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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/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -869,13 +869,13 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
int axis=0;
{
B3_PROFILE("CPU compute best variance axis");
b3Vector3 s(0,0,0),s2(0,0,0);
b3Vector3 s=b3MakeVector3(0,0,0),s2=b3MakeVector3(0,0,0);
int numRigidBodies = numSmallAabbs;
for(int i=0;i<numRigidBodies;i++)
{
b3Vector3 maxAabb(m_smallAabbsCPU[i].m_max[0],m_smallAabbsCPU[i].m_max[1],m_smallAabbsCPU[i].m_max[2]);
b3Vector3 minAabb(m_smallAabbsCPU[i].m_min[0],m_smallAabbsCPU[i].m_min[1],m_smallAabbsCPU[i].m_min[2]);
b3Vector3 maxAabb=b3MakeVector3(m_smallAabbsCPU[i].m_max[0],m_smallAabbsCPU[i].m_max[1],m_smallAabbsCPU[i].m_max[2]);
b3Vector3 minAabb=b3MakeVector3(m_smallAabbsCPU[i].m_min[0],m_smallAabbsCPU[i].m_min[1],m_smallAabbsCPU[i].m_min[2]);
b3Vector3 centerAabb=(maxAabb+minAabb)*0.5f;
s += centerAabb;
@@ -1058,8 +1058,8 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
m_dst.resize(numSmallAabbs+1);
m_sum.resize(numSmallAabbs+1);
m_sum2.resize(numSmallAabbs+1);
m_sum.at(numSmallAabbs)=b3Vector3(0,0,0); //slow?
m_sum2.at(numSmallAabbs)=b3Vector3(0,0,0); //slow?
m_sum.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
m_sum2.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
}
b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel );