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faster scene construction when not using instancing (avoid copy individual vertices/shapes to GPU, but do it afterwards in a batch), copy GPU data in 'writeAllBodiesToGpu' method

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add option --no_instanced_collision_shapes, this only applies to the 2 benchmark screnes at the moment
always use the user specified b3Config file, so the settings can be set at runtime, not just at compile time
adjust default constants in b3Config (needs more tweaking, ideally at run-time)
This commit is contained in:
erwin coumans
2013-06-08 11:08:44 -07:00
parent 3f10082aa3
commit 100449d76f
11 changed files with 140 additions and 61 deletions
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45
Demos3/GpuDemos/rigidbody/ConcaveScene.cpp
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@@ -18,6 +18,8 @@
#include "GpuRigidBodyDemoInternalData.h"
#include"../../Wavefront/objLoader.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define CONCAVE_GAPX 16
@@ -323,21 +325,50 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
{
int curColor = 0;
b3Vector4 colors[4] =
{
b3Vector4(1,1,1,1),
b3Vector4(1,1,0.3,1),
b3Vector4(0.3,1,1,1),
b3Vector4(0.3,0.3,1,1),
};
{
b3Vector4(1,1,1,1),
b3Vector4(1,1,0.3,1),
b3Vector4(0.3,1,1,1),
b3Vector4(0.3,0.3,1,1),
};
b3ConvexUtility* utilPtr = new b3ConvexUtility();
b3Vector4 scaling(1,1,1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
{
b3AlignedObjectArray<b3Vector3> verts;
unsigned char* vts = (unsigned char*) cube_vertices;
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
bool merge = true;
if (numVertices)
{
utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
}
}
// int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex=-1;
if (ci.m_useInstancedCollisionShapes)
colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
for (int i=0;i<ci.arraySizeX;i++)
{
for (int j=0;j<ci.arraySizeY;j++)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
if (!ci.m_useInstancedCollisionShapes)
colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
float mass = 1;
//b3Vector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);

47
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
View File

@@ -20,6 +20,7 @@
#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
#include "OpenGLWindow/GLPrimitiveRenderer.h"
#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
void GpuConvexScene::setupScene(const ConstructionInfo& ci)
@@ -88,26 +89,56 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
{
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
int curColor = 0;
float scaling[4] = {1,1,1,1};
int prevBody = -1;
int insta = 0;
int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
b3ConvexUtility* utilPtr = new b3ConvexUtility();
{
b3AlignedObjectArray<b3Vector3> verts;
unsigned char* vts = (unsigned char*) vertices;
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
bool merge = true;
if (numVertices)
{
utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
}
}
int colIndex=-1;
if (ci.m_useInstancedCollisionShapes)
colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
//int colIndex = m_data->m_np->registerSphereShape(1);
for (int i=0;i<ci.arraySizeX;i++)
{
//printf("%d of %d\n", i, ci.arraySizeX);
for (int j=0;j<ci.arraySizeY;j++)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
//int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
if (!ci.m_useInstancedCollisionShapes)
colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
float mass = 1.f;
if (j==0)//ci.arraySizeY-1)
{
@@ -128,7 +159,7 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
if (prevBody>=0)
{
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
//b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
// m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
}
prevBody = pid;

2
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -114,7 +114,7 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
m_data->m_bp = bp;
b3DynamicBvhBroadphase* broadphaseDbvt = new b3DynamicBvhBroadphase(config.m_maxConvexBodies);
m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,broadphaseDbvt);
m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,broadphaseDbvt,config);
setupScene(ci);