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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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22
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
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@@ -148,7 +148,7 @@ namespace gjkepa2_impl
}
void Initialize()
{
m_ray = b3Vector3(0,0,0);
m_ray = b3MakeVector3(0,0,0);
m_nfree = 0;
m_status = eStatus::Failed;
m_current = 0;
@@ -175,7 +175,7 @@ namespace gjkepa2_impl
m_simplices[0].rank = 0;
m_ray = guess;
const b3Scalar sqrl= m_ray.length2();
appendvertice(m_simplices[0],sqrl>0?-m_ray:b3Vector3(1,0,0));
appendvertice(m_simplices[0],sqrl>0?-m_ray:b3MakeVector3(1,0,0));
m_simplices[0].p[0] = 1;
m_ray = m_simplices[0].c[0]->w;
sqdist = sqrl;
@@ -242,7 +242,7 @@ namespace gjkepa2_impl
if(sqdist>=0)
{/* Valid */
ns.rank = 0;
m_ray = b3Vector3(0,0,0);
m_ray = b3MakeVector3(0,0,0);
m_current = next;
for(unsigned int i=0,ni=cs.rank;i<ni;++i)
{
@@ -285,7 +285,7 @@ namespace gjkepa2_impl
{
for(unsigned int i=0;i<3;++i)
{
b3Vector3 axis=b3Vector3(0,0,0);
b3Vector3 axis=b3MakeVector3(0,0,0);
axis[i]=1;
appendvertice(*m_simplex, axis);
if(EncloseOrigin()) return(true);
@@ -301,7 +301,7 @@ namespace gjkepa2_impl
const b3Vector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w;
for(unsigned int i=0;i<3;++i)
{
b3Vector3 axis=b3Vector3(0,0,0);
b3Vector3 axis=b3MakeVector3(0,0,0);
axis[i]=1;
const b3Vector3 p=b3Cross(d,axis);
if(p.length2()>0)
@@ -557,7 +557,7 @@ namespace gjkepa2_impl
void Initialize()
{
m_status = eStatus::Failed;
m_normal = b3Vector3(0,0,0);
m_normal = b3MakeVector3(0,0,0);
m_depth = 0;
m_nextsv = 0;
for(unsigned int i=0;i<EPA_MAX_FACES;++i)
@@ -662,7 +662,7 @@ namespace gjkepa2_impl
if(nl>0)
m_normal = m_normal/nl;
else
m_normal = b3Vector3(1,0,0);
m_normal = b3MakeVector3(1,0,0);
m_depth = 0;
m_result.rank=1;
m_result.c[0]=simplex.c[0];
@@ -813,7 +813,7 @@ namespace gjkepa2_impl
{
/* Results */
results.witnesses[0] =
results.witnesses[1] = b3Vector3(0,0,0);
results.witnesses[1] = b3MakeVector3(0,0,0);
results.status = b3GjkEpaSolver2::sResults::Separated;
/* Shape */
shape.m_shapes[0] = hullA;
@@ -851,8 +851,8 @@ bool b3GjkEpaSolver2::Distance( const b3Transform& transA, const b3Transform& t
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
if(gjk_status==GJK::eStatus::Valid)
{
b3Vector3 w0=b3Vector3(0,0,0);
b3Vector3 w1=b3Vector3(0,0,0);
b3Vector3 w0=b3MakeVector3(0,0,0);
b3Vector3 w1=b3MakeVector3(0,0,0);
for(unsigned int i=0;i<gjk.m_simplex->rank;++i)
{
const b3Scalar p=gjk.m_simplex->p[i];
@@ -897,7 +897,7 @@ bool b3GjkEpaSolver2::Penetration( const b3Transform& transA, const b3Transform&
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=EPA::eStatus::Failed)
{
b3Vector3 w0=b3Vector3(0,0,0);
b3Vector3 w0=b3MakeVector3(0,0,0);
for(unsigned int i=0;i<epa.m_result.rank;++i)
{
w0+=shape.Support(epa.m_result.c[i]->d,0,verticesA,verticesB)*epa.m_result.p[i];