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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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8
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
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@@ -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);