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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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2
Demos3/GpuDemos/rigidbody/Bullet2FileDemo.cpp
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@@ -38,7 +38,7 @@ void Bullet2FileDemo::setupScene(const ConstructionInfo& ci)
// m_loader = new b3BulletDataExtractor(*ci.m_instancingRenderer,*m_data->m_np,*m_data->m_rigidBodyPipeline);
// m_loader->convertAllObjects(bulletFile);
b3Vector3 pos(-20,10,0);
b3Vector3 pos=b3MakeVector3(-20,10,0);
ci.m_instancingRenderer->setCameraTargetPosition(pos);
ci.m_instancingRenderer->setCameraDistance(10);
}

4
Demos3/GpuDemos/rigidbody/BulletDataExtractor.cpp
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@@ -328,7 +328,7 @@ int b3BulletDataExtractor::convertCollisionShape( Bullet3SerializeBullet2::b3Co
{
for ( i=0;i<numPoints;i++)
{
b3Vector3 pt = b3Vector3(convexData->m_unscaledPointsFloatPtr[i].m_floats[0],
b3Vector3 pt = b3MakeVector3(convexData->m_unscaledPointsFloatPtr[i].m_floats[0],
convexData->m_unscaledPointsFloatPtr[i].m_floats[1],
convexData->m_unscaledPointsFloatPtr[i].m_floats[2]);//convexData->m_unscaledPointsFloatPtr[i].m_floats[3]);
@@ -591,7 +591,7 @@ GraphicsShape* b3BulletDataExtractor::createGraphicsShapeFromConvexHull(const b3
for (int f=0;f<utilPtr->m_faces.size();f++)
{
const b3MyFace& face = utilPtr->m_faces[f];
b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
b3Vector3 normal=b3MakeVector3(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face.m_indices.size()>2)
{

100
Demos3/GpuDemos/rigidbody/ConcaveScene.cpp
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@@ -47,7 +47,7 @@ GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj
//b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (1)
{
b3Vector3 normal(0,1,0);
b3Vector3 normal=b3MakeVector3(0,1,0);
int vtxBaseIndex = vertices->size();
@@ -81,9 +81,9 @@ GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj
vtx2.uv[1] = 0.5f;
b3Vector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
b3Vector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
b3Vector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
b3Vector3 v0=b3MakeVector3(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
b3Vector3 v1=b3MakeVector3(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
b3Vector3 v2=b3MakeVector3(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
normal = (v1-v0).cross(v2-v0);
normal.normalize();
@@ -163,13 +163,13 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
for (int j=0;j<3;j++)
shape->m_vertices->at(i).xyzw[j] += shift[j];
b3Vector3 vtx(shape->m_vertices->at(i).xyzw[0],
b3Vector3 vtx=b3MakeVector3(shape->m_vertices->at(i).xyzw[0],
shape->m_vertices->at(i).xyzw[1],
shape->m_vertices->at(i).xyzw[2]);
verts.push_back(vtx*scaling);
}
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,b3Vector3(1,1,1));
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,b3MakeVector3(1,1,1));
{
int strideInBytes = 9*sizeof(float);
@@ -182,12 +182,12 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
int shapeId = ci.m_instancingRenderer->registerShape(&shape->m_vertices->at(0).xyzw[0], shape->m_numvertices, &shape->m_indices->at(0), shape->m_numIndices);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0.3,0.3,1,1.f);//0.5);//1.f
b3Vector4 color=b3MakeVector4(0.3,0.3,1,1.f);//0.5);//1.f
{
float mass = 0.f;
b3Vector3 position(0,0,0);
b3Vector3 position=b3MakeVector3(0,0,0);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
@@ -222,9 +222,9 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
char* fileName = "samurai_monastry.obj";
// char* fileName = "teddy2_VHACD_CHs.obj";
b3Vector3 shift1(0,0,0);//0,230,80);//150,-100,-120);
b3Vector3 shift1=b3MakeVector3(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling(10,10,10,1);
b3Vector4 scaling=b3MakeVector4(10,10,10,1);
// createConcaveMesh(ci,"plane100.obj",shift1,scaling);
//createConcaveMesh(ci,"plane100.obj",shift,scaling);
@@ -247,12 +247,12 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
int mask=1;
int index=0;
{
b3Vector4 scaling(400,1.,400,1);
b3Vector4 scaling=b3MakeVector4(400,1.,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-2,0);
b3Vector3 position=b3MakeVector3(0,-2,0);
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);
@@ -268,7 +268,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraPitch(45);
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(155);
m_instancingRenderer->setCameraDistance(355);
char msg[1024];
int numInstances = m_data->m_rigidBodyPipeline->getNumBodies();
sprintf(msg,"Num objects = %d",numInstances);
@@ -296,15 +296,15 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
int curColor = 0;
b3Vector4 colors[4] =
{
b3Vector4(1,1,1,1),
b3Vector4(1,1,0.3,1),
b3Vector4(0.3,1,1,1),
b3Vector4(0.3,0.3,1,1),
b3MakeVector4(1,1,1,1),
b3MakeVector4(1,1,0.3,1),
b3MakeVector4(0.3,1,1,1),
b3MakeVector4(0.3,0.3,1,1),
};
b3ConvexUtility* utilPtr = new b3ConvexUtility();
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
{
b3AlignedObjectArray<b3Vector3> verts;
@@ -313,7 +313,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
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;
@@ -342,7 +342,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;
//b3Vector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
b3Vector3 position(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,3+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,3+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
@@ -380,8 +380,8 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
//char* fileName = "cube_offset.obj";
b3Vector3 shift(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling(1,1,1,1);
b3Vector3 shift=b3MakeVector3(0,0,0);//0,230,80);//150,-100,-120);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
int prefixIndex=-1;
@@ -455,7 +455,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
//for now, only support polyhedral child shapes
b3GpuChildShape child;
b3Vector3 pos(0,0,0);
b3Vector3 pos=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
for (int v=0;v<4;v++)
{
@@ -479,11 +479,11 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
}
b3Vector3 center(0,0,0);
b3Vector3 center=b3MakeVector3(0,0,0);
b3AlignedObjectArray<GLInstanceVertex> tmpVertices;
//add transformed graphics vertices and indices
b3Vector3 myScaling(50,50,50);//300,300,300);
b3Vector3 myScaling=b3MakeVector3(50,50,50);//300,300,300);
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert;
@@ -547,10 +547,10 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,0,1,1),
b3MakeVector4(0,1,1,1),
};
int curColor = 0;
@@ -564,15 +564,15 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;//j==0? 0.f : 1.f;
//b3Vector3 position(i*10*ci.gapX,j*ci.gapY,k*10*ci.gapZ);
b3Vector3 position(i*10*ci.gapX,10+j*10*ci.gapY,k*10*ci.gapZ);
b3Vector3 position=b3MakeVector3(i*10*ci.gapX,10+j*10*ci.gapY,k*10*ci.gapZ);
// b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(0,0,1),1.8);
b3Quaternion orn(b3MakeVector3(0,0,1),1.8);
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);
@@ -612,9 +612,9 @@ void ConcaveCompoundScene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector3 childPositions[3] = {
b3Vector3(0,-2,0),
b3Vector3(0,0,0),
b3Vector3(0,0,2)
b3MakeVector3(0,-2,0),
b3MakeVector3(0,0,0),
b3MakeVector3(0,0,2)
};
b3AlignedObjectArray<b3GpuChildShape> childShapes;
@@ -645,7 +645,7 @@ b3Vector3 childPositions[3] = {
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert = cubeVerts[v];
b3Vector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 vertPos=b3MakeVector3(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 newPos = tr*vertPos;
vert.xyzw[0] = newPos[0];
vert.xyzw[1] = newPos[1];
@@ -664,10 +664,10 @@ b3Vector3 childPositions[3] = {
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,0,1,1),
b3MakeVector4(0,1,1,1),
};
int curColor = 0;
@@ -680,14 +680,14 @@ b3Vector3 childPositions[3] = {
{
float mass = 1;//j==0? 0.f : 1.f;
b3Vector3 position((-ci.arraySizeX/2+i)*ci.gapX,50+j*ci.gapY,(-ci.arraySizeZ/2+k)*ci.gapZ);
b3Vector3 position=b3MakeVector3((-ci.arraySizeX/2+i)*ci.gapX,50+j*ci.gapY,(-ci.arraySizeZ/2+k)*ci.gapZ);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
b3Quaternion orn(b3MakeVector3(1,0,0),0.7);
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);
@@ -715,10 +715,10 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
{
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 index=0;
@@ -737,7 +737,7 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1.f;
b3Vector3 position(-(ci.arraySizeX/2)*8+i*8,50+j*8,-(ci.arraySizeZ/2)*8+k*8);
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*8+i*8,50+j*8,-(ci.arraySizeZ/2)*8+k*8);
//b3Vector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);
@@ -746,7 +746,7 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);

72
Demos3/GpuDemos/rigidbody/GpuCompoundScene.cpp
View File

@@ -19,6 +19,10 @@
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define NUM_COMPOUND_CHILDREN_X 4
#define NUM_COMPOUND_CHILDREN_Y 4
#define NUM_COMPOUND_CHILDREN_Z 4
void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
@@ -42,21 +46,33 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 childPositions[3] = {
/* b3Vector3 childPositions[3] = {
b3Vector3(0,-2,0),
b3Vector3(0,0,0),
b3Vector3(0,0,2)
};
*/
b3AlignedObjectArray<b3GpuChildShape> childShapes;
int numChildShapes = 3;
for (int i=0;i<numChildShapes;i++)
for (int x=0;x<NUM_COMPOUND_CHILDREN_X;x++)
for (int y=0;y<NUM_COMPOUND_CHILDREN_Y;y++)
for (int z=0;z<NUM_COMPOUND_CHILDREN_Z;z++)
{
int blax = x!=0 ?1 : 0;
int blay = y!=0 ?1 : 0;
int blaz = z!=0 ?1 : 0;
int bla=blax+blay+blaz;
if (bla!=1)
continue;
//for now, only support polyhedral child shapes
b3GpuChildShape child;
child.m_shapeIndex = childColIndex;
b3Vector3 pos = childPositions[i];
b3Vector3 pos=b3MakeVector3((x-NUM_COMPOUND_CHILDREN_X/2.f)*2,(y-NUM_COMPOUND_CHILDREN_X/2.f)*2,(z-NUM_COMPOUND_CHILDREN_X/2.f)*2);//childPositions[i];
b3Quaternion orn(0,0,0,1);
for (int v=0;v<4;v++)
{
@@ -77,7 +93,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert = cubeVerts[v];
b3Vector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 vertPos=b3MakeVector3(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 newPos = tr*vertPos;
vert.xyzw[0] = newPos[0];
vert.xyzw[1] = newPos[1];
@@ -97,10 +113,10 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,0,1,1),
b3MakeVector4(0,1,1,1),
};
int curColor = 0;
@@ -112,14 +128,14 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
{
float mass = 1;//j==0? 0.f : 1.f;
b3Vector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
b3Vector3 position=b3MakeVector3((i-ci.arraySizeX/2.)*ci.gapX,35+j*3*ci.gapY,(k-ci.arraySizeZ/2.f)*ci.gapZ);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
b3Quaternion orn(b3MakeVector3(1,0,0),0.7);
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);
@@ -134,7 +150,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(20);
m_instancingRenderer->setCameraDistance(320);
}
@@ -198,10 +214,10 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
}
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 = 1;
@@ -211,7 +227,7 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
float mass = 0.f;
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(0,-41,0);
b3Vector3 position=b3MakeVector3(0,-41,0);
b3Quaternion orn(0,0,0,1);
@@ -219,7 +235,7 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -234,17 +250,21 @@ void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int index=0;
b3Vector3 normal(0,1,0);
b3Vector3 normal=b3MakeVector3(0,1,0);
float constant=0.f;
int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Vector4 color(0,0,1,1);
b3Vector4 scaling(100,0.01,100,1);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
b3Vector4 scaling=b3MakeVector4(400,1.,400,1);
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);

39
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
View File

@@ -26,10 +26,10 @@
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),
};
void GpuConvexScene::setupScene(const ConstructionInfo& ci)
@@ -49,7 +49,7 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(120);
m_instancingRenderer->setCameraDistance(114);
//m_instancingRenderer->setCameraYaw(85);
m_instancingRenderer->setCameraYaw(30);
m_instancingRenderer->setCameraPitch(225);
@@ -123,7 +123,7 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
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;
@@ -157,15 +157,15 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
{
//mass=0.f;
}
b3Vector3 position(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
b3Vector3 position = b3MakeVector3(((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);
//b3Vector3 position=b3MakeVector3(1,0.9,1);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
b3Vector4 scalin=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);
@@ -200,12 +200,12 @@ void GpuConvexScene::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,-400,0);
b3Vector3 position=b3MakeVector3(0,-400,0);
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);
@@ -226,12 +226,12 @@ void GpuConvexPlaneScene::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,-400,0);
b3Vector3 position=b3MakeVector3(0,-400,0);
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);
@@ -281,8 +281,7 @@ static float mytetra_vertices[] =
-1.f, 0, -1.f, 0.5f, 0, 1,0, 0,0,
-1.f, 0, 1.f, 0.5f, 0, 1,0, 1,0,
1.f, 0, 1.f, 0.5f, 0, 1,0, 1,1,
1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1,
0, -1, 0 , 0.5f, 0, 1,0, 0,1
1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1
};
static int mytetra_indices[]=
@@ -355,7 +354,7 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
ele+=nextLine(ele);
b3Vector3 average(0,0,0);
b3Vector3 average=b3MakeVector3(0,0,0);
for (int v=0;v<4;v++)
{
@@ -382,9 +381,9 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
{
b3Vector4 scaling(1,1,1,1);
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&mytetra_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,150,0);
b3Vector3 position=b3MakeVector3(0,150,0);
// position+=average;//*1.2;//*2;
position+=average*1.2;//*2;
//rigidBodyPositions.push_back(position);

8
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -109,7 +109,7 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
m_data->m_config.m_maxConvexBodies = b3Max(m_data->m_config.m_maxConvexBodies,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ+10);
m_data->m_config.m_maxConvexShapes = m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxBroadphasePairs = 16*m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxBroadphasePairs = 32*m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxContactCapacity = m_data->m_config.m_maxBroadphasePairs;
@@ -249,7 +249,7 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
{
if (!m_instancingRenderer)
return b3Vector3(0,0,0);
return b3MakeVector3(0,0,0);
float top = 1.f;
float bottom = -1.f;
@@ -268,7 +268,7 @@ b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
rayForward*= farPlane;
b3Vector3 rightOffset;
b3Vector3 m_cameraUp(0,1,0);
b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
b3Vector3 vertical = m_cameraUp;
b3Vector3 hor;
@@ -390,7 +390,7 @@ bool GpuRigidBodyDemo::mouseButtonCallback(int button, int state, float x, float
b3Vector3 pivotInA = tr.inverse()*pivotInB;
if (m_data->m_pickFixedBody<0)
{
b3Vector3 pos(0,0,0);
b3Vector3 pos=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
int fixedSphere = m_data->m_np->registerConvexHullShape(0,0,0,0);//>registerSphereShape(0.1);
m_data->m_pickFixedBody = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0,pos,orn,fixedSphere,0,false);

34
Demos3/GpuDemos/rigidbody/GpuSphereScene.cpp
View File

@@ -71,10 +71,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
}
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;
@@ -84,14 +84,14 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
float mass = 0.f;
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(0,0,0);
b3Vector3 position=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
@@ -110,10 +110,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
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),
};
@@ -139,7 +139,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
int i=0,j=0,k=0;
float mass = 0.f;
b3Vector3 position(0,0,0);
b3Vector3 position=b3MakeVector3(0,0,0);
//b3Vector3 position((j&1)+i*142.2,-51+j*142.,(j&1)+k*142.2);
//b3Vector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);
@@ -148,7 +148,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(radius,radius,radius,1);
b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
@@ -161,9 +161,9 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
if (1)
{
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
b3Vector4 scaling(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
b3Vector4 scaling=b3MakeVector4(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 normal(0,-1,0);
b3Vector3 normal=b3MakeVector3(0,-1,0);
float constant=2;
@@ -173,11 +173,11 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
//int i=0;int j=0;
{
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector4 position(2*i,70+k*2,2*j+8,0);
b3Vector4 position=b3MakeVector4(2*i,70+k*2,2*j+8,0);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Quaternion orn(b3MakeVector3(1,0,0),0.3);
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(1.f,position,orn,colIndex,index,false);