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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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83
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -200,8 +200,8 @@ int b3GpuNarrowPhase::registerSphereShape(float radius)
if (col.m_shapeIndex>=0)
{
b3SapAabb aabb;
b3Vector3 myAabbMin(-radius,-radius,-radius);
b3Vector3 myAabbMax(radius,radius,radius);
b3Vector3 myAabbMin=b3MakeVector3(-radius,-radius,-radius);
b3Vector3 myAabbMax=b3MakeVector3(radius,radius,radius);
aabb.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabb.m_min[1] = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
@@ -226,10 +226,7 @@ int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConsta
{
int faceOffset = m_data->m_convexFaces.size();
b3GpuFace& face = m_data->m_convexFaces.expand();
face.m_plane[0] = faceNormal.getX();
face.m_plane[1] = faceNormal.getY();
face.m_plane[2] = faceNormal.getZ();
face.m_plane[3] = faceConstant;
face.m_plane = b3MakeVector3(faceNormal.x,faceNormal.y,faceNormal.z,faceConstant);
return faceOffset;
}
@@ -303,10 +300,12 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* convexPtr,b3Colli
for (i=0;i<convexPtr->m_faces.size();i++)
{
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = convexPtr->m_faces[i].m_plane[0];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = convexPtr->m_faces[i].m_plane[1];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = convexPtr->m_faces[i].m_plane[2];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = convexPtr->m_faces[i].m_plane[3];
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
convexPtr->m_faces[i].m_plane[1],
convexPtr->m_faces[i].m_plane[2],
convexPtr->m_faces[i].m_plane[3]);
int indexOffset = m_data->m_convexIndices.size();
int numIndices = convexPtr->m_faces[i].m_indices.size();
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
@@ -344,7 +343,7 @@ int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int stride
for (int i=0;i<numVertices;i++)
{
float* vertex = (float*) &vts[i*strideInBytes];
verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
}
b3ConvexUtility* utilPtr = new b3ConvexUtility();
@@ -371,7 +370,7 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
b3Vector3 localCenter(0,0,0);
b3Vector3 localCenter=b3MakeVector3(0,0,0);
for (int i=0;i<utilPtr->m_vertices.size();i++)
localCenter+=utilPtr->m_vertices[i];
localCenter*= (1.f/utilPtr->m_vertices.size());
@@ -384,8 +383,8 @@ int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
b3SapAabb aabb;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
for (int i=0;i<utilPtr->m_vertices.size();i++)
{
@@ -436,8 +435,8 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
b3SapAabb aabbLocalSpace;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
b3AlignedObjectArray<b3Aabb> childLocalAabbs;
childLocalAabbs.resize(childShapes->size());
@@ -449,20 +448,15 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
b3Collidable& childCol = getCollidableCpu(childColIndex);
b3SapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
b3Vector3 childLocalAabbMin(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
b3Vector3 childLocalAabbMax(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
b3Vector3 childLocalAabbMin=b3MakeVector3(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
b3Vector3 childLocalAabbMax=b3MakeVector3(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
b3Vector3 aMin,aMax;
b3Scalar margin(0.f);
b3Transform childTr;
childTr.setIdentity();
childTr.setOrigin(b3Vector3(childShapes->at(i).m_childPosition[0],
childShapes->at(i).m_childPosition[1],
childShapes->at(i).m_childPosition[2]));
childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation[0],
childShapes->at(i).m_childOrientation[1],
childShapes->at(i).m_childOrientation[2],
childShapes->at(i).m_childOrientation[3]));
childTr.setOrigin(childShapes->at(i).m_childPosition);
childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation));
b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
myAabbMin.setMin(aMin);
myAabbMax.setMax(aMax);
@@ -580,7 +574,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
{
b3Vector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
@@ -594,8 +588,8 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
b3SapAabb aabb;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
for (int i=0;i<vertices->size();i++)
{
@@ -625,7 +619,7 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
b3IndexedMesh mesh;
mesh.m_numTriangles = indices->size()/3;
mesh.m_numVertices = vertices->size();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).getX();
mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).x;
mesh.m_vertexStride = sizeof(b3Vector3);
mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
@@ -673,17 +667,17 @@ int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>*
{
b3Vector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
b3ConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = b3Vector3(0,0,0);
convex.mE = b3Vector3(0,0,0);
convex.m_extents= b3Vector3(0,0,0);
convex.m_localCenter = b3Vector3(0,0,0);
convex.mC = b3MakeVector3(0,0,0);
convex.mE = b3MakeVector3(0,0,0);
convex.m_extents= b3MakeVector3(0,0,0);
convex.m_localCenter = b3MakeVector3(0,0,0);
convex.m_radius = 0.f;
convex.m_numUniqueEdges = 0;
@@ -709,10 +703,7 @@ int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>*
b3Vector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
b3Scalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.getX();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.getY();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.getZ();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector4(normal.x,normal.y,normal.z,c);
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
@@ -898,8 +889,8 @@ const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation , const float* aabbMinPtr, const float* aabbMaxPtr,bool writeToGpu)
{
b3Vector3 aabbMin(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax (aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
b3Vector3 aabbMin=b3MakeVector3(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax=b3MakeVector3(aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies))
@@ -917,9 +908,9 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
body.m_frictionCoeff = friction;
body.m_restituitionCoeff = restitution;
body.m_angVel.setZero();
body.m_linVel.setValue(0,0,0);//.setZero();
body.m_pos.setValue(position[0],position[1],position[2]);
body.m_angVel = b3MakeVector3(0,0,0);
body.m_linVel=b3MakeVector3(0,0,0);//.setZero();
body.m_pos =b3MakeVector3(position[0],position[1],position[2]);
body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
body.m_collidableIdx = collidableIndex;
if (collidableIndex>=0)
@@ -1066,7 +1057,7 @@ void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.setValue(position[0],position[1],position[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_pos=b3MakeVector3(position[0],position[1],position[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
}
else
@@ -1078,8 +1069,8 @@ void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bo
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel.setValue(linVel[0],linVel[1],linVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel.setValue(angVel[0],angVel[1],angVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel=b3MakeVector3(linVel[0],linVel[1],linVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel=b3MakeVector3(angVel[0],angVel[1],angVel[2]);
} else
{
b3Warning("setObjectVelocityCpu out of range.\n");