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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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14
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -33,7 +33,7 @@ subject to the following restrictions:
#define B3_RIGIDBODY_INTEGRATE_PATH "src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl"
#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
bool useDbvt = true;//false;//true;
bool useDbvt = false;//true;
bool useBullet2CpuSolver = true;
bool dumpContactStats = false;
@@ -228,8 +228,8 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
for (int i=0;i<m_data->m_allAabbsCPU.size();i++)
{
b3BroadphaseProxy* proxy = &m_data->m_broadphaseDbvt->m_proxies[i];
b3Vector3 aabbMin(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
b3Vector3 aabbMax(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
b3Vector3 aabbMin=b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
b3Vector3 aabbMax=b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
m_data->m_broadphaseDbvt->setAabb(proxy,aabbMin,aabbMax,0);
}
}
@@ -498,19 +498,19 @@ void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
{
b3Vector3 aabbMin(0,0,0),aabbMax(0,0,0);
b3Vector3 aabbMin=b3MakeVector3(0,0,0),aabbMax=b3MakeVector3(0,0,0);
if (collidableIndex>=0)
{
b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
b3Vector3 localAabbMin(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
b3Vector3 localAabbMax(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
b3Scalar margin = 0.01f;
b3Transform t;
t.setIdentity();
t.setOrigin(b3Vector3(position[0],position[1],position[2]));
t.setOrigin(b3MakeVector3(position[0],position[1],position[2]));
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
b3TransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
} else