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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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34
Demos3/GpuDemos/rigidbody/GpuSphereScene.cpp
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@@ -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);