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bt -> b3 and BT -> B3 rename for content and filenames

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This commit is contained in:
erwin coumans
2013-04-28 23:11:10 -07:00
parent 6bcb5b9d5f
commit 7366e262fd
178 changed files with 5218 additions and 5218 deletions
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6
demo/gpudemo/GpuDemo.cpp
View File

@@ -15,7 +15,7 @@ GpuDemo::~GpuDemo()
{
if (m_clData)
{
btAssert(m_clData->m_clInitialized==false);
b3Assert(m_clData->m_clInitialized==false);
delete m_clData;
}
@@ -69,7 +69,7 @@ void GpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
oclCHECKERROR(ciErrNum, CL_SUCCESS);
b3OpenCLUtils::printDeviceInfo(m_clData->m_clDevice);
btOpenCLDeviceInfo info;
b3OpenCLDeviceInfo info;
b3OpenCLUtils::getDeviceInfo(m_clData->m_clDevice,&info);
m_clData->m_clDeviceName = info.m_deviceName;
m_clData->m_clInitialized = true;
@@ -98,7 +98,7 @@ int GpuDemo::registerGraphicsSphereShape(const ConstructionInfo& ci, float radiu
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
graphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,BT_GL_POINTS);
graphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
} else
{
if (radius>=mediumSphereThreshold)

2
demo/gpudemo/GpuDemo.h
View File

@@ -31,7 +31,7 @@ public:
float gapY;
float gapZ;
GLInstancingRenderer* m_instancingRenderer;
class btgWindowInterface* m_window;
class b3gWindowInterface* m_window;
class GwenUserInterface* m_gui;
ConstructionInfo()

70
demo/gpudemo/ParticleDemo.cpp
View File

@@ -12,9 +12,9 @@ static char* particleKernelsString =
#include "Bullet3Common/b3Vector3.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
//#include "../../opencl/primitives/AdlPrimitives/Math/Math.h"
//#include "../../opencl/broadphase_benchmark/btGridBroadphaseCL.h"
//#include "../../opencl/broadphase_benchmark/b3GridBroadphaseCL.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "GpuDemoInternalData.h"
@@ -43,9 +43,9 @@ static char* particleKernelsString =
ATTRIBUTE_ALIGNED16(struct) btSimParams
ATTRIBUTE_ALIGNED16(struct) b3SimParams
{
BT_DECLARE_ALIGNED_ALLOCATOR();
B3_DECLARE_ALIGNED_ALLOCATOR();
b3Vector3 m_gravity;
float m_worldMin[4];
float m_worldMax[4];
@@ -61,7 +61,7 @@ ATTRIBUTE_ALIGNED16(struct) btSimParams
float m_dummy;
btSimParams()
b3SimParams()
{
m_gravity.setValue(0,-0.03,0.f);
m_particleRad = 0.023f;
@@ -98,10 +98,10 @@ struct ParticleInternalData
cl_mem m_clPositionBuffer;
b3AlignedObjectArray<b3Vector3> m_velocitiesCPU;
btOpenCLArray<b3Vector3>* m_velocitiesGPU;
b3OpenCLArray<b3Vector3>* m_velocitiesGPU;
b3AlignedObjectArray<btSimParams> m_simParamCPU;
btOpenCLArray<btSimParams>* m_simParamGPU;
b3AlignedObjectArray<b3SimParams> m_simParamCPU;
b3OpenCLArray<b3SimParams>* m_simParamGPU;
@@ -170,12 +170,12 @@ void ParticleDemo::setupScene(const ConstructionInfo& ci)
m_data->m_broadphaseGPU = new b3GpuSapBroadphase(m_clData->m_clContext ,m_clData->m_clDevice,m_clData->m_clQueue);//overlappingPairCache,b3Vector3(4.f, 4.f, 4.f), 128, 128, 128,maxObjects, maxObjects, maxPairsSmallProxy, 100.f, 128,
/*m_data->m_broadphaseGPU = new btGridBroadphaseCl(overlappingPairCache,b3Vector3(radius,radius,radius), 128, 128, 128,
/*m_data->m_broadphaseGPU = new b3GridBroadphaseCl(overlappingPairCache,b3Vector3(radius,radius,radius), 128, 128, 128,
maxObjects, maxObjects, maxPairsSmallProxy, 100.f, 128,
m_clData->m_clContext ,m_clData->m_clDevice,m_clData->m_clQueue);
*/
m_data->m_velocitiesGPU = new btOpenCLArray<b3Vector3>(m_clData->m_clContext,m_clData->m_clQueue,numParticles);
m_data->m_velocitiesGPU = new b3OpenCLArray<b3Vector3>(m_clData->m_clContext,m_clData->m_clQueue,numParticles);
m_data->m_velocitiesCPU.resize(numParticles);
for (int i=0;i<numParticles;i++)
{
@@ -183,7 +183,7 @@ void ParticleDemo::setupScene(const ConstructionInfo& ci)
}
m_data->m_velocitiesGPU->copyFromHost(m_data->m_velocitiesCPU);
m_data->m_simParamGPU = new btOpenCLArray<btSimParams>(m_clData->m_clContext,m_clData->m_clQueue,1,false);
m_data->m_simParamGPU = new b3OpenCLArray<b3SimParams>(m_clData->m_clContext,m_clData->m_clQueue,1,false);
m_data->m_simParamGPU->copyFromHost(m_data->m_simParamCPU);
cl_int pErrNum;
@@ -210,7 +210,7 @@ void ParticleDemo::setupScene(const ConstructionInfo& ci)
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
shapeId = m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,BT_GL_POINTS);
shapeId = m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
} else
{
int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
@@ -341,14 +341,14 @@ void ParticleDemo::clientMoveAndDisplay()
if (0)
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( m_data->m_velocitiesGPU->getBufferCL(), true ),
btBufferInfoCL( m_data->m_clPositionBuffer)
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_velocitiesGPU->getBufferCL(), true ),
b3BufferInfoCL( m_data->m_clPositionBuffer)
};
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel );
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numParticles);
launcher.launch1D( numParticles);
@@ -359,16 +359,16 @@ void ParticleDemo::clientMoveAndDisplay()
if (1)
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( m_data->m_clPositionBuffer),
btBufferInfoCL( m_data->m_velocitiesGPU->getBufferCL() ),
btBufferInfoCL( m_data->m_simParamGPU->getBufferCL(),true)
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_clPositionBuffer),
b3BufferInfoCL( m_data->m_velocitiesGPU->getBufferCL() ),
b3BufferInfoCL( m_data->m_simParamGPU->getBufferCL(),true)
};
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel2 );
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel2 );
launcher.setConst( numParticles);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
float timeStep = 1.f/60.f;
launcher.setConst( timeStep);
@@ -378,13 +378,13 @@ void ParticleDemo::clientMoveAndDisplay()
}
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( m_data->m_clPositionBuffer),
btBufferInfoCL( m_data->m_broadphaseGPU->getAabbBufferWS()),
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_clPositionBuffer),
b3BufferInfoCL( m_data->m_broadphaseGPU->getAabbBufferWS()),
};
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbsKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbsKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( m_data->m_simParamCPU[0].m_particleRad);
launcher.setConst( numParticles);
@@ -404,14 +404,14 @@ void ParticleDemo::clientMoveAndDisplay()
if (numPairsGPU)
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( m_data->m_clPositionBuffer),
btBufferInfoCL( m_data->m_velocitiesGPU->getBufferCL() ),
btBufferInfoCL( m_data->m_broadphaseGPU->getOverlappingPairBuffer(),true),
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_clPositionBuffer),
b3BufferInfoCL( m_data->m_velocitiesGPU->getBufferCL() ),
b3BufferInfoCL( m_data->m_broadphaseGPU->getOverlappingPairBuffer(),true),
};
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_collideParticlesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_collideParticlesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numPairsGPU);
launcher.launch1D( numPairsGPU);
clFinish(m_clData->m_clQueue);
@@ -454,7 +454,7 @@ void ParticleDemo::clientMoveAndDisplay()
glFlush();
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
//btGraphicsInstance* gfxObj = m_graphicsInstances[k];
//b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
int totalNumInstances= numParticles;

40
demo/gpudemo/broadphase/PairBench.cpp
View File

@@ -3,15 +3,15 @@
#include "OpenGLWindow/ShapeData.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
static btKeyboardCallback oldCallback = 0;
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
#define MSTRINGIFY(A) #A
@@ -70,9 +70,9 @@ typedef struct
float fy;
float fz;
int uw;
} btAABBCL;
} b3AABBCL;
__kernel void updateAabbSimple( __global float4* posOrnColors, const int numNodes, __global btAABBCL* pAABB)
__kernel void updateAabbSimple( __global float4* posOrnColors, const int numNodes, __global b3AABBCL* pAABB)
{
int nodeId = get_global_id(0);
if( nodeId < numNodes )
@@ -102,8 +102,8 @@ struct PairBenchInternalData
cl_kernel m_colorPairsKernel;
cl_kernel m_updateAabbSimple;
btOpenCLArray<btVector4>* m_instancePosOrnColor;
btOpenCLArray<float>* m_bodyTimes;
b3OpenCLArray<b3Vector4>* m_instancePosOrnColor;
b3OpenCLArray<float>* m_bodyTimes;
PairBenchInternalData()
:m_broadphaseGPU(0),
m_moveObjectsKernel(0),
@@ -141,7 +141,7 @@ static void PairKeyboardCallback(int key, int state)
gReset = true;
}
//btDefaultKeyboardCallback(key,state);
//b3DefaultKeyboardCallback(key,state);
oldCallback(key,state);
}
@@ -190,8 +190,8 @@ void PairBench::initPhysics(const ConstructionInfo& ci)
b3Vector3 position(k*3,i*3,j*3);
b3Quaternion orn(0,0,0,1);
btVector4 color(0,1,0,1);
btVector4 scaling(1,1,1,1);
b3Vector4 color(0,1,0,1);
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
b3Vector3 aabbHalfExtents(1,1,1);
@@ -236,21 +236,21 @@ void PairBench::clientMoveAndDisplay()
bool animate=true;
int numObjects= m_instancingRenderer->getInternalData()->m_totalNumInstances;
btVector4* positions = 0;
b3Vector4* positions = 0;
if (animate)
{
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(btVector4);
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
char* hostPtr= (char*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
GLint err = glGetError();
assert(err==GL_NO_ERROR);
positions = (btVector4*)hostPtr;
positions = (b3Vector4*)hostPtr;
if (m_data->m_instancePosOrnColor && m_data->m_instancePosOrnColor->size() != 3*numObjects)
{
@@ -259,10 +259,10 @@ void PairBench::clientMoveAndDisplay()
}
if (!m_data->m_instancePosOrnColor)
{
m_data->m_instancePosOrnColor = new btOpenCLArray<btVector4>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_instancePosOrnColor = new b3OpenCLArray<b3Vector4>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_instancePosOrnColor->resize(3*numObjects);
m_data->m_instancePosOrnColor->copyFromHostPointer(positions,3*numObjects,0);
m_data->m_bodyTimes = new btOpenCLArray<float>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_bodyTimes = new b3OpenCLArray<float>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_bodyTimes ->resize(numObjects);
b3AlignedObjectArray<float> tmp;
tmp.resize(numObjects);
@@ -278,7 +278,7 @@ void PairBench::clientMoveAndDisplay()
if (1)
{
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_sineWaveKernel);
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_sineWaveKernel);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setBuffer(m_data->m_bodyTimes->getBufferCL() );
launcher.setConst( numObjects);
@@ -288,7 +288,7 @@ void PairBench::clientMoveAndDisplay()
else
{
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_moveObjectsKernel);
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_moveObjectsKernel);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setConst( numObjects);
launcher.launch1D( numObjects);
@@ -298,7 +298,7 @@ void PairBench::clientMoveAndDisplay()
}
{
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setConst( numObjects);
launcher.setBuffer(m_data->m_broadphaseGPU->getAabbBufferWS());
@@ -307,7 +307,7 @@ void PairBench::clientMoveAndDisplay()
}
{
BT_PROFILE("calculateOverlappingPairs");
B3_PROFILE("calculateOverlappingPairs");
m_data->m_broadphaseGPU->calculateOverlappingPairs();
//int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
//printf("numPairs = %d\n", numPairs);
@@ -331,7 +331,7 @@ void PairBench::clientMoveAndDisplay()
int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
cl_mem pairBuf = m_data->m_broadphaseGPU->getOverlappingPairBuffer();
btLauncherCL launcher(m_clData->m_clQueue, m_data->m_colorPairsKernel);
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_colorPairsKernel);
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
launcher.setConst( numObjects);
launcher.setBuffer( pairBuf);

2
demo/gpudemo/broadphase/PairBench.h
View File

@@ -7,7 +7,7 @@ class PairBench : public GpuDemo
{
class GLInstancingRenderer* m_instancingRenderer;
class btgWindowInterface* m_window;
class b3gWindowInterface* m_window;
struct PairBenchInternalData* m_data;

8
demo/gpudemo/gwenUserInterface.cpp
View File

@@ -39,8 +39,8 @@ struct GwenInternalData
Gwen::Controls::Label* m_leftStatusBar;
b3AlignedObjectArray<struct Gwen::Event::Handler*> m_handlers;
btToggleButtonCallback m_toggleButtonCallback;
btComboBoxCallback m_comboBoxCallback;
b3ToggleButtonCallback m_toggleButtonCallback;
b3ComboBoxCallback m_comboBoxCallback;
};
GwenUserInterface::GwenUserInterface()
@@ -243,7 +243,7 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
}
void GwenUserInterface::setToggleButtonCallback(btToggleButtonCallback callback)
void GwenUserInterface::setToggleButtonCallback(b3ToggleButtonCallback callback)
{
m_data->m_toggleButtonCallback = callback;
}
@@ -269,7 +269,7 @@ void GwenUserInterface::registerToggleButton(int buttonId, const char* name)
}
void GwenUserInterface::setComboBoxCallback(btComboBoxCallback callback)
void GwenUserInterface::setComboBoxCallback(b3ComboBoxCallback callback)
{
m_data->m_comboBoxCallback = callback;
}

8
demo/gpudemo/gwenUserInterface.h
View File

@@ -3,8 +3,8 @@
struct GwenInternalData;
typedef void (*btComboBoxCallback) (int combobox, const char* item);
typedef void (*btToggleButtonCallback)(int button, int state);
typedef void (*b3ComboBoxCallback) (int combobox, const char* item);
typedef void (*b3ToggleButtonCallback)(int button, int state);
class GwenUserInterface
{
@@ -25,10 +25,10 @@ class GwenUserInterface
bool mouseMoveCallback( float x, float y);
bool mouseButtonCallback(int button, int state, float x, float y);
void setToggleButtonCallback(btToggleButtonCallback callback);
void setToggleButtonCallback(b3ToggleButtonCallback callback);
void registerToggleButton(int buttonId, const char* name);
void setComboBoxCallback(btComboBoxCallback callback);
void setComboBoxCallback(b3ComboBoxCallback callback);
void registerComboBox(int buttonId, int numItems, const char** items);
void setStatusBarMessage(const char* message, bool isLeft=true);

40
demo/gpudemo/main_opengl3core.cpp
View File

@@ -17,7 +17,7 @@
#include "OpenGLWindow/GLInstancingRenderer.h"
//#include "OpenGL3CoreRenderer.h"
#include "Bullet3Common/b3Quickprof.h"
//#include "btGpuDynamicsWorld.h"
//#include "b3GpuDynamicsWorld.h"
#include <assert.h>
#include <string.h>
#include "OpenGLTrueTypeFont/fontstash.h"
@@ -44,7 +44,7 @@ static void MyResizeCallback( float width, float height)
g_OpenGLHeight = height;
}
btgWindowInterface* window=0;
b3gWindowInterface* window=0;
GwenUserInterface* gui = 0;
bool gPause = false;
bool gReset = false;
@@ -161,7 +161,7 @@ static void MyMouseMoveCallback( float x, float y)
{
bool handled = gui ->mouseMoveCallback(x,y);
if (!handled)
btDefaultMouseMoveCallback(x,y);
b3DefaultMouseMoveCallback(x,y);
}
}
static void MyMouseButtonCallback(int button, int state, float x, float y)
@@ -170,18 +170,18 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
{
bool handled = gui->mouseButtonCallback(button,state,x,y);
if (!handled)
btDefaultMouseButtonCallback(button,state,x,y);
b3DefaultMouseButtonCallback(button,state,x,y);
}
}
void MyKeyboardCallback(int key, int state)
{
if (key==BTG_ESCAPE && window)
if (key==B3G_ESCAPE && window)
{
window->setRequestExit();
}
btDefaultKeyboardCallback(key,state);
b3DefaultKeyboardCallback(key,state);
}
@@ -440,14 +440,14 @@ int main(int argc, char* argv[])
printf("Preferred cl_platform index%d\n", ci.preferredOpenCLPlatformIndex);
printf("-----------------------------------------------------\n");
#ifndef BT_NO_PROFILE
#ifndef B3_NO_PROFILE
CProfileManager::Reset();
#endif //BT_NO_PROFILE
#endif //B3_NO_PROFILE
window = new btgDefaultOpenGLWindow();
window = new b3gDefaultOpenGLWindow();
btgWindowConstructionInfo wci(g_OpenGLWidth,g_OpenGLHeight);
b3gWindowConstructionInfo wci(g_OpenGLWidth,g_OpenGLHeight);
window->createWindow(wci);
window->setResizeCallback(MyResizeCallback);
@@ -535,7 +535,7 @@ int main(int argc, char* argv[])
float dx=0;
if (1)
{
BT_PROFILE("font sth_draw_text");
B3_PROFILE("font sth_draw_text");
glEnable(GL_BLEND);
GLint err = glGetError();
@@ -579,7 +579,7 @@ int main(int argc, char* argv[])
window->setWheelCallback(btDefaultWheelCallback);
window->setWheelCallback(b3DefaultWheelCallback);
@@ -654,7 +654,7 @@ int main(int argc, char* argv[])
if (!gPause)
{
BT_PROFILE("clientMoveAndDisplay");
B3_PROFILE("clientMoveAndDisplay");
demo->clientMoveAndDisplay();
}
@@ -664,16 +664,16 @@ int main(int argc, char* argv[])
}
{
BT_PROFILE("renderScene");
B3_PROFILE("renderScene");
demo->renderScene();
}
/*if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getNumCollisionObjects())
{
BT_PROFILE("renderPhysicsWorld");
b3AlignedObjectArray<btCollisionObject*> arr = demo->getDynamicsWorld()->getCollisionObjectArray();
btCollisionObject** colObjArray = &arr[0];
B3_PROFILE("renderPhysicsWorld");
b3AlignedObjectArray<b3CollisionObject*> arr = demo->getDynamicsWorld()->getCollisionObjectArray();
b3CollisionObject** colObjArray = &arr[0];
render.renderPhysicsWorld(demo->getDynamicsWorld()->getNumCollisionObjects(),colObjArray, syncOnly);
syncOnly = true;
@@ -681,15 +681,15 @@ int main(int argc, char* argv[])
}
*/
{
BT_PROFILE("gui->draw");
B3_PROFILE("gui->draw");
gui->draw(g_OpenGLWidth,g_OpenGLHeight);
}
{
BT_PROFILE("window->endRendering");
B3_PROFILE("window->endRendering");
window->endRendering();
}
{
BT_PROFILE("glFinish");
B3_PROFILE("glFinish");
}

16
demo/gpudemo/premake4.lua
View File

@@ -65,14 +65,14 @@ function createProject(vendor)
"../../opencl/gpu_broadphase/host/b3GpuSapBroadphase.cpp",
"../../opencl/gpu_narrowphase/host/**.cpp",
"../../opencl/gpu_narrowphase/host/**.h",
"../../opencl/parallel_primitives/host/btBoundSearchCL.cpp",
"../../opencl/parallel_primitives/host/btBoundSearchCL.h",
"../../opencl/parallel_primitives/host/btFillCL.cpp",
"../../opencl/parallel_primitives/host/btFillCL.h",
"../../opencl/parallel_primitives/host/btPrefixScanCL.cpp",
"../../opencl/parallel_primitives/host/btPrefixScanCL.h",
"../../opencl/parallel_primitives/host/btRadixSort32CL.cpp",
"../../opencl/parallel_primitives/host/btRadixSort32CL.h",
"../../opencl/parallel_primitives/host/b3BoundSearchCL.cpp",
"../../opencl/parallel_primitives/host/b3BoundSearchCL.h",
"../../opencl/parallel_primitives/host/b3FillCL.cpp",
"../../opencl/parallel_primitives/host/b3FillCL.h",
"../../opencl/parallel_primitives/host/b3PrefixScanCL.cpp",
"../../opencl/parallel_primitives/host/b3PrefixScanCL.h",
"../../opencl/parallel_primitives/host/b3RadixSort32CL.cpp",
"../../opencl/parallel_primitives/host/b3RadixSort32CL.h",
"../../opencl/gpu_rigidbody/host/**.cpp",
"../../opencl/gpu_rigidbody/host/**.h",

4
demo/gpudemo/rigidbody/Bullet2FileDemo.cpp
View File

@@ -15,7 +15,7 @@ Bullet2FileDemo::~Bullet2FileDemo()
void Bullet2FileDemo::setupScene(const ConstructionInfo& ci)
{
btAssert(ci.m_instancingRenderer);
b3Assert(ci.m_instancingRenderer);
const char* fileName="data/testFile.bullet";
@@ -35,7 +35,7 @@ void Bullet2FileDemo::setupScene(const ConstructionInfo& ci)
fclose(f);
createScene(*ci.m_instancingRenderer,*m_data->m_np,*m_data->m_rigidBodyPipeline,relativeFileName);
}
// m_loader = new btBulletDataExtractor(*ci.m_instancingRenderer,*m_data->m_np,*m_data->m_rigidBodyPipeline);
// m_loader = new b3BulletDataExtractor(*ci.m_instancingRenderer,*m_data->m_np,*m_data->m_rigidBodyPipeline);
// m_loader->convertAllObjects(bulletFile);
b3Vector3 pos(-20,10,0);

2
demo/gpudemo/rigidbody/Bullet2FileDemo.h
View File

@@ -7,7 +7,7 @@
class Bullet2FileDemo : public GpuRigidBodyDemo
{
class btBulletDataExtractor* m_loader;
class b3BulletDataExtractor* m_loader;
public:

80
demo/gpudemo/rigidbody/BulletDataExtractor.cpp
View File

@@ -9,7 +9,7 @@ float Y_GAP = 2.f;
float Z_GAP = 2.3f;
#include "BulletDataExtractor.h"
#include "Bullet3Serialize/Bullet2FileLoader/btBulletFile.h"
#include "Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h"
bool keepStaticObjects = true;
extern bool enableExperimentalCpuConcaveCollision;
@@ -19,7 +19,7 @@ extern bool enableExperimentalCpuConcaveCollision;
#include "OpenGLWindow/GLInstancingRenderer.h"
//#include "LinearMath/btQuickprof.h"
//#include "LinearMath/b3Quickprof.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Matrix3x3.h"
#include "gpu_narrowphase/host/b3ConvexUtility.h"
@@ -54,7 +54,7 @@ struct GraphicsShape
struct InstanceGroup
{
Bullet::btCollisionShapeData* m_shape;
Bullet::b3CollisionShapeData* m_shape;
int m_collisionShapeIndex;
b3AlignedObjectArray<bParse::bStructHandle*> m_rigidBodies;
@@ -80,7 +80,7 @@ void createScene( GLInstancingRenderer& renderer,b3GpuNarrowPhase& np, b3GpuRigi
bool verboseDumpAllTypes = false;
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bParse::b3BulletFile* bulletFile2 = new bParse::b3BulletFile(fileName);
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
@@ -107,7 +107,7 @@ void createScene( GLInstancingRenderer& renderer,b3GpuNarrowPhase& np, b3GpuRigi
}
btBulletDataExtractor extractor(renderer,np,rbWorld);
b3BulletDataExtractor extractor(renderer,np,rbWorld);
extractor.convertAllObjects(bulletFile2);
delete bulletFile2;
@@ -181,24 +181,24 @@ CONCAVE_SHAPES_END_HERE,
};
btBulletDataExtractor::btBulletDataExtractor(GLInstancingRenderer& renderer, b3GpuNarrowPhase& np, b3GpuRigidBodyPipeline& rbWorld)
b3BulletDataExtractor::b3BulletDataExtractor(GLInstancingRenderer& renderer, b3GpuNarrowPhase& np, b3GpuRigidBodyPipeline& rbWorld)
:m_renderer(renderer), m_np(np), m_rbPipeline(rbWorld)
{
}
btBulletDataExtractor::~btBulletDataExtractor()
b3BulletDataExtractor::~b3BulletDataExtractor()
{
}
void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
void b3BulletDataExtractor::convertAllObjects(bParse::b3BulletFile* bulletFile2)
{
int i;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
Bullet::btCollisionShapeData* shapeData = (Bullet::btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
Bullet::b3CollisionShapeData* shapeData = (Bullet::b3CollisionShapeData*)bulletFile2->m_collisionShapes[i];
if (shapeData->m_name)
printf("converting shape %s\n", shapeData->m_name);
int shapeIndex = convertCollisionShape(shapeData);
@@ -216,8 +216,8 @@ void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
Bullet::btRigidBodyFloatData* colObjData = (Bullet::btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
Bullet::btCollisionShapeData* shapeData = (Bullet::btCollisionShapeData*)colObjData->m_collisionObjectData.m_collisionShape;
Bullet::b3RigidBodyFloatData* colObjData = (Bullet::b3RigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
Bullet::b3CollisionShapeData* shapeData = (Bullet::b3CollisionShapeData*)colObjData->m_collisionObjectData.m_collisionShape;
for (int j=0;j<m_instanceGroups.size();j++)
{
if (m_instanceGroups[j]->m_shape == shapeData)
@@ -237,10 +237,10 @@ void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
for (int j=0;j<m_instanceGroups[i]->m_rigidBodies.size();j++)
{
Bullet::btRigidBodyFloatData* colObjData = (Bullet::btRigidBodyFloatData*)m_instanceGroups[i]->m_rigidBodies[j];
Bullet::b3RigidBodyFloatData* colObjData = (Bullet::b3RigidBodyFloatData*)m_instanceGroups[i]->m_rigidBodies[j];
b3Matrix3x3 mat;
mat.deSerializeFloat((const btMatrix3x3FloatData&)colObjData->m_collisionObjectData.m_worldTransform.m_basis);
mat.deSerializeFloat((const b3Matrix3x3FloatData&)colObjData->m_collisionObjectData.m_worldTransform.m_basis);
b3Quaternion orn;
mat.getRotation(orn);
float quaternion[4] = {orn[0],orn[1],orn[2],orn[3]};
@@ -283,7 +283,7 @@ void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData* shapeData )
int b3BulletDataExtractor::convertCollisionShape( Bullet::b3CollisionShapeData* shapeData )
{
int shapeIndex = -1;
@@ -291,7 +291,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
{
case STATIC_PLANE_PROXYTYPE:
{
Bullet::btStaticPlaneShapeData* planeData = (Bullet::btStaticPlaneShapeData*)shapeData;
Bullet::b3StaticPlaneShapeData* planeData = (Bullet::b3StaticPlaneShapeData*)shapeData;
shapeIndex = createPlaneShape(planeData->m_planeNormal,planeData->m_planeConstant, planeData->m_localScaling);
break;
}
@@ -303,7 +303,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
Bullet::btConvexInternalShapeData* bsd = (Bullet::btConvexInternalShapeData*)shapeData;
Bullet::b3ConvexInternalShapeData* bsd = (Bullet::b3ConvexInternalShapeData*)shapeData;
switch (shapeData->m_shapeType)
{
@@ -319,10 +319,10 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
Bullet::btConvexHullShapeData* convexData = (Bullet::btConvexHullShapeData*)bsd;
Bullet::b3ConvexHullShapeData* convexData = (Bullet::b3ConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints;
b3Vector3 localScaling;
localScaling.deSerializeFloat((btVector3FloatData&)bsd->m_localScaling);
localScaling.deSerializeFloat((b3Vector3FloatData&)bsd->m_localScaling);
b3AlignedObjectArray<b3Vector3> tmpPoints;
int i;
if (convexData->m_unscaledPointsFloatPtr)
@@ -355,7 +355,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
#if 0
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
b3CapsuleShapeData* capData = (b3CapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
@@ -375,7 +375,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
printf("error: wrong up axis for b3CapsuleShape\n");
}
};
@@ -384,7 +384,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
b3CylinderShapeData* cylData = (b3CylinderShapeData*) shapeData;
b3Vector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
@@ -416,7 +416,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
b3MultiSphereShapeData* mss = (b3MultiSphereShapeData*)bsd;
int numSpheres = mss->m_localPositionArraySize;
int i;
for ( i=0;i<numSpheres;i++)
@@ -424,7 +424,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
}
shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
shape = new b3MultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
break;
}
@@ -441,13 +441,13 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
Bullet::btTriangleMeshShapeData* trimesh = (Bullet::btTriangleMeshShapeData*)shapeData;
Bullet::b3TriangleMeshShapeData* trimesh = (Bullet::b3TriangleMeshShapeData*)shapeData;
printf("numparts = %d\n",trimesh->m_meshInterface.m_numMeshParts);
if (trimesh->m_meshInterface.m_numMeshParts)
{
for (int i=0;i<trimesh->m_meshInterface.m_numMeshParts;i++)
{
Bullet::btMeshPartData& dat = trimesh->m_meshInterface.m_meshPartsPtr[i];
Bullet::b3MeshPartData& dat = trimesh->m_meshInterface.m_meshPartsPtr[i];
printf("numtris = %d, numverts = %d\n", dat.m_numTriangles,dat.m_numVertices);//,dat.m_vertices3f,dat.m_3indices16
printf("scaling = %f,%f,%f\n", trimesh->m_meshInterface.m_scaling.m_floats[0],trimesh->m_meshInterface.m_scaling.m_floats[1],trimesh->m_meshInterface.m_scaling.m_floats[2]);
// dat.
@@ -459,7 +459,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
//trimesh->m_meshInterface.m_scaling
}
//trimesh->m_meshInterface
//btTriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
//b3TriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
//scaling
@@ -473,17 +473,17 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
#if 0
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape();
b3CompoundShapeData* compoundData = (b3CompoundShapeData*)shapeData;
b3CompoundShape* compoundShape = createCompoundShape();
b3AlignedObjectArray<btCollisionShape*> childShapes;
b3AlignedObjectArray<b3CollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
b3CollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
if (childShape)
{
btTransform localTransform;
b3Transform localTransform;
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
compoundShape->addChildShape(localTransform,childShape);
} else
@@ -499,11 +499,11 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
case GIMPACT_SHAPE_PROXYTYPE:
{
btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
b3GImpactMeshShapeData* gimpactData = (b3GImpactMeshShapeData*) shapeData;
if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
{
btTriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
b3TriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
b3GImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
b3Vector3 localScaling;
localScaling.deSerializeFloat(gimpactData->m_localScaling);
gimpactShape->setLocalScaling(localScaling);
@@ -531,7 +531,7 @@ int btBulletDataExtractor::convertCollisionShape( Bullet::btCollisionShapeData*
}
int btBulletDataExtractor::createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
int b3BulletDataExtractor::createBoxShape( const Bullet::b3Vector3FloatData& halfDimensions, const Bullet::b3Vector3FloatData& localScaling, float collisionMargin)
{
float cubeScaling[4] = {
halfDimensions.m_floats[0]*localScaling.m_floats[0]+collisionMargin,
@@ -561,14 +561,14 @@ int btBulletDataExtractor::createBoxShape( const Bullet::btVector3FloatData& hal
return cubeCollisionShapeIndex;
}
int btBulletDataExtractor::createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
int b3BulletDataExtractor::createSphereShape( float radius, const Bullet::b3Vector3FloatData& localScaling, float collisionMargin)
{
printf("createSphereShape with radius %f\n",radius);
return -1;
}
int btBulletDataExtractor::createPlaneShape( const Bullet::btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
int b3BulletDataExtractor::createPlaneShape( const Bullet::b3Vector3FloatData& planeNormal, float planeConstant, const Bullet::b3Vector3FloatData& localScaling)
{
printf("createPlaneShape with normal %f,%f,%f and planeConstant\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
return -1;
@@ -576,7 +576,7 @@ int btBulletDataExtractor::createPlaneShape( const Bullet::btVector3FloatData& p
GraphicsShape* btBulletDataExtractor::createGraphicsShapeFromWavefrontObj(objLoader* obj)
GraphicsShape* b3BulletDataExtractor::createGraphicsShapeFromWavefrontObj(objLoader* obj)
{
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
{
@@ -701,7 +701,7 @@ GraphicsShape* btBulletDataExtractor::createGraphicsShapeFromWavefrontObj(objLoa
}
GraphicsShape* btBulletDataExtractor::createGraphicsShapeFromConvexHull(const b3Vector3* tmpPoints, int numPoints)
GraphicsShape* b3BulletDataExtractor::createGraphicsShapeFromConvexHull(const b3Vector3* tmpPoints, int numPoints)
{
b3ConvexUtility* utilPtr = new b3ConvexUtility();
bool merge = true;
@@ -714,7 +714,7 @@ GraphicsShape* btBulletDataExtractor::createGraphicsShapeFromConvexHull(const b3
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
for (int f=0;f<utilPtr->m_faces.size();f++)
{
const btMyFace& face = utilPtr->m_faces[f];
const b3MyFace& face = utilPtr->m_faces[f];
b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face.m_indices.size()>2)
{

18
demo/gpudemo/rigidbody/BulletDataExtractor.h
View File

@@ -14,10 +14,10 @@ void createScene(GLInstancingRenderer& renderer,b3GpuNarrowPhase& np, b3GpuRigid
namespace bParse
{
class btBulletFile;
class b3BulletFile;
};
class btBulletDataExtractor
class b3BulletDataExtractor
{
GLInstancingRenderer& m_renderer;
b3GpuNarrowPhase& m_np;
@@ -28,20 +28,20 @@ class btBulletDataExtractor
b3AlignedObjectArray<struct InstanceGroup*> m_instanceGroups;
b3AlignedObjectArray<struct GraphicsShape*> m_graphicsShapes;
btBulletDataExtractor(GLInstancingRenderer& renderer, b3GpuNarrowPhase& np, b3GpuRigidBodyPipeline& rbPipeline);
b3BulletDataExtractor(GLInstancingRenderer& renderer, b3GpuNarrowPhase& np, b3GpuRigidBodyPipeline& rbPipeline);
virtual ~btBulletDataExtractor();
virtual ~b3BulletDataExtractor();
virtual void convertAllObjects(bParse::btBulletFile* bulletFile);
virtual void convertAllObjects(bParse::b3BulletFile* bulletFile);
//return -1 for invalid
virtual int convertCollisionShape( Bullet::btCollisionShapeData* shapeData );
virtual int convertCollisionShape( Bullet::b3CollisionShapeData* shapeData );
virtual int createPlaneShape( const Bullet::btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling);
virtual int createPlaneShape( const Bullet::b3Vector3FloatData& planeNormal, float planeConstant, const Bullet::b3Vector3FloatData& localScaling);
virtual int createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual int createBoxShape( const Bullet::b3Vector3FloatData& halfDimensions, const Bullet::b3Vector3FloatData& localScaling, float collisionMargin);
virtual int createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual int createSphereShape( float radius, const Bullet::b3Vector3FloatData& localScaling, float collisionMargin);
static GraphicsShape* createGraphicsShapeFromConvexHull(const b3Vector3* tmpPoints, int numPoints);
static GraphicsShape* createGraphicsShapeFromWavefrontObj(class objLoader* obj);

84
demo/gpudemo/rigidbody/ConcaveScene.cpp
View File

@@ -5,13 +5,13 @@
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
#include "gpu_rigidbody/host/b3GpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
@@ -216,7 +216,7 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
int shapeId = ci.m_instancingRenderer->registerShape(&shape->m_vertices->at(0).xyzw[0], shape->m_numvertices, &shape->m_indices->at(0), shape->m_numIndices);
b3Quaternion orn(0,0,0,1);
btVector4 color(0.3,0.3,1,1.f);//0.5);//1.f
b3Vector4 color(0.3,0.3,1,1.f);//0.5);//1.f
{
@@ -256,7 +256,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
b3Vector3 shift1(0,-50,0);//0,230,80);//150,-100,-120);
btVector4 scaling(4,4,4,1);
b3Vector4 scaling(4,4,4,1);
// createConcaveMesh(ci,"data/plane100.obj",shift1,scaling);
//createConcaveMesh(ci,"data/plane100.obj",shift,scaling);
@@ -278,12 +278,12 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
int mask=1;
int index=0;
{
btVector4 scaling(400,0.001,400,1);
b3Vector4 scaling(400,0.001,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-2,0);
b3Quaternion orn(0,0,0,1);
btVector4 color(0,0,1,1);
b3Vector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
@@ -320,15 +320,15 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
if (1)
{
int curColor = 0;
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,1,1,1),
btVector4(1,1,0.3,1),
btVector4(0.3,1,1,1),
btVector4(0.3,0.3,1,1),
b3Vector4(1,1,1,1),
b3Vector4(1,1,0.3,1),
b3Vector4(0.3,1,1,1),
b3Vector4(0.3,0.3,1,1),
};
btVector4 scaling(1,1,1,1);
b3Vector4 scaling(1,1,1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
for (int i=0;i<ci.arraySizeX;i++)
{
@@ -342,7 +342,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector3 position(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,150+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
@@ -379,7 +379,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
b3Vector3 shift(0,0,0);//0,230,80);//150,-100,-120);
btVector4 scaling(1,1,1,1);
b3Vector4 scaling(1,1,1,1);
FILE* f = 0;
char relativeFileName[1024];
@@ -427,12 +427,12 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
b3AlignedObjectArray<GLInstanceVertex> vertices;
int stride2 = sizeof(GLInstanceVertex);
btAssert(stride2 == strideInBytes);
b3Assert(stride2 == strideInBytes);
{
b3AlignedObjectArray<btGpuChildShape> childShapes;
b3AlignedObjectArray<b3GpuChildShape> childShapes;
int numChildShapes = objData->objectCount;
@@ -448,7 +448,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
//for now, only support polyhedral child shapes
btGpuChildShape child;
b3GpuChildShape child;
b3Vector3 pos(0,0,0);
b3Quaternion orn(0,0,0,1);
@@ -476,7 +476,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
}
} else
{
btAssert(0);
b3Assert(0);
}
}
@@ -545,12 +545,12 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,0,1,1),
btVector4(0,1,1,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
};
int curColor = 0;
@@ -569,10 +569,10 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
// b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(0,0,1),1.8);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(1,1,1,1);
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -605,7 +605,7 @@ void ConcaveCompoundScene::createDynamicObjects(const ConstructionInfo& ci)
GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
int stride2 = sizeof(GLInstanceVertex);
btAssert(stride2 == strideInBytes);
b3Assert(stride2 == strideInBytes);
{
int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
@@ -617,12 +617,12 @@ b3Vector3 childPositions[3] = {
b3Vector3(0,0,2)
};
b3AlignedObjectArray<btGpuChildShape> childShapes;
b3AlignedObjectArray<b3GpuChildShape> childShapes;
int numChildShapes = 3;
for (int i=0;i<numChildShapes;i++)
{
//for now, only support polyhedral child shapes
btGpuChildShape child;
b3GpuChildShape child;
child.m_shapeIndex = childColIndex;
b3Vector3 pos = childPositions[i];
b3Quaternion orn(0,0,0,1);
@@ -662,12 +662,12 @@ b3Vector3 childPositions[3] = {
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,0,1,1),
btVector4(0,1,1,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
};
int curColor = 0;
@@ -684,10 +684,10 @@ b3Vector3 childPositions[3] = {
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(1,1,1,1);
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -713,12 +713,12 @@ void ConcaveSphereScene::setupScene(const ConstructionInfo& ci)
void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
{
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
int index=0;
@@ -743,10 +743,10 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
b3Vector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);

44
demo/gpudemo/rigidbody/GpuCompoundScene.cpp
View File

@@ -5,13 +5,13 @@
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
#include "gpu_rigidbody/host/b3GpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
@@ -34,7 +34,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
int stride2 = sizeof(GLInstanceVertex);
btAssert(stride2 == strideInBytes);
b3Assert(stride2 == strideInBytes);
int index=0;
int colIndex = -1;
b3AlignedObjectArray<GLInstanceVertex> vertexArray;
@@ -50,12 +50,12 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
};
b3AlignedObjectArray<btGpuChildShape> childShapes;
b3AlignedObjectArray<b3GpuChildShape> childShapes;
int numChildShapes = 3;
for (int i=0;i<numChildShapes;i++)
{
//for now, only support polyhedral child shapes
btGpuChildShape child;
b3GpuChildShape child;
child.m_shapeIndex = childColIndex;
b3Vector3 pos = childPositions[i];
b3Quaternion orn(0,0,0,1);
@@ -96,12 +96,12 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,0,1,1),
btVector4(0,1,1,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,0,1,1),
b3Vector4(0,1,1,1),
};
int curColor = 0;
@@ -117,10 +117,10 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(1,1,1,1);
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -179,7 +179,7 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,BT_GL_POINTS);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
} else
{
if (radius>=10)
@@ -197,12 +197,12 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
}
}
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
int curColor = 1;
@@ -217,10 +217,10 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
b3Vector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -241,8 +241,8 @@ void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
btVector4 scaling(100,0.01,100,1);
b3Vector4 color(0,0,1,1);
b3Vector4 scaling(100,0.01,100,1);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);

26
demo/gpudemo/rigidbody/GpuConvexScene.cpp
View File

@@ -5,13 +5,13 @@
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
#include "gpu_rigidbody/host/b3GpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
@@ -73,12 +73,12 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
{
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
int curColor = 0;
@@ -104,10 +104,10 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(1,1,1,1);
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
@@ -140,12 +140,12 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
{
btVector4 scaling(400,1,400,1);
b3Vector4 scaling(400,1,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
btVector4 color(0,0,1,1);
b3Vector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
@@ -162,8 +162,8 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
btVector4 scaling(100,0.001,100,1);
b3Vector4 color(0,0,1,1);
b3Vector4 scaling(100,0.001,100,1);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);

30
demo/gpudemo/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -3,20 +3,20 @@
#include "OpenGLWindow/ShapeData.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
#include "gpu_rigidbody/host/b3GpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
static btKeyboardCallback oldCallback = 0;
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
#define MSTRINGIFY(A) #A
@@ -76,7 +76,7 @@ static void PairKeyboardCallback(int key, int state)
gReset = true;
}
//btDefaultKeyboardCallback(key,state);
//b3DefaultKeyboardCallback(key,state);
oldCallback(key,state);
}
@@ -156,21 +156,21 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
bool animate=true;
int numObjects= m_data->m_rigidBodyPipeline->getNumBodies();
//m_instancingRenderer->getInternalData()->m_totalNumInstances;
btVector4* positions = 0;
b3Vector4* positions = 0;
if (animate && numObjects)
{
BT_PROFILE("gl2cl");
B3_PROFILE("gl2cl");
if (!m_data->m_instancePosOrnColor)
{
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(btVector4);
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
positions= (btVector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
GLint err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_instancePosOrnColor = new btOpenCLArray<btVector4>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_instancePosOrnColor = new b3OpenCLArray<b3Vector4>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_instancePosOrnColor->resize(3*numObjects);
m_data->m_instancePosOrnColor->copyFromHostPointer(positions,3*numObjects,0);
glUnmapBuffer( GL_ARRAY_BUFFER);
@@ -180,16 +180,16 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
}
{
BT_PROFILE("stepSimulation");
B3_PROFILE("stepSimulation");
m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
}
if (numObjects)
{
BT_PROFILE("cl2gl_convert");
B3_PROFILE("cl2gl_convert");
int ciErrNum = 0;
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
btLauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
launch.setBuffer(bodies);
launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
launch.setConst(numObjects);
@@ -199,14 +199,14 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
if (animate && numObjects)
{
BT_PROFILE("cl2gl_upload");
B3_PROFILE("cl2gl_upload");
GLint err = glGetError();
assert(err==GL_NO_ERROR);
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(btVector4);
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
positions= (btVector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_instancePosOrnColor->copyToHostPointer(positions,3*numObjects,0);

2
demo/gpudemo/rigidbody/GpuRigidBodyDemo.h
View File

@@ -7,7 +7,7 @@ class GpuRigidBodyDemo : public GpuDemo
{
protected:
class GLInstancingRenderer* m_instancingRenderer;
class btgWindowInterface* m_window;
class b3gWindowInterface* m_window;
struct GpuRigidBodyDemoInternalData* m_data;

4
demo/gpudemo/rigidbody/GpuRigidBodyDemoInternalData.h
View File

@@ -2,7 +2,7 @@
#define GPU_RIGIDBODY_INTERNAL_DATA_H
#include "basic_initialize/b3OpenCLUtils.h"
#include "parallel_primitives/host/btOpenCLArray.h"
#include "parallel_primitives/host/b3OpenCLArray.h"
#include "Bullet3Common/b3Vector3.h"
struct GpuRigidBodyDemoInternalData
@@ -10,7 +10,7 @@ struct GpuRigidBodyDemoInternalData
cl_kernel m_copyTransformsToVBOKernel;
btOpenCLArray<btVector4>* m_instancePosOrnColor;
b3OpenCLArray<b3Vector4>* m_instancePosOrnColor;
class b3GpuRigidBodyPipeline* m_rigidBodyPipeline;

40
demo/gpudemo/rigidbody/GpuSphereScene.cpp
View File

@@ -5,13 +5,13 @@
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
#include "gpu_rigidbody/host/b3GpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
@@ -53,7 +53,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,BT_GL_POINTS);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
} else
{
if (radius>=10)
@@ -71,12 +71,12 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
}
}
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
int curColor = 0;
@@ -90,10 +90,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
b3Vector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
@@ -110,12 +110,12 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
btVector4 colors[4] =
b3Vector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
@@ -147,10 +147,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
b3Vector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
@@ -163,7 +163,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
if (1)
{
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
btVector4 scaling(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
b3Vector4 scaling(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 normal(0,-1,0);
float constant=2;
@@ -175,11 +175,11 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
//int i=0;int j=0;
{
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector4 position(2*i,70+k*2,2*j+8,0);
b3Vector4 position(2*i,70+k*2,2*j+8,0);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
b3Vector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,index,false);