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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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10
src/Bullet3Common/b3TransformUtil.h
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@@ -24,7 +24,7 @@ subject to the following restrictions:
B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents,const b3Vector3& supportDir)
{
return b3Vector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ());
}
@@ -99,12 +99,12 @@ public:
b3Quaternion orn1 = orn0.nearest(orn1a);
b3Quaternion dorn = orn1 * orn0.inverse();
angle = dorn.getAngle();
axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = b3Scalar(0.);
//check for axis length
b3Scalar len = axis.length2();
if (len < B3_EPSILON*B3_EPSILON)
axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
else
axis /= b3Sqrt(len);
}
@@ -128,12 +128,12 @@ public:
dorn.normalize();
angle = dorn.getAngle();
axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = b3Scalar(0.);
//check for axis length
b3Scalar len = axis.length2();
if (len < B3_EPSILON*B3_EPSILON)
axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
else
axis /= b3Sqrt(len);
}