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Added new GPU physics demo into both trunk and branch.

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This commit is contained in:
sjbaker
2006-09-27 19:18:52 +00:00
parent e48c81c55e
commit 2b286e4748
5 changed files with 220 additions and 157 deletions
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306
Extras/GPUphysics/GPU_physics_demo.cpp
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@@ -2,18 +2,23 @@
#include "fboSupport.h"
#include "shaderSupport.h"
#define TIMESTEP 0.016f
enum DebugOptions
{
DRAW_WITHOUT_SHADERS,
DRAW_WITHOUT_PHYSICS,
DRAW_WITHOUT_COLLISIONS,
DRAW_WITHOUT_FORCES,
DRAW_ALL
} ;
inline float idToFloat ( int i, int j )
{
return float ( (i*2) & 255 ) + float ( (j*2) & 255 ) / 256.0f ;
}
static float *positionData = NULL ;
static float *rotationData = NULL ;
static float *positionData = NULL ;
static float *rotationData = NULL ;
static bool noVertexTextureSupport = false ;
static DebugOptions debugOpt = DRAW_ALL ;
@@ -63,18 +68,20 @@ float frand ( float max )
}
static GLSL_ShaderPair *velocityGenerator ;
static GLSL_ShaderPair *positionGenerator ;
static GLSL_ShaderPair *collisionGenerator ;
static GLSL_ShaderPair *cubeShader ;
static GLSL_ShaderPair *velocityGenerator ;
static GLSL_ShaderPair *positionGenerator ;
static GLSL_ShaderPair *grndCollisionGenerator ;
static GLSL_ShaderPair *forceGenerator ;
static GLSL_ShaderPair *cubeShader ;
static FrameBufferObject *position ;
static FrameBufferObject *rotation ;
static FrameBufferObject *velocity ;
static FrameBufferObject *rotvelocity ;
static FrameBufferObject *force ;
static FrameBufferObject *massXX ;
static FrameBufferObject *massSizeX ;
static FrameBufferObject *old ;
static FrameBufferObject *collisions ;
#define TEX_SIZE 128
#define NUM_CUBES ( TEX_SIZE * TEX_SIZE )
@@ -139,23 +146,16 @@ void initMotionTextures ()
velocity = NULL ;
rotvelocity = NULL ;
force = NULL ;
massXX = NULL ;
massSizeX = NULL ;
collisions = NULL ;
}
else
{
velocity = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
rotvelocity = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
if ( debugOpt == DRAW_WITHOUT_FORCES )
{
force = NULL ;
massXX = NULL ;
}
else
{
force = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
massXX = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
}
force = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
massSizeX = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
collisions = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 4, FBO_FLOAT ) ;
}
positionData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
@@ -164,30 +164,24 @@ void initMotionTextures ()
float *velocityData ;
float *rotvelocityData ;
float *forceData ;
float *massXXData ;
float *massSizeXData ;
float *collisionData ;
if ( debugOpt == DRAW_WITHOUT_PHYSICS )
{
velocityData = NULL ;
rotvelocityData = NULL ;
forceData = NULL ;
massXXData = NULL ;
massSizeXData = NULL ;
collisionData = NULL ;
}
else
{
velocityData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
rotvelocityData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
if ( debugOpt == DRAW_WITHOUT_FORCES )
{
forceData = NULL ;
massXXData= NULL ;
}
else
{
forceData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
massXXData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
}
forceData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
massSizeXData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
collisionData = new float [ TEX_SIZE * TEX_SIZE * 4 ] ;
}
/* Give the objects some initial position, rotation, mass, force, etc */
@@ -221,21 +215,47 @@ void initMotionTextures ()
rotvelocityData [ (i*TEX_SIZE + j) * 3 + 1 ] = frand ( 3.0f ) ;
rotvelocityData [ (i*TEX_SIZE + j) * 3 + 2 ] = frand ( 3.0f ) ;
if ( debugOpt != DRAW_WITHOUT_FORCES )
{
/* Zero forces (just gravity) */
forceData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0f ;
forceData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ;
forceData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ;
/* Zero forces (just gravity) */
forceData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0f ;
forceData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ;
forceData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ;
/* One kg in weight each */
massXXData [ (i*TEX_SIZE + j) * 3 + 0 ] = 1.0f ;
massXXData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ; /* Unused */
massXXData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ; /* Unused */
}
/* One kg in weight each */
massSizeXData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0005f ; /* Mass */
massSizeXData [ (i*TEX_SIZE + j) * 3 + 1 ] = 1.0f ; /* Radius */
massSizeXData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ; /* Unused */
/* Everyone collides with object 0, 1 and 2 */
/*SJB*/
collisionData [ (i*TEX_SIZE + j) * 3 + 0 ] = idToFloat ( 20, 20 ) ;
collisionData [ (i*TEX_SIZE + j) * 3 + 1 ] = idToFloat ( 20, 100 ) ;
collisionData [ (i*TEX_SIZE + j) * 3 + 2 ] = idToFloat ( 100, 20 ) ;
collisionData [ (i*TEX_SIZE + j) * 3 + 3 ] = idToFloat ( 100, 100 ) ;
}
}
if ( debugOpt != DRAW_WITHOUT_PHYSICS )
{
/*
Object zero is the 'null' object for collision detection
so put it far away and stop it from moving around.
*/
positionData [ 0 ] = 10.0f ;
positionData [ 1 ] = 10.0f ;
positionData [ 2 ] = 10.0f ;
velocityData [ 0 ] = 0.0f ;
velocityData [ 1 ] = 0.0f ;
velocityData [ 2 ] = 0.0f ;
massSizeXData [ 0 ] = 10000000.0f ; /* Mass */
massSizeXData [ 1 ] = 0.00000001f ; /* Radius */
massSizeXData [ 2 ] = 0.0f ; /* Unused */
collisionData [ 0 ] = 128.5 ; /* Not collide with self! */
collisionData [ 1 ] = 128.5 ;
collisionData [ 2 ] = 128.5 ;
collisionData [ 3 ] = 128.5 ;
}
/* Initialise the textures */
position -> fillTexture ( positionData ) ;
@@ -246,12 +266,9 @@ void initMotionTextures ()
{
velocity -> fillTexture ( velocityData ) ;
rotvelocity -> fillTexture ( rotvelocityData ) ;
if ( debugOpt != DRAW_WITHOUT_FORCES )
{
force -> fillTexture ( forceData ) ;
massXX -> fillTexture ( massXXData ) ;
}
force -> fillTexture ( forceData ) ;
massSizeX -> fillTexture ( massSizeXData ) ;
collisions -> fillTexture ( collisionData ) ;
}
}
@@ -262,35 +279,28 @@ void initPhysicsShaders ()
debugOpt == DRAW_WITHOUT_PHYSICS )
return ;
if ( debugOpt == DRAW_WITHOUT_FORCES )
{
velocityGenerator = NULL ;
}
else
{
/*
The velocity generator shader calculates:
/*
The velocity generator shader calculates:
velocity = old_velocity + delta_T * ( F / m ) ;
*/
velocity = old_velocity + delta_T * ( F / m ) ;
*/
velocityGenerator = new GLSL_ShaderPair (
"VelocityGenerator",
NULL, NULL,
"uniform vec4 g_dt ;"
"uniform sampler2D old_velocity ;"
"uniform sampler2D force ;"
"uniform sampler2D massXX ;"
"void main() {"
" gl_FragColor = vec4 ("
" texture2D ( old_velocity, gl_TexCoord[0].st ).xyz +"
" g_dt.w * ( g_dt.xyz +"
" texture2D ( force , gl_TexCoord[0].st ).xyz /"
" texture2D ( massXX , gl_TexCoord[0].st ).x),"
" 1.0 ) ; }",
"VelocityGenerator Frag Shader" ) ;
velocityGenerator = new GLSL_ShaderPair (
"VelocityGenerator",
NULL, NULL,
"uniform vec4 g_dt ;"
"uniform sampler2D old_velocity ;"
"uniform sampler2D force ;"
"uniform sampler2D massSizeX ;"
"void main() {"
" gl_FragColor = vec4 ("
" texture2D ( old_velocity, gl_TexCoord[0].st ).xyz +"
" g_dt.w * ( g_dt.xyz +"
" texture2D ( force , gl_TexCoord[0].st ).xyz /"
" texture2D ( massSizeX , gl_TexCoord[0].st ).x),"
" 1.0 ) ; }",
"VelocityGenerator Frag Shader" ) ;
assert ( velocityGenerator -> compiledOK () ) ;
}
/*
The position generater shader calculates:
@@ -315,25 +325,56 @@ void initPhysicsShaders ()
"PositionGenerator Frag Shader" ) ;
assert ( positionGenerator -> compiledOK () ) ;
if ( debugOpt == DRAW_WITHOUT_COLLISIONS )
{
collisionGenerator = NULL ;
}
else
{
collisionGenerator = new GLSL_ShaderPair (
"CollisionGenerator",
NULL, NULL,
"uniform sampler2D position ;"
"uniform sampler2D old_velocity ;"
"void main() {"
" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
" vec3 vel = texture2D ( old_velocity, gl_TexCoord[0].st ).xyz ;"
" if ( pos [ 1 ] < 0.0 ) vel *= vec3(0.90,-0.90,0.90) ;"
" gl_FragColor = vec4 ( vel, 1.0 ) ; }",
"CollisionGenerator Frag Shader" ) ;
assert ( collisionGenerator -> compiledOK () ) ;
}
forceGenerator = new GLSL_ShaderPair (
"ForceGenerator",
NULL, NULL,
"uniform sampler2D position ;"
"uniform sampler2D collisions ;"
"void main() {"
" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
" vec4 coll = texture2D ( collisions, gl_TexCoord[0].st ).xyzw ;"
" vec2 ctc ;"
" vec3 rel ;"
" float lrel ;"
" vec3 force = vec3 ( 0.0, 0.0, 0.0 ) ;"
/* First 'collision' */
" ctc = vec2 ( coll.x / 256.0, coll.x ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Second 'collision' */
" ctc = vec2 ( coll.y / 256.0, coll.y ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Third 'collision' */
" ctc = vec2 ( coll.z / 256.0, coll.z ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Fourth 'collision' */
" ctc = vec2 ( coll.w / 256.0, coll.w ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Write out results */
" gl_FragColor = vec4 ( force, 1.0 ) ;"
"}",
"ForceCollisionGenerator Frag Shader" ) ;
assert ( forceGenerator -> compiledOK () ) ;
grndCollisionGenerator = new GLSL_ShaderPair (
"GroundCollisionGenerator",
NULL, NULL,
"uniform sampler2D position ;"
"uniform sampler2D old_velocity ;"
"void main() {"
" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
" vec3 vel = texture2D ( old_velocity, gl_TexCoord[0].st ).xyz ;"
" if ( pos [ 1 ] < 0.0 ) vel *= vec3(0.90,-0.90,0.90) ;"
" gl_FragColor = vec4 ( vel, 1.0 ) ; }",
"GroundCollisionGenerator Frag Shader" ) ;
assert ( grndCollisionGenerator -> compiledOK () ) ;
}
@@ -366,10 +407,20 @@ void initCubeVBO ()
*t++ = ((float)i+0.5f)/(float)TEX_SIZE ;
*t++ = ((float)j+0.5f)/(float)TEX_SIZE ;
*c++ = frand ( 1.0f ) ;
*c++ = frand ( 1.0f ) ;
*c++ = frand ( 1.0f ) ;
*c++ = 1.0f ;
if ( (i==20||i==100) && (j==20||j==100) )
{
*c++ = 1.0f ;
*c++ = 0.0f ;
*c++ = 0.0f ;
*c++ = 1.0f ;
}
else
{
*c++ = 0.0f ;
*c++ = frand ( 1.0f ) ;
*c++ = frand ( 1.0f ) ;
*c++ = 1.0f ;
}
}
float dx, dy, dz ;
@@ -571,20 +622,22 @@ void display ( void )
{
/* Do some simple physics calculations in four stages */
if ( debugOpt != DRAW_WITHOUT_FORCES )
{
/* Copy old velocity into old. */
tmp = old ;
old = velocity ;
velocity = tmp ;
forceGenerator -> use () ;
forceGenerator -> applyTexture ( "position" , position , 0 ) ;
forceGenerator -> applyTexture ( "collisions", collisions, 1 ) ;
force -> paint () ;
velocityGenerator -> use () ;
velocityGenerator -> applyTexture ( "old_velocity", old , 0 ) ;
velocityGenerator -> applyTexture ( "force" , force , 1 ) ;
velocityGenerator -> applyTexture ( "massXX" , massXX , 2 ) ;
velocityGenerator -> setUniform4f ( "g_dt", 0.0f, -9.8f, 0.0f, 0.016f ) ;
velocity -> paint () ;
}
/* Copy old velocity into old. */
tmp = old ;
old = velocity ;
velocity = tmp ;
velocityGenerator -> use () ;
velocityGenerator -> applyTexture ( "old_velocity", old , 0 ) ;
velocityGenerator -> applyTexture ( "force" , force , 1 ) ;
velocityGenerator -> applyTexture ( "massSizeX" , massSizeX, 2 ) ;
velocityGenerator -> setUniform4f ( "g_dt", 0.0f, -9.8f, 0.0f, TIMESTEP ) ;
velocity -> paint () ;
/* Copy old position into old. */
tmp = old ;
@@ -594,21 +647,18 @@ void display ( void )
positionGenerator -> use () ;
positionGenerator -> applyTexture ( "old_position", old , 0 ) ;
positionGenerator -> applyTexture ( "velocity" , velocity, 1 ) ;
positionGenerator -> setUniform1f ( "delta_T", 0.016f ) ;
positionGenerator -> setUniform1f ( "delta_T", TIMESTEP ) ;
position -> paint () ;
if ( debugOpt != DRAW_WITHOUT_COLLISIONS )
{
/* Copy old velocity into old. */
tmp = old ;
old = velocity ;
velocity = tmp ;
/* Copy old velocity into old. */
tmp = old ;
old = velocity ;
velocity = tmp ;
collisionGenerator -> use () ;
collisionGenerator -> applyTexture ( "position" , position, 0 ) ;
collisionGenerator -> applyTexture ( "old_velocity", old , 1 ) ;
velocity -> paint () ;
}
grndCollisionGenerator -> use () ;
grndCollisionGenerator -> applyTexture ( "position" , position, 0 ) ;
grndCollisionGenerator -> applyTexture ( "old_velocity", old , 1 ) ;
velocity -> paint () ;
/* Copy old rotation into old. */
tmp = old ;
@@ -618,7 +668,7 @@ void display ( void )
positionGenerator -> use () ;
positionGenerator -> applyTexture ( "old_position", old , 0 ) ;
positionGenerator -> applyTexture ( "velocity" , rotvelocity, 1 ) ;
positionGenerator -> setUniform1f ( "delta_T", 0.016f ) ;
positionGenerator -> setUniform1f ( "delta_T", TIMESTEP ) ;
rotation -> paint () ;
/* Now render the scene using the results */
@@ -644,8 +694,6 @@ void help ()
fprintf ( stderr, "Where:\n" ) ;
fprintf ( stderr, " -s -- Draw with shaders at all\n" ) ;
fprintf ( stderr, " -p -- Draw with shaders but no physics\n" ) ;
fprintf ( stderr, " -c -- Draw with physics but no ground collisions\n" ) ;
fprintf ( stderr, " -f -- Draw with physics but no forces\n" ) ;
fprintf ( stderr, " -a -- Draw with all features enabled [default]\n" ) ;
fprintf ( stderr, " -v -- Disable vertex textures even if "
"they are supported in hardware\n" ) ;
@@ -666,8 +714,6 @@ int main ( int argc, char **argv )
{
case 's' : debugOpt = DRAW_WITHOUT_SHADERS ; break ;
case 'p' : debugOpt = DRAW_WITHOUT_PHYSICS ; break ;
case 'c' : debugOpt = DRAW_WITHOUT_COLLISIONS ; break ;
case 'f' : debugOpt = DRAW_WITHOUT_FORCES ; break ;
case 'a' : debugOpt = DRAW_ALL ; break ;
case 'v' : disableVertexTextureSupport = true ; break ;