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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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6
src/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
View File

@@ -58,7 +58,7 @@ public:
const b3Matrix3x3& world2B,
const b3Vector3& inertiaInvA,
const b3Vector3& inertiaInvB)
:m_linearJointAxis(b3Vector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
:m_linearJointAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
{
m_aJ= world2A*jointAxis;
m_bJ = world2B*-jointAxis;
@@ -74,7 +74,7 @@ public:
const b3Vector3& axisInB,
const b3Vector3& inertiaInvA,
const b3Vector3& inertiaInvB)
: m_linearJointAxis(b3Vector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
: m_linearJointAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
, m_aJ(axisInA)
, m_bJ(-axisInB)
{
@@ -97,7 +97,7 @@ public:
m_aJ= world2A*(rel_pos1.cross(jointAxis));
m_bJ = world2A*(rel_pos2.cross(-jointAxis));
m_0MinvJt = inertiaInvA * m_aJ;
m_1MinvJt = b3Vector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
m_1MinvJt = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
b3Assert(m_Adiag > b3Scalar(0.0));

62
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
View File

@@ -450,16 +450,16 @@ void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody,
if (rb)
{
solverBody->m_worldTransform = getWorldTransform(rb);
solverBody->internalSetInvMass(b3Vector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->internalSetInvMass(b3MakeVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->m_originalBodyIndex = bodyIndex;
solverBody->m_angularFactor = b3Vector3(1,1,1);
solverBody->m_linearFactor = b3Vector3(1,1,1);
solverBody->m_angularFactor = b3MakeVector3(1,1,1);
solverBody->m_linearFactor = b3MakeVector3(1,1,1);
solverBody->m_linearVelocity = getLinearVelocity(rb);
solverBody->m_angularVelocity = getAngularVelocity(rb);
} else
{
solverBody->m_worldTransform.setIdentity();
solverBody->internalSetInvMass(b3Vector3(0,0,0));
solverBody->internalSetInvMass(b3MakeVector3(0,0,0));
solverBody->m_originalBodyIndex = bodyIndex;
solverBody->m_angularFactor.setValue(1,1,1);
solverBody->m_linearFactor.setValue(1,1,1);
@@ -510,12 +510,12 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
{
b3Vector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
{
b3Vector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
b3Scalar scaledDenom;
@@ -555,10 +555,10 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyCL* bodies,b3InertiaC
b3Scalar rel_vel;
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3MakeVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -590,7 +590,7 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
b3Scalar desiredVelocity, b3Scalar cfmSlip)
{
b3Vector3 normalAxis(0,0,0);
b3Vector3 normalAxis=b3MakeVector3(0,0,0);
solverConstraint.m_contactNormal = normalAxis;
@@ -612,18 +612,18 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
{
b3Vector3 ftorqueAxis1 = -normalAxis1;
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
{
b3Vector3 ftorqueAxis1 = normalAxis1;
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
}
{
b3Vector3 iMJaA = body0?getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*solverConstraint.m_relpos1CrossNormal:b3Vector3(0,0,0);
b3Vector3 iMJaB = body1?getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*solverConstraint.m_relpos2CrossNormal:b3Vector3(0,0,0);
b3Vector3 iMJaA = body0?getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*solverConstraint.m_relpos1CrossNormal:b3MakeVector3(0,0,0);
b3Vector3 iMJaB = body1?getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*solverConstraint.m_relpos2CrossNormal:b3MakeVector3(0,0,0);
b3Scalar sum = 0;
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
@@ -634,10 +634,10 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyCL* bodies,b3I
b3Scalar rel_vel;
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3MakeVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -730,9 +730,9 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
relaxation = 1.f;
b3Vector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex])*torqueAxis0 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex])*torqueAxis0 : b3MakeVector3(0,0,0);
b3Vector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex])*-torqueAxis1 : b3Vector3(0,0,0);
solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex])*-torqueAxis1 : b3MakeVector3(0,0,0);
b3Scalar scaledDenom;
{
@@ -781,8 +781,8 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
{
b3Vector3 vel1,vel2;
vel1 = rb0? getVelocityInLocalPoint(rb0,rel_pos1) : b3Vector3(0,0,0);
vel2 = rb1? getVelocityInLocalPoint(rb1, rel_pos2) : b3Vector3(0,0,0);
vel1 = rb0? getVelocityInLocalPoint(rb0,rel_pos1) : b3MakeVector3(0,0,0);
vel2 = rb1? getVelocityInLocalPoint(rb1, rel_pos2) : b3MakeVector3(0,0,0);
// b3Vector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : b3Vector3(0,0,0);
vel = vel1 - vel2;
@@ -817,10 +817,10 @@ void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyCL* bodies, b3InertiaC
solverConstraint.m_appliedPushImpulse = 0.f;
{
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:b3Vector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:b3Vector3(0,0,0));
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:b3MakeVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:b3MakeVector3(0,0,0));
b3Scalar rel_vel = vel1Dotn+vel2Dotn;
b3Scalar positionalError = 0.f;
@@ -1080,9 +1080,9 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
m_bodyCountCheck.resize(numBodies,0);
m_deltaLinearVelocities.resize(0);
m_deltaLinearVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaLinearVelocities.resize(numBodies,b3MakeVector3(0,0,0));
m_deltaAngularVelocities.resize(0);
m_deltaAngularVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
int totalBodies = 0;
@@ -1669,9 +1669,9 @@ void b3PgsJacobiSolver::averageVelocities()
int numBodies = m_bodyCount.size();
m_deltaLinearVelocities.resize(0);
m_deltaLinearVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaLinearVelocities.resize(numBodies,b3MakeVector3(0,0,0));
m_deltaAngularVelocities.resize(0);
m_deltaAngularVelocities.resize(numBodies,b3Vector3(0,0,0));
m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
for (int i=0;i<m_tmpSolverBodyPool.size();i++)
{