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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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60
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.cpp
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@@ -8,7 +8,7 @@
#include "Bullet3Geometry/b3AabbUtil.h"
#include "../../gpu_broadphase/host/b3SapAabb.h"
#include "../../gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
@@ -20,7 +20,7 @@ bool useBullet2CpuSolver = true;//false;
bool dumpContactStats = false;
#ifdef TEST_OTHER_GPU_SOLVER
#include "btGpuJacobiSolver.h"
#include "b3GpuJacobiSolver.h"
#endif //TEST_OTHER_GPU_SOLVER
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
@@ -43,11 +43,11 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_solver = new b3PgsJacobiSolver();
b3Config config;
m_data->m_allAabbsGPU = new btOpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
m_data->m_overlappingPairsGPU = new btOpenCLArray<btBroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
#ifdef TEST_OTHER_GPU_SOLVER
m_data->m_solver3 = new btGpuJacobiSolver(ctx,device,q,config.m_maxBroadphasePairs);
m_data->m_solver3 = new b3GpuJacobiSolver(ctx,device,q,config.m_maxBroadphasePairs);
#endif // TEST_OTHER_GPU_SOLVER
m_data->m_solver2 = new b3GpuBatchingPgsSolver(ctx,device,q,config.m_maxBroadphasePairs);
@@ -61,16 +61,16 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
{
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,integrateKernelCL,&errNum,"","opencl/gpu_rigidbody/kernels/integrateKernel.cl");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_data->m_integrateTransformsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,integrateKernelCL, "integrateTransformsKernel",&errNum,prog);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
clReleaseProgram(prog);
}
{
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,updateAabbsKernelCL,&errNum,"","opencl/gpu_rigidbody/kernels/updateAabbsKernel.cl");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_data->m_updateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "initializeGpuAabbsFull",&errNum,prog);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
clReleaseProgram(prog);
}
@@ -116,11 +116,11 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
if (useDbvt)
{
{
BT_PROFILE("setAabb");
B3_PROFILE("setAabb");
m_data->m_allAabbsGPU->copyToHost(m_data->m_allAabbsCPU);
for (int i=0;i<m_data->m_allAabbsCPU.size();i++)
{
btBroadphaseProxy* proxy = &m_data->m_broadphaseDbvt->m_proxies[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]);
m_data->m_broadphaseDbvt->setAabb(proxy,aabbMin,aabbMax,0);
@@ -128,7 +128,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
}
{
BT_PROFILE("calculateOverlappingPairs");
B3_PROFILE("calculateOverlappingPairs");
m_data->m_broadphaseDbvt->calculateOverlappingPairs();
}
numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
@@ -153,7 +153,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
cl_mem aabbsWS =0;
if (useDbvt)
{
BT_PROFILE("m_overlappingPairsGPU->copyFromHost");
B3_PROFILE("m_overlappingPairsGPU->copyFromHost");
m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
pairs = m_data->m_overlappingPairsGPU->getBufferCL();
aabbsWS = m_data->m_allAabbsGPU->getBufferCL();
@@ -190,11 +190,11 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
//solve constraints
btOpenCLArray<b3RigidBodyCL> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
b3OpenCLArray<b3RigidBodyCL> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumBodiesGpu());
btOpenCLArray<btInertiaCL> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
b3OpenCLArray<b3InertiaCL> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumBodiesGpu());
btOpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
if (useBullet2CpuSolver)
@@ -202,7 +202,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<btInertiaCL> hostInertias;
b3AlignedObjectArray<b3InertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
@@ -230,36 +230,36 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
if (forceHost)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
b3AlignedObjectArray<btInertiaCL> hostInertias;
b3AlignedObjectArray<b3InertiaCL> hostInertias;
b3AlignedObjectArray<b3Contact4> hostContacts;
{
BT_PROFILE("copyToHost");
B3_PROFILE("copyToHost");
gpuBodies.copyToHost(hostBodies);
gpuInertias.copyToHost(hostInertias);
gpuContacts.copyToHost(hostContacts);
}
{
btJacobiSolverInfo solverInfo;
b3JacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),0,0,solverInfo);
}
{
BT_PROFILE("copyFromHost");
B3_PROFILE("copyFromHost");
gpuBodies.copyFromHost(hostBodies);
}
} else
{
btJacobiSolverInfo solverInfo;
b3JacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo);
}
} else
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<btInertiaCL> hostInertias;
b3AlignedObjectArray<b3InertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
@@ -279,9 +279,9 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
/*m_data->m_solver3->solveContactConstraintHost(
(btOpenCLArray<RigidBodyBase::Body>*)&gpuBodies,
(btOpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias,
(btOpenCLArray<Constraint4>*) &gpuContacts,
(b3OpenCLArray<RigidBodyBase::Body>*)&gpuBodies,
(b3OpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias,
(b3OpenCLArray<Constraint4>*) &gpuContacts,
0,numContacts,256);
*/
}
@@ -295,7 +295,7 @@ void b3GpuRigidBodyPipeline::integrate(float timeStep)
{
//integrate
btLauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
launcher.setConst(numBodies);
@@ -319,8 +319,8 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
if (!numBodies)
return;
//__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global btAABBCL* plocalShapeAABB, __global btAABBCL* pAABB)
btLauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel);
//__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel);
launcher.setConst(numBodies);
cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
launcher.setBuffer(bodies);
@@ -379,7 +379,7 @@ int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
t.setIdentity();
t.setOrigin(b3Vector3(position[0],position[1],position[2]));
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
btTransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
b3TransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
if (useDbvt)
{
m_data->m_broadphaseDbvt->createProxy(aabbMin,aabbMax,bodyIndex,0,1,1);