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support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree.

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Remove constructor from b3Vector3,  to make it a POD type, so it can go into a union (and more compatible with OpenCL float4)
Use b3MakeVector3 instead of constructor
Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
Improve PairBench a bit, show timings and #overlapping pairs.
Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
This commit is contained in:
erwincoumans
2013-08-20 03:19:59 -07:00
parent 41ba48b10d
commit 677722bba3
62 changed files with 1827 additions and 564 deletions
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76
Demos3/GpuDemos/broadphase/PairBench.cpp
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@@ -10,6 +10,7 @@
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "../../../btgui/Timing/b3Quickprof.h"
#include "../gwenUserInterface.h"
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
@@ -49,7 +50,7 @@ __kernel void
{
int nodeID = get_global_id(0);
float timeStepPos = 0.000166666;
float mAmplitude = 86.f;
float mAmplitude = 51.f;
if( nodeID < numNodes )
{
pBodyTimes[nodeID] += timeStepPos;
@@ -102,6 +103,8 @@ struct PairBenchInternalData
cl_kernel m_colorPairsKernel;
cl_kernel m_updateAabbSimple;
GwenUserInterface* m_gui;
b3OpenCLArray<b3Vector4>* m_instancePosOrnColor;
b3OpenCLArray<float>* m_bodyTimes;
PairBenchInternalData()
@@ -149,6 +152,9 @@ static void PairKeyboardCallback(int key, int state)
void PairBench::initPhysics(const ConstructionInfo& ci)
{
m_data->m_gui = ci.m_gui;
initCL(ci.preferredOpenCLDeviceIndex,ci.preferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
{
@@ -190,13 +196,13 @@ void PairBench::initPhysics(const ConstructionInfo& ci)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
b3Vector3 position(k*3,i*3,j*3);
b3Vector3 position=b3MakeVector3(k*3,i*3,j*3);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,1,0,1);
b3Vector4 scaling(1,1,1,1);
b3Vector4 color=b3MakeVector4(0,1,0,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
b3Vector3 aabbHalfExtents(1,1,1);
b3Vector3 aabbHalfExtents=b3MakeVector3(1,1,1);
b3Vector3 aabbMin = position-aabbHalfExtents;
b3Vector3 aabbMax = position+aabbHalfExtents;
@@ -210,7 +216,7 @@ void PairBench::initPhysics(const ConstructionInfo& ci)
float camPos[4]={15.5,12.5,15.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(60);
m_instancingRenderer->setCameraDistance(130);
m_instancingRenderer->writeTransforms();
m_data->m_broadphaseGPU->writeAabbsToGpu();
@@ -300,7 +306,11 @@ void PairBench::clientMoveAndDisplay()
}
}
bool updateOnGpu=true;
if (updateOnGpu)
{
B3_PROFILE("updateOnGpu");
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setConst( numObjects);
@@ -308,16 +318,66 @@ void PairBench::clientMoveAndDisplay()
launcher.launch1D( numObjects);
clFinish(m_clData->m_clQueue);
}
} else
{
B3_PROFILE("updateOnCpu");
int allAabbs = m_data->m_broadphaseGPU->m_allAabbsCPU.size();
b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
m_data->m_instancePosOrnColor->copyToHost(posOrnColorsCpu);
for (int nodeId=0;nodeId<numObjects;nodeId++)
{
{
b3Vector3 position = posOrnColorsCpu[nodeId];
b3Vector3 halfExtents = b3MakeFloat4(1.01f,1.01f,1.01f,0.f);
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_minVec = position-halfExtents;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_minIndices[3] = nodeId;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_maxVec = position+halfExtents;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_signedMaxIndices[3]= nodeId;
}
}
m_data->m_broadphaseGPU->writeAabbsToGpu();
}
unsigned long dt = 0;
{
b3Clock cl;
dt = cl.getTimeMicroseconds();
B3_PROFILE("calculateOverlappingPairs");
m_data->m_broadphaseGPU->calculateOverlappingPairs(64*numObjects);
int sz = sizeof(b3Int4)*64*numObjects;
m_data->m_broadphaseGPU->calculateOverlappingPairs(16*numObjects);
//int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
//printf("numPairs = %d\n", numPairs);
dt = cl.getTimeMicroseconds()-dt;
}
if (m_data->m_gui)
{
int allAabbs = m_data->m_broadphaseGPU->m_allAabbsCPU.size();
int numOverlap = m_data->m_broadphaseGPU->getNumOverlap();
float time = dt/1000.f;
//printf("time = %f\n", time);
char msg[1024];
sprintf(msg,"#objects = %d, #overlapping pairs = %d, time = %f ms", allAabbs,numOverlap,time );
//printf("msg=%s\n",msg);
m_data->m_gui->setStatusBarMessage(msg,true);
}
if (animate)
{
B3_PROFILE("animate");
GLint err = glGetError();
assert(err==GL_NO_ERROR);
//color overlapping objects in red