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added CompoundDemo

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This commit is contained in:
erwin coumans
2013-03-21 17:36:52 -07:00
parent b4f9416cdf
commit 12700a7cd4
11 changed files with 355 additions and 32 deletions
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4
opencl/gpu_rigidbody/host/btConfig.h
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@@ -18,7 +18,7 @@ struct btConfig
int m_maxTriConvexPairCapacity;
btConfig()
:m_maxConvexBodies(128*1024),
:m_maxConvexBodies(32*1024),
m_maxConvexShapes(8192),
m_maxVerticesPerFace(64),
m_maxFacesPerShape(64),
@@ -26,7 +26,7 @@ struct btConfig
m_maxConvexIndices(8192),
m_maxConvexUniqueEdges(8192),
m_maxCompoundChildShapes(8192),
m_maxTriConvexPairCapacity(256*1024)
m_maxTriConvexPairCapacity(32*1024)
{
m_maxBroadphasePairs = 16*m_maxConvexBodies;
}

4
opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.cpp
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@@ -35,7 +35,7 @@ enum
};
bool gpuBatchContacts = true;
bool gpuBatchContacts = false;
bool gpuSolveConstraint = true;
@@ -611,7 +611,7 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
numNonzeroGrid++;
//printf("cpu batch\n");
int simdWidth = -1;
int simdWidth = 32;
int numBatches = sortConstraintByBatch( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
maxNumBatches = btMax(numBatches,maxNumBatches);

71
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
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@@ -9,6 +9,7 @@
#include "btConfig.h"
#include "../../gpu_sat/host/btOptimizedBvh.h"
#include "../../gpu_sat/host/btTriangleIndexVertexArray.h"
#include "BulletGeometry/btAabbUtil2.h"
struct btGpuNarrowPhaseInternalData
{
@@ -335,6 +336,76 @@ int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* utilPtr)
}
int btGpuNarrowPhase::registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes)
{
int collidableIndex = allocateCollidable();
btCollidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
col.m_shapeIndex = m_data->m_cpuChildShapes.size();
{
btAssert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
for (int i=0;i<childShapes->size();i++)
{
m_data->m_cpuChildShapes.push_back(childShapes->at(i));
}
//if writing the data directly is too slow, we can delay it and do it all at once in
m_data->m_gpuChildShapes->copyFromHost(m_data->m_cpuChildShapes);
}
col.m_numChildShapes = childShapes->size();
btSapAabb aabbWS;
btVector3 myAabbMin(1e30f,1e30f,1e30f);
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
//compute local AABB of the compound of all children
for (int i=0;i<childShapes->size();i++)
{
int childColIndex = childShapes->at(i).m_shapeIndex;
btCollidable& childCol = getCollidableCpu(childColIndex);
btSapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
btVector3 childLocalAabbMin(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
btVector3 childLocalAabbMax(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
btVector3 aMin,aMax;
btScalar margin(0.f);
btTransform childTr;
childTr.setIdentity();
childTr.setOrigin(btVector3(childShapes->at(i).m_childPosition[0],
childShapes->at(i).m_childPosition[1],
childShapes->at(i).m_childPosition[2]));
childTr.setRotation(btQuaternion(childShapes->at(i).m_childOrientation[0],
childShapes->at(i).m_childOrientation[1],
childShapes->at(i).m_childOrientation[2],
childShapes->at(i).m_childOrientation[3]));
btTransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
}
aabbWS.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbWS.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbWS.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbWS.m_minIndices[3] = 0;
aabbWS.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbWS.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbWS.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbWS.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabbWS);
m_data->m_localShapeAABBGPU->push_back(aabbWS);
clFinish(m_queue);
return collidableIndex;
}
int btGpuNarrowPhase::registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling1)
{