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work-in-progress Bullet 3.x GPU raytest

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work-in-progress P2P constraint for b3GpuDynamicsWorld
This commit is contained in:
erwincoumans
2013-06-17 13:47:35 -07:00
parent 02a858e7c1
commit 161c48d331
14 changed files with 192 additions and 60 deletions
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78
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -8,13 +8,16 @@
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "LinearMath/btQuickprof.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Common/b3Logging.h"
#ifdef _WIN32
@@ -217,7 +220,10 @@ int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
const float scaling[4]={1,1,1,1};
//bool noHeightField=true;
int gpuShapeIndex = m_np->registerConvexHullShape(&tmpVertices[0].getX(), strideInBytes, numVertices, scaling);
//int gpuShapeIndex = m_np->registerConvexHullShape(&tmpVertices[0].getX(), strideInBytes, numVertices, scaling);
const float* verts = numVertices? &tmpVertices[0].getX() : 0;
int gpuShapeIndex = m_np->registerConvexHullShape(verts,strideInBytes, numVertices, scaling);
m_uniqueShapeMapping.push_back(gpuShapeIndex);
} else
{
@@ -385,7 +391,9 @@ void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
btVector3 pos = body->getWorldTransform().getOrigin();
btQuaternion orn = body->getWorldTransform().getRotation();
m_rigidBodyPipeline->registerPhysicsInstance(mass,&pos.getX(),&orn.getX(),gpuShapeIndex,m_collisionObjects.size(),false);
int bodyIndex = m_rigidBodyPipeline->registerPhysicsInstance(mass,&pos.getX(),&orn.getX(),gpuShapeIndex,m_collisionObjects.size(),false);
body->setUserIndex(bodyIndex);
m_collisionObjects.push_back(body);
//btDynamicsWorld::addCollisionObject(
@@ -397,6 +405,8 @@ void b3GpuDynamicsWorld::removeRigidBody(btRigidBody* colObj)
m_cpuGpuSync = true;
btDynamicsWorld::removeCollisionObject(colObj);
int bodyIndex = colObj->getUserIndex();
if (getNumCollisionObjects()==0)
{
m_uniqueShapes.resize(0);
@@ -433,6 +443,32 @@ void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
b3AlignedObjectArray<b3RayInfo> rays;
b3RayInfo ray;
ray.m_from = (const b3Vector3&)rayFromWorld;
ray.m_to = (const b3Vector3&)rayToWorld;
rays.push_back(ray);
b3AlignedObjectArray<b3RayHit> hitResults;
b3RayHit hit;
hit.m_hitFraction = 1.f;
hitResults.push_back(hit);
m_rigidBodyPipeline->castRays(rays,hitResults);
b3Printf("hit = %f\n", hitResults[0].m_hitFraction);
if (hitResults[0].m_hitFraction<1.f)
{
b3Assert(hitResults[0].m_hitResult0 >=0);
b3Assert(hitResults[0].m_hitResult0 < m_collisionObjects.size());
b3Vector3 hitNormalLocal = hitResults[0].m_hitNormal;
btCollisionObject* colObj = m_collisionObjects[hitResults[0].m_hitResult0];
LocalRayResult rayResult(colObj,0,(btVector3&)hitNormalLocal,hitResults[0].m_hitFraction);
rayResult.m_hitFraction = hitResults[0].m_hitFraction;
resultCallback.addSingleResult(rayResult,true);
}
}
@@ -462,3 +498,41 @@ void b3GpuDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
}
}
void b3GpuDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies)
{
m_constraints.push_back(constraint);
switch (constraint->getConstraintType())
{
case POINT2POINT_CONSTRAINT_TYPE:
{
b3Assert(constraint->getUserConstraintId()==-1);
btPoint2PointConstraint* p = (btPoint2PointConstraint*) constraint;
int rbA = p->getRigidBodyA().getUserIndex();
int rbB = p->getRigidBodyB().getUserIndex();
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)p->getPivotInB());
constraint->setUserConstraintPtr(p2p);
m_rigidBodyPipeline->addConstraint(p2p);
break;
}
default:
b3Warning("Warning: b3GpuDynamicsWorld::addConstraint with unsupported constraint type\n");
};
}
void b3GpuDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
{
b3TypedConstraint* c = (b3TypedConstraint*) constraint->getUserConstraintPtr();
if (c)
{
this->m_rigidBodyPipeline->removeConstraint(c);
delete c;
}
m_constraints.remove(constraint);
}