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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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39
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
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@@ -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);