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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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28
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@@ -108,10 +108,10 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
{
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
};
int curColor = 0;
@@ -127,7 +127,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
bool merge = true;
@@ -167,7 +167,7 @@ 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.arraySizeX/2*2+1+j*2.,
b3Vector3 position=b3MakeVector3(-ci.arraySizeX/2*2+1+j*2.,
10+i*ci.gapY,
(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
@@ -176,7 +176,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -193,16 +193,16 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
float breakingThreshold=44;
// c->setBreakingImpulseThreshold(breakingThreshold);
b3Vector3 pivotInA(-1.1,0,0);
b3Vector3 pivotInB (1.1,0,0);
b3Vector3 pivotInA=b3MakeVector3(-1.1,0,0);
b3Vector3 pivotInB=b3MakeVector3(1.1,0,0);
int cid = m_data->m_rigidBodyPipeline->createPoint2PointConstraint(pid,prevBody,pivotInA,pivotInB,breakingThreshold);
break;
}
case 1:
{
b3Vector3 pivotInA(-1.05,0,0);
b3Vector3 pivotInB (1.05,0,0);
b3Vector3 pivotInA=b3MakeVector3(-1.05,0,0);
b3Vector3 pivotInB=b3MakeVector3(1.05,0,0);
b3Transform frameInA,frameInB;
frameInA.setIdentity();
@@ -276,12 +276,12 @@ void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci)
{
b3Vector4 scaling(400,400,400,1);
b3Vector4 scaling=b3MakeVector4(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-405,0);
b3Vector3 position=b3MakeVector3(0,-405,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);