GpuRigidBodyDemoInternalData()
:m_instancePosOrnColor(0),
m_copyTransformsToVBOKernel(0), m_rigidBodyPipeline(0),
m_np(0),
m_bp(0)
{
}
};
GpuRigidBodyDemo::GpuRigidBodyDemo()
@@ -97,11 +79,26 @@ static void PairKeyboardCallback(int key, int state)
oldCallback(key,state);
}
void GpuRigidBodyDemo::setupScene(const ConstructionInfo& ci)
{
}
void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
{
if (ci.m_window)
{
m_window = ci.m_window;
oldCallback = ci.m_window->getKeyboardCallback();
ci.m_window->setKeyboardCallback(PairKeyboardCallback);
}
m_instancingRenderer = ci.m_instancingRenderer;
initCL(ci.preferredOpenCLDeviceIndex,ci.preferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
{
int errNum=0;
@@ -117,62 +114,13 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
m_data->m_rigidBodyPipeline = new btGpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_vertices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=10;
float scaling[4] = {1,1,1,1};
int colIndex = np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
setupScene(ci);
for (int i=0;i<ci.arraySizeX;i++)
{
for (int j=0;j<ci.arraySizeY;j++)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = j==0? 0.f : 1.f;
btVector3 position(i*ci.gapX,j*ci.gapY,k*ci.gapZ);
btQuaternion orn(1,0,0,0);
btVector4 color(0,1,0,1);
btVector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
index++;
}
}
}
np->writeAllBodiesToGpu();
bp->writeAabbsToGpu();
}
if (ci.m_window)
{
m_window = ci.m_window;
oldCallback = ci.m_window->getKeyboardCallback();
ci.m_window->setKeyboardCallback(PairKeyboardCallback);
}
m_instancingRenderer = ci.m_instancingRenderer;
float camPos[4]={65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(90);
m_instancingRenderer->writeTransforms();
@@ -204,9 +152,10 @@ void GpuRigidBodyDemo::renderScene()
void GpuRigidBodyDemo::clientMoveAndDisplay()
{
bool animate=true;
int numObjects= m_instancingRenderer->getInternalData()->m_totalNumInstances;
int numObjects= m_data->m_rigidBodyPipeline->getNumBodies();
//m_instancingRenderer->getInternalData()->m_totalNumInstances;
btVector4* positions = 0;
if (animate)
if (animate && numObjects)
{
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(btVector4);
@@ -222,9 +171,10 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
m_data->m_instancePosOrnColor->copyFromHostPointer(positions,3*numObjects,0);
}
}
m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
if (numObjects)
{
int ciErrNum = 0;
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
@@ -236,7 +186,7 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
if (animate)
if (animate && numObjects)
{
GLint err = glGetError();
assert(err==GL_NO_ERROR);