Move some code from Branches/OpenCL to trunk, related to threading and OpenCL:
Added Demos/ThreadingDemo showing how to use the cross-platform btThreadSupportInterface under Windows. Added Demos/ParticlesOpenCL showing how to run the NVidia particle demo under OpenCL implementations by AMD, NVidia and MiniCL (CPU)
This commit is contained in:
erwin.coumans
632
Demos/ParticlesOpenCL/ParticlesDemo.cpp
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632
Demos/ParticlesOpenCL/ParticlesDemo.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#define START_POS_X btScalar(0.f)
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#define START_POS_Y btScalar(0.f)
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#define START_POS_Z btScalar(0.f)
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//#define START_POS_Y btScalar(40.f)
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//#define START_POS_Z btScalar(40.f)
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//#define START_POS_Y btScalar(0.4f)
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//#define START_POS_Z btScalar(0.4f)
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#define ARRAY_SIZE_X 32
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#define ARRAY_SIZE_Y 32
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//#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 16
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//#define ARRAY_SIZE_Z 1
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//#define DIST btScalar(2.f)
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#define DIST (DEF_PARTICLE_RADIUS * 2.f)
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#define STRESS_X 20
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//#define STRESS_Y 200
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#define STRESS_Y 640
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///The 3 following lines include the CPU implementation of the kernels, keep them in this order.
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#include "BulletMultiThreaded/btGpuDefines.h"
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#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
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#include "BulletMultiThreaded/btGpuUtilsSharedCode.h"
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#ifndef __APPLE__
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#include <GL/glew.h>
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#endif
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#include "GL_DialogDynamicsWorld.h"
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#include "GL_DialogWindow.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#include "GLDebugFont.h"
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#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include <stdio.h> //printf debugging
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#include "shaders.h"
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#include "ParticlesDemo.h"
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btScalar gTimeStep = btScalar(1./60.);
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#define SCALING btScalar(1.f)
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void ParticlesDemo::clientMoveAndDisplay()
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{
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updateCamera();
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glDisable(GL_LIGHTING);
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glColor3f(1.f, 1.f, 1.f);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_TEXTURE_2D); // we always draw wireframe in this demo
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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renderme();
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if (m_dialogDynamicsWorld)
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m_dialogDynamicsWorld->draw(gTimeStep);
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(gTimeStep,0);//ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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ms = getDeltaTimeMicroseconds();
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glFlush();
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glutSwapBuffers();
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}
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void ParticlesDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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//if (m_dialogDynamicsWorld)
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// m_dialogDynamicsWorld->draw(gTimeStep);
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glFlush();
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glutSwapBuffers();
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}
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class btNullBroadphase : public btBroadphaseInterface
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{
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public:
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btNullBroadphase()
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{
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}
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virtual ~btNullBroadphase()
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{
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}
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virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
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{
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return NULL;
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}
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
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{
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}
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
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{
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}
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virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
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{
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}
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virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0))
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{
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}
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher)
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{
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}
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virtual btOverlappingPairCache* getOverlappingPairCache()
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{
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return NULL;
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}
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virtual const btOverlappingPairCache* getOverlappingPairCache() const
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{
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return NULL;
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}
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virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
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{
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}
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virtual void resetPool(btDispatcher* dispatcher)
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{
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}
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virtual void printStats()
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{
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}
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virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
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{
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}
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};
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void ParticlesDemo::initPhysics()
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{
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setTexturing(false);
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setShadows(false);
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// setCameraDistance(80.f);
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setCameraDistance(3.0f);
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// m_cameraTargetPosition.setValue(50, 10, 0);
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m_cameraTargetPosition.setValue(0, 0, 0);
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// m_azi = btScalar(0.f);
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// m_ele = btScalar(0.f);
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m_azi = btScalar(45.f);
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m_ele = btScalar(30.f);
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setFrustumZPlanes(0.1f, 10.f);
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///collision configuration contains default setup for memory, collision setup
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btDefaultCollisionConstructionInfo dci;
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dci.m_defaultMaxPersistentManifoldPoolSize=50000;
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dci.m_defaultMaxCollisionAlgorithmPoolSize=50000;
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m_collisionConfiguration = new btDefaultCollisionConfiguration(dci);
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_pairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16))btHashedOverlappingPairCache();
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// m_broadphase = new btDbvtBroadphase(m_pairCache);
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m_broadphase = new btNullBroadphase();
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///the default constraint solver
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m_solver = new btSequentialImpulseConstraintSolver();
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m_pWorld = new btParticlesDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, 65536);
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m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
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GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,280,280,"CPU fallback");
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m_pWorld->m_useCpuControls[0] = 0;
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GL_ToggleControl* ctrl = 0;
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m_pWorld->m_useCpuControls[SIMSTAGE_INTEGRATE_MOTION] = m_dialogDynamicsWorld->createToggle(settings,"Integrate Motion");
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m_pWorld->m_useCpuControls[SIMSTAGE_COMPUTE_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Compute Cell ID");
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m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Sort Cell ID");
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m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START] = m_dialogDynamicsWorld->createToggle(settings,"Find Cell Start");
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m_pWorld->m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES] = m_dialogDynamicsWorld->createToggle(settings,"Collide Particles");
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for(int i = 1; i < SIMSTAGE_TOTAL; i++)
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{
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m_pWorld->m_useCpuControls[i]->m_active = false;
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}
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#if defined(CL_PLATFORM_MINI_CL)
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// these kernels use barrier()
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m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
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m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true;
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#endif
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#if defined(CL_PLATFORM_AMD)
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// these kernels use barrier()
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m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
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m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true;
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#endif
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m_dynamicsWorld = m_pWorld;
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m_pWorld->getSimulationIslandManager()->setSplitIslands(true);
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m_pWorld->setGravity(btVector3(0,-10.,0));
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m_pWorld->getSolverInfo().m_numIterations = 4;
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{
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// btCollisionShape* colShape = new btSphereShape(btScalar(1.0f));
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btCollisionShape* colShape = new btSphereShape(DEF_PARTICLE_RADIUS);
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m_collisionShapes.push_back(colShape);
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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btVector3 localInertia(0,0,0);
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colShape->calculateLocalInertia(mass,localInertia);
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float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
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float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
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float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
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startTransform.setOrigin(btVector3(start_x, start_y, start_z));
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
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rbInfo.m_startWorldTransform = startTransform;
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btRigidBody* body = new btRigidBody(rbInfo);
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m_pWorld->addRigidBody(body);
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init_scene_directly();
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}
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clientResetScene();
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m_pWorld->initDeviceData();
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}
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static float frand(void) { return 2.0f * (float)rand()/(float)RAND_MAX - 1.0f; }
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void ParticlesDemo::init_scene_directly()
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{
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float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
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float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
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float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
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int total = ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z;
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m_pWorld->m_hPos.resize(total);
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m_pWorld->m_hVel.resize(total);
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total = 0;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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m_pWorld->m_hVel[total] = btVector3(0., 0., 0.);
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btVector3 jitter = 0.01f * 0.03f * btVector3(frand(), frand(), frand());
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m_pWorld->m_hPos[total] = btVector3(DIST*i + start_x, DIST*k + start_y, DIST*j + start_z) + jitter;
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total++;
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}
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}
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}
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m_pWorld->m_numParticles = total;
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}
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void ParticlesDemo::clientResetScene()
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{
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static bool bFirstCall = true;
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DemoApplication::clientResetScene();
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init_scene_directly();
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if(bFirstCall)
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{
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bFirstCall = false;
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}
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else
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{
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m_pWorld->grabSimulationData();
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}
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}
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void ParticlesDemo::exitPhysics()
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{
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delete m_dialogDynamicsWorld;
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m_dialogDynamicsWorld = 0;
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//cleanup in the reverse order of creation/initialization
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int i;
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//remove the rigidbodies from the dynamics world and delete them
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for (i=m_pWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_pWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_pWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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delete m_pWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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void ParticlesDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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(void)x;
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(void)y;
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switch (key)
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{
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case 'G' :
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{
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m_drawGridMode++;
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m_drawGridMode %= 3;
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}
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break;
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case 'q' :
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exitPhysics();
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exit(0);
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break;
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default :
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{
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DemoApplication::keyboardCallback(key, x, y);
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}
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break;
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}
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if(key == ' ')
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{
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}
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}
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void ParticlesDemo::renderme()
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{
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glColor3f(1.0, 1.0, 1.0);
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glutWireCube(2.0);
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glPointSize(5.0f);
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glEnable(GL_POINT_SPRITE_ARB);
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glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
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#ifndef __APPLE__
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// glEnable(GL_VERTEX_PROGRAM_POINT_SIZE_NV);
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glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
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#endif //__APPLE__
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glDepthMask(GL_TRUE);
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glEnable(GL_DEPTH_TEST);
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glUseProgram(m_shaderProgram);
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btScalar dist = (m_glutScreenWidth > m_glutScreenHeight) ? m_glutScreenHeight : m_glutScreenWidth;
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glUniform1f( glGetUniformLocation(m_shaderProgram, "pointScale"), dist );
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// glUniform1f( glGetUniformLocation(m_shaderProgram, "pointRadius"), 0.5f );
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int numParticles = m_pWorld->getNumParticles();
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int col_vbo = m_pWorld->m_colVbo;
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int curr_vbo = m_pWorld->m_vbo;
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float sphere_rad = m_pWorld->m_particleRad;
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glUniform1f( glGetUniformLocation(m_shaderProgram, "pointRadius"), sphere_rad );
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glColor3f(1, 1, 1);
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// render from the vbo
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glBindBuffer(GL_ARRAY_BUFFER, curr_vbo);
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glVertexPointer(4, GL_FLOAT, 0, 0);
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glEnableClientState(GL_VERTEX_ARRAY);
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if(col_vbo)
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{
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glBindBufferARB(GL_ARRAY_BUFFER_ARB, col_vbo);
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glColorPointer(4, GL_FLOAT, 0, 0);
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||||
glEnableClientState(GL_COLOR_ARRAY);
|
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}
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glDrawArrays(GL_POINTS, 0, numParticles);
|
||||
glDisableClientState(GL_VERTEX_ARRAY);
|
||||
glDisableClientState(GL_COLOR_ARRAY);
|
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glUseProgram(0);
|
||||
glDisable(GL_POINT_SPRITE_ARB);
|
||||
glBindBufferARB(GL_ARRAY_BUFFER,0);
|
||||
if(m_drawGridMode)
|
||||
{
|
||||
btVector3& wmin = m_pWorld->m_worldMin;
|
||||
btVector3& wmax = m_pWorld->m_worldMax;
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||||
glBegin(GL_LINE_LOOP);
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||||
glVertex3f(wmin[0], wmin[1], wmin[2]);
|
||||
glVertex3f(wmin[0], wmax[1], wmin[2]);
|
||||
glVertex3f(wmax[0], wmax[1], wmin[2]);
|
||||
glVertex3f(wmax[0], wmin[1], wmin[2]);
|
||||
glVertex3f(wmax[0], wmin[1], wmax[2]);
|
||||
glVertex3f(wmax[0], wmax[1], wmax[2]);
|
||||
glVertex3f(wmin[0], wmax[1], wmax[2]);
|
||||
glVertex3f(wmin[0], wmin[1], wmax[2]);
|
||||
glEnd();
|
||||
glBegin(GL_LINES);
|
||||
glVertex3f(wmin[0], wmin[1], wmin[2]);
|
||||
glVertex3f(wmax[0], wmin[1], wmin[2]);
|
||||
glVertex3f(wmin[0], wmin[1], wmax[2]);
|
||||
glVertex3f(wmax[0], wmin[1], wmax[2]);
|
||||
glVertex3f(wmin[0], wmax[1], wmin[2]);
|
||||
glVertex3f(wmin[0], wmax[1], wmax[2]);
|
||||
glVertex3f(wmax[0], wmax[1], wmin[2]);
|
||||
glVertex3f(wmax[0], wmax[1], wmax[2]);
|
||||
glEnd();
|
||||
if(m_drawGridMode == 2)
|
||||
{
|
||||
int szx = m_pWorld->m_simParams.m_gridSize[0];
|
||||
int szy = m_pWorld->m_simParams.m_gridSize[1];
|
||||
glBegin(GL_LINES);
|
||||
for(int i = 1; i < (szx-1); i++)
|
||||
{
|
||||
float wgt = (float)i / (float)(szx-1);
|
||||
btVector3 vtx = wmax * wgt + wmin * (1.0f - wgt);
|
||||
glVertex3f(vtx[0], wmin[1], wmin[2]);
|
||||
glVertex3f(vtx[0], wmax[1], wmin[2]);
|
||||
}
|
||||
for(int i = 1; i < (szy-1); i++)
|
||||
{
|
||||
float wgt = (float)i / (float)(szy-1);
|
||||
btVector3 vtx = wmax * wgt + wmin * (1.0f - wgt);
|
||||
glVertex3f(wmin[0], vtx[1], wmin[2]);
|
||||
glVertex3f(wmax[0], vtx[1], wmin[2]);
|
||||
}
|
||||
glEnd();
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
|
||||
{
|
||||
setOrthographicProjection();
|
||||
int xOffset = 10.f;
|
||||
int yStart = 20.f;
|
||||
int yIncr = 20.f;
|
||||
showProfileInfo(xOffset, yStart, yIncr);
|
||||
outputDebugInfo(xOffset, yStart, yIncr);
|
||||
resetPerspectiveProjection();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ParticlesDemo::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
|
||||
{
|
||||
char buf[124];
|
||||
glDisable(GL_LIGHTING);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
sprintf(buf,"mouse move+buttons to interact");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
sprintf(buf,"space to reset");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
sprintf(buf,"cursor keys and z,x to navigate");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
sprintf(buf,"i to toggle simulation, s single step");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
sprintf(buf,"q to quit");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
sprintf(buf,"h to toggle help text");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
sprintf(buf,"p to toggle profiling (+results to file)");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
sprintf(buf,"j to toggle between demos (integration/OECake2D/OECake3D)");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
{
|
||||
sprintf(buf,"G to draw broadphase grid");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
sprintf(buf,"D and U to toggle between GPU and CPU");
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
GLuint _compileProgram(const char *vsource, const char *fsource)
|
||||
{
|
||||
GLuint vertexShader = glCreateShader(GL_VERTEX_SHADER);
|
||||
GLuint fragmentShader = glCreateShader(GL_FRAGMENT_SHADER);
|
||||
|
||||
glShaderSource(vertexShader, 1, &vsource, 0);
|
||||
glShaderSource(fragmentShader, 1, &fsource, 0);
|
||||
|
||||
glCompileShader(vertexShader);
|
||||
glCompileShader(fragmentShader);
|
||||
|
||||
GLuint program = glCreateProgram();
|
||||
|
||||
glAttachShader(program, vertexShader);
|
||||
glAttachShader(program, fragmentShader);
|
||||
|
||||
glLinkProgram(program);
|
||||
|
||||
// check if program linked
|
||||
GLint success = 0;
|
||||
glGetProgramiv(program, GL_LINK_STATUS, &success);
|
||||
|
||||
if (!success) {
|
||||
char temp[256];
|
||||
glGetProgramInfoLog(program, 256, 0, temp);
|
||||
printf("Failed to link program:\n%s\n", temp);
|
||||
glDeleteProgram(program);
|
||||
program = 0;
|
||||
}
|
||||
return program;
|
||||
}
|
||||
|
||||
|
||||
void ParticlesDemo::myinit()
|
||||
{
|
||||
DemoApplication::myinit();
|
||||
#ifndef __APPLE__
|
||||
glewInit();
|
||||
if (!glewIsSupported("GL_VERSION_2_0 GL_VERSION_1_5 GL_ARB_multitexture GL_ARB_vertex_buffer_object")) {
|
||||
fprintf(stderr, "Required OpenGL extensions missing.");
|
||||
exit(-1);
|
||||
}
|
||||
#endif //__APPLE__
|
||||
|
||||
m_shaderProgram = _compileProgram(vertexShader, spherePixelShader);
|
||||
m_pWorld->initCLKernels(m_argc, m_argv);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void ParticlesDemo::mouseFunc(int button, int state, int x, int y)
|
||||
{
|
||||
|
||||
if (!m_dialogDynamicsWorld->mouseFunc(button,state,x,y))
|
||||
{
|
||||
DemoApplication::mouseFunc(button,state,x,y);
|
||||
}
|
||||
}
|
||||
|
||||
void ParticlesDemo::mouseMotionFunc(int x,int y)
|
||||
{
|
||||
m_dialogDynamicsWorld->mouseMotionFunc(x,y);
|
||||
DemoApplication::mouseMotionFunc(x,y);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ParticlesDemo::reshape(int w, int h)
|
||||
{
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->setScreenSize(w,h);
|
||||
GlutDemoApplication::reshape(w,h);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user