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tweaks to demos, add middle-mouse support,

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This commit is contained in:
erwin coumans
2013-07-21 00:36:00 -07:00
parent 5991eef749
commit 310d31f3d5
8 changed files with 326 additions and 27 deletions
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10
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
View File

@@ -53,7 +53,7 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
// m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
float camPos[4]={ci.arraySizeX,ci.gapY,ci.arraySizeZ,0};
float camPos[4]={ci.arraySizeX,0.5*ci.arraySizeY*ci.gapY,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
@@ -167,8 +167,8 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
}
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
//b3Vector3 position((-ci.arraySizeX/2*ci.gapX)+i*ci.gapX,1+j*2.,(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
b3Vector3 position(-ci.arraySizeY/2*2+1+j*2.,
10+i*ci.gapX,
b3Vector3 position(-ci.arraySizeX/2*2+1+j*2.,
10+i*ci.gapY,
(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
b3Quaternion orn(0,0,0,1);
@@ -191,7 +191,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
{
///enable next line to force CPU constraint solving
//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
float breakingThreshold=14;
float breakingThreshold=44;
// c->setBreakingImpulseThreshold(breakingThreshold);
b3Vector3 pivotInA(-1.1,0,0);
b3Vector3 pivotInB (1.1,0,0);
@@ -212,7 +212,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
float breakingThreshold = 15;//37.f;
float breakingThreshold = 45;//37.f;
//c->setBreakingImpulseThreshold(37.1);
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(pid,prevBody,pivotInA,pivotInB,relTargetAB,breakingThreshold);

30
Demos3/GpuDemos/main_opengl3core.cpp
View File

@@ -44,6 +44,7 @@
#include "constraints/ConstraintsDemo.h"
bool exportFrame=false;
bool exportMovie = false;
int frameIndex = 0;
GLRenderToTexture* renderTexture =0;
//#include "BroadphaseBenchmark.h"
@@ -82,7 +83,7 @@ int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
//ConcaveCompound2Scene::MyCreateFunc,
// GpuConvexScene::MyCreateFunc,
//ConcaveSphereScene::MyCreateFunc,
@@ -91,23 +92,24 @@ GpuDemo::CreateFunc* allDemos[]=
// ConcaveSphereScene::MyCreateFunc,
ConcaveScene::MyCreateFunc,
GpuBoxPlaneScene::MyCreateFunc,
GpuConstraintsDemo::MyCreateFunc,
//GpuConvexPlaneScene::MyCreateFunc,
GpuConvexScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
GpuSphereScene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,
ConcaveScene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,
ConcaveCompoundScene::MyCreateFunc,
// GpuCompoundPlaneScene::MyCreateFunc,
@@ -228,9 +230,15 @@ void MyKeyboardCallback(int key, int state)
{
window->setRequestExit();
}
if (key==B3G_F2)
{
if (state)
exportMovie = !exportMovie;
}
if (key==B3G_F1)
{
exportFrame = true;
if (state)
exportFrame = true;
}
if (sDemo)
sDemo->keyboardCallback(key,state);
@@ -671,7 +679,7 @@ int main(int argc, char* argv[])
bool useGpu = false;
int maxObjectCapacity=128*1024;
int maxObjectCapacity=512*1024;
maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10);
{
@@ -786,7 +794,7 @@ int main(int argc, char* argv[])
assert(err==GL_NO_ERROR);
if (exportFrame)
if (exportFrame || exportMovie)
{
if (!renderTexture)
@@ -808,7 +816,7 @@ int main(int argc, char* argv[])
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
renderTexture->init(g_OpenGLWidth,g_OpenGLHeight,renderTextureId, false);
renderTexture->init(g_OpenGLWidth,g_OpenGLHeight,renderTextureId, RENDERTEXTURE_COLOR);
}
bool result = renderTexture->enable();
@@ -870,7 +878,7 @@ int main(int argc, char* argv[])
*/
if (exportFrame)
if (exportFrame || exportMovie)
{
char fileName[1024];

13
Demos3/GpuDemos/rigidbody/ConcaveScene.cpp
View File

@@ -19,11 +19,11 @@
#include "Bullet3Common/b3Transform.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
#include "../gwenUserInterface.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define CONCAVE_GAPX 16
#define CONCAVE_GAPX 14
#define CONCAVE_GAPY 8
#define CONCAVE_GAPZ 16
#define CONCAVE_GAPZ 14
GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
@@ -224,7 +224,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
b3Vector3 shift1(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling(4,4,4,1);
b3Vector4 scaling(10,10,10,1);
// createConcaveMesh(ci,"plane100.obj",shift1,scaling);
//createConcaveMesh(ci,"plane100.obj",shift,scaling);
@@ -269,6 +269,11 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
m_instancingRenderer->setCameraPitch(45);
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(155);
char msg[1024];
int numInstances = m_data->m_rigidBodyPipeline->getNumBodies();
sprintf(msg,"Num objects = %d",numInstances);
if (ci.m_gui)
ci.m_gui->setStatusBarMessage(msg,true);
}

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

@@ -154,7 +154,7 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
{
//mass=0.f;
}
b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
//b3Vector3 position(i*2.2,10+j*1.9,k*2.2);
b3Quaternion orn(0,0,0,1);

16
btgui/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -129,7 +129,9 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
float m_mouseYpos;
bool m_mouseInitialized;
int m_leftMouseButton;
int m_middleMouseButton;
int m_rightMouseButton;
int m_altPressed;
int m_controlPressed;
@@ -150,6 +152,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_ele(25.f),
m_mouseInitialized(false),
m_leftMouseButton(0),
m_middleMouseButton(0),
m_rightMouseButton(0),
m_shadowMap(0),
m_shadowTexture(0),
@@ -209,6 +212,16 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
// {
m_ele += yDelta*MOUSE_MOVE_MULTIPLIER;
// }
}
if (m_middleMouseButton)
{
m_cameraTargetPosition += m_cameraUp * yDelta;
b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
b3Vector3 side = m_cameraUp.cross(fwd);
side.normalize();
m_cameraTargetPosition += side * xDelta;
}
if (m_rightMouseButton)
{
@@ -234,6 +247,9 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
if (button==0)
m_leftMouseButton=state;
if (button==1)
m_middleMouseButton=state;
if (button==2)
m_rightMouseButton=state;

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
View File

@@ -54,8 +54,8 @@ m_removedCountGPU(ctx,q)
cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
b3Assert(errNum==CL_SUCCESS);
//cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapFastSrc,&errNum,"",B3_BROADPHASE_SAPFAST_PATH);
cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"",B3_BROADPHASE_SAPFAST_PATH,true);
cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapFastSrc,&errNum,"",B3_BROADPHASE_SAPFAST_PATH);
//cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"",B3_BROADPHASE_SAPFAST_PATH,true);
b3Assert(errNum==CL_SUCCESS);
#ifndef __APPLE__
m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context,m_device,m_queue);

270
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFastKernels.h
View File

@@ -32,6 +32,22 @@ static const char* sapFastCL= \
" };\n"
"} btAabbCL;\n"
"\n"
"typedef struct \n"
"{\n"
" union\n"
" {\n"
" unsigned int m_key;\n"
" unsigned int x;\n"
" };\n"
"\n"
" union\n"
" {\n"
" unsigned int m_value;\n"
" unsigned int y;\n"
" \n"
" };\n"
"}b3SortData;\n"
"\n"
"\n"
"/// conservative test for overlap between two aabbs\n"
"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);\n"
@@ -48,6 +64,260 @@ static const char* sapFastCL= \
" return overlap;\n"
"}\n"
"\n"
"__kernel void computePairsIncremental3dSapKernel( __global const uint2* objectMinMaxIndexGPUaxis0,\n"
" __global const uint2* objectMinMaxIndexGPUaxis1,\n"
" __global const uint2* objectMinMaxIndexGPUaxis2,\n"
" __global const uint2* objectMinMaxIndexGPUaxis0prev,\n"
" __global const uint2* objectMinMaxIndexGPUaxis1prev,\n"
" __global const uint2* objectMinMaxIndexGPUaxis2prev,\n"
" __global const b3SortData* sortedAxisGPU0,\n"
" __global const b3SortData* sortedAxisGPU1,\n"
" __global const b3SortData* sortedAxisGPU2,\n"
" __global const b3SortData* sortedAxisGPU0prev,\n"
" __global const b3SortData* sortedAxisGPU1prev,\n"
" __global const b3SortData* sortedAxisGPU2prev,\n"
" __global int2* addedHostPairsGPU,\n"
" __global int2* removedHostPairsGPU,\n"
" volatile __global int* addedHostPairsCount,\n"
" volatile __global int* removedHostPairsCount,\n"
" int maxCapacity,\n"
" int numObjects)\n"
"{\n"
" int i = get_global_id(0);\n"
" if (i>=numObjects)\n"
" return;\n"
"\n"
" __global const uint2* objectMinMaxIndexGPU[3][2];\n"
" objectMinMaxIndexGPU[0][0]=objectMinMaxIndexGPUaxis0;\n"
" objectMinMaxIndexGPU[1][0]=objectMinMaxIndexGPUaxis1;\n"
" objectMinMaxIndexGPU[2][0]=objectMinMaxIndexGPUaxis2;\n"
" objectMinMaxIndexGPU[0][1]=objectMinMaxIndexGPUaxis0prev;\n"
" objectMinMaxIndexGPU[1][1]=objectMinMaxIndexGPUaxis1prev;\n"
" objectMinMaxIndexGPU[2][1]=objectMinMaxIndexGPUaxis2prev;\n"
"\n"
" __global const b3SortData* sortedAxisGPU[3][2];\n"
" sortedAxisGPU[0][0] = sortedAxisGPU0;\n"
" sortedAxisGPU[1][0] = sortedAxisGPU1;\n"
" sortedAxisGPU[2][0] = sortedAxisGPU2;\n"
" sortedAxisGPU[0][1] = sortedAxisGPU0prev;\n"
" sortedAxisGPU[1][1] = sortedAxisGPU1prev;\n"
" sortedAxisGPU[2][1] = sortedAxisGPU2prev;\n"
"\n"
" int m_currentBuffer = 0;\n"
"\n"
" for (int axis=0;axis<3;axis++)\n"
" {\n"
" //int i = checkObjects[a];\n"
"\n"
" unsigned int curMinIndex = objectMinMaxIndexGPU[axis][m_currentBuffer][i].x;\n"
" unsigned int curMaxIndex = objectMinMaxIndexGPU[axis][m_currentBuffer][i].y;\n"
" unsigned int prevMinIndex = objectMinMaxIndexGPU[axis][1-m_currentBuffer][i].x;\n"
" int dmin = curMinIndex - prevMinIndex;\n"
" \n"
" unsigned int prevMaxIndex = objectMinMaxIndexGPU[axis][1-m_currentBuffer][i].y;\n"
"\n"
" int dmax = curMaxIndex - prevMaxIndex;\n"
" \n"
" for (int otherbuffer = 0;otherbuffer<2;otherbuffer++)\n"
" {\n"
" if (dmin!=0)\n"
" {\n"
" int stepMin = dmin<0 ? -1 : 1;\n"
" for (int j=prevMinIndex;j!=curMinIndex;j+=stepMin)\n"
" {\n"
" int otherIndex2 = sortedAxisGPU[axis][otherbuffer][j].y;\n"
" int otherIndex = otherIndex2/2;\n"
" if (otherIndex!=i)\n"
" {\n"
" bool otherIsMax = ((otherIndex2&1)!=0);\n"
"\n"
" if (otherIsMax)\n"
" {\n"
" \n"
" bool overlap = true;\n"
"\n"
" for (int ax=0;ax<3;ax++)\n"
" {\n"
" if ((objectMinMaxIndexGPU[ax][m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].y) ||\n"
" (objectMinMaxIndexGPU[ax][m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].x))\n"
" overlap=false;\n"
" }\n"
"\n"
" // b3Assert(overlap2==overlap);\n"
"\n"
" bool prevOverlap = true;\n"
"\n"
" for (int ax=0;ax<3;ax++)\n"
" {\n"
" if ((objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].y) ||\n"
" (objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].x))\n"
" prevOverlap=false;\n"
" }\n"
" \n"
"\n"
" //b3Assert(overlap==overlap2);\n"
" \n"
"\n"
"\n"
" if (dmin<0)\n"
" {\n"
" if (overlap && !prevOverlap)\n"
" {\n"
" //add a pair\n"
" int2 newPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" newPair.x = i;\n"
" newPair.y = otherIndex;\n"
" } else\n"
" {\n"
" newPair.x = otherIndex;\n"
" newPair.y = i;\n"
" }\n"
" \n"
" {\n"
" int curPair = atomic_inc(addedHostPairsCount);\n"
" if (curPair<maxCapacity)\n"
" {\n"
" \n"
" addedHostPairsGPU[curPair].x = newPair.x;\n"
" addedHostPairsGPU[curPair].y = newPair.y;\n"
" }\n"
" }\n"
"\n"
" }\n"
" } \n"
" else\n"
" {\n"
" if (!overlap && prevOverlap)\n"
" {\n"
" \n"
" //remove a pair\n"
" int2 removedPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" removedPair.x = i;\n"
" removedPair.y = otherIndex;\n"
" } else\n"
" {\n"
" removedPair.x = otherIndex;\n"
" removedPair.y = i;\n"
" }\n"
" {\n"
" int curPair = atomic_inc(removedHostPairsCount);\n"
" if (curPair<maxCapacity)\n"
" {\n"
" \n"
" removedHostPairsGPU[curPair].x = removedPair.x;\n"
" removedHostPairsGPU[curPair].y = removedPair.y;\n"
"\n"
" }\n"
" }\n"
" }\n"
" }//otherisMax\n"
" }//if (dmin<0)\n"
" }//if (otherIndex!=i)\n"
" }//for (int j=\n"
" }\n"
" \n"
" if (dmax!=0)\n"
" {\n"
" int stepMax = dmax<0 ? -1 : 1;\n"
" for (int j=prevMaxIndex;j!=curMaxIndex;j+=stepMax)\n"
" {\n"
" int otherIndex2 = sortedAxisGPU[axis][otherbuffer][j].y;\n"
" int otherIndex = otherIndex2/2;\n"
" if (otherIndex!=i)\n"
" {\n"
" bool otherIsMin = ((otherIndex2&1)==0);\n"
" if (otherIsMin)\n"
" {\n"
" \n"
" bool overlap = true;\n"
"\n"
" for (int ax=0;ax<3;ax++)\n"
" {\n"
" if ((objectMinMaxIndexGPU[ax][m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].y) ||\n"
" (objectMinMaxIndexGPU[ax][m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].x))\n"
" overlap=false;\n"
" }\n"
" //b3Assert(overlap2==overlap);\n"
"\n"
" bool prevOverlap = true;\n"
"\n"
" for (int ax=0;ax<3;ax++)\n"
" {\n"
" if ((objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].y) ||\n"
" (objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].x))\n"
" prevOverlap=false;\n"
" }\n"
" \n"
"\n"
" if (dmax>0)\n"
" {\n"
" if (overlap && !prevOverlap)\n"
" {\n"
" //add a pair\n"
" int2 newPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" newPair.x = i;\n"
" newPair.y = otherIndex;\n"
" } else\n"
" {\n"
" newPair.x = otherIndex;\n"
" newPair.y = i;\n"
" }\n"
" {\n"
" int curPair = atomic_inc(addedHostPairsCount);\n"
" if (curPair<maxCapacity)\n"
" {\n"
" \n"
" addedHostPairsGPU[curPair].x = newPair.x;\n"
" addedHostPairsGPU[curPair].y = newPair.y;\n"
" }\n"
" }\n"
" \n"
" }\n"
" } \n"
" else\n"
" {\n"
" if (!overlap && prevOverlap)\n"
" {\n"
" //if (otherIndex2&1==0) -> min?\n"
" //remove a pair\n"
" int2 removedPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" removedPair.x = i;\n"
" removedPair.y = otherIndex;\n"
" } else\n"
" {\n"
" removedPair.x = otherIndex;\n"
" removedPair.y = i;\n"
" }\n"
" {\n"
" int curPair = atomic_inc(removedHostPairsCount);\n"
" if (curPair<maxCapacity)\n"
" {\n"
" \n"
" removedHostPairsGPU[curPair].x = removedPair.x;\n"
" removedHostPairsGPU[curPair].y = removedPair.y;\n"
" }\n"
" }\n"
" \n"
" }\n"
" }\n"
" \n"
" }//if (dmin<0)\n"
" }//if (otherIndex!=i)\n"
" }//for (int j=\n"
" }\n"
" }//for (int otherbuffer\n"
" }//for (int axis=0;\n"
"\n"
"\n"
"}\n"
"\n"
"//computePairsKernelBatchWrite\n"
"__kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"

8
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
View File

@@ -450,21 +450,21 @@ static const char* solverSetup2CL= \
"}\n"
"\n"
"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataChildShapeA(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)\n"
"void SetDeterminismSortDataChildShapeB(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
"\n"
" if( gIdx < nContacts )\n"
" {\n"
" int2 sd;\n"
" sd.x = contactsIn[gIdx].m_childIndexA;\n"
" sd.x = contactsIn[gIdx].m_childIndexB;\n"
" sd.y = gIdx;\n"
" sortDataOut[gIdx] = sd;\n"
" }\n"
"}\n"
"\n"
"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataChildShapeB(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
"void SetDeterminismSortDataChildShapeA(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
"\n"
@@ -473,7 +473,7 @@ static const char* solverSetup2CL= \
" int2 sdIn;\n"
" sdIn = sortDataInOut[gIdx];\n"
" int2 sdOut;\n"
" sdOut.x = contactsIn[sdIn.y].m_childIndexB;\n"
" sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n"
" sdOut.y = sdIn.y;\n"
" sortDataInOut[gIdx] = sdOut;\n"
" }\n"