Merge remote-tracking branch 'bp/master'
This commit is contained in:
Erwin Coumans
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README.md
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README.md
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[](https://travis-ci.org/bulletphysics/bullet3)
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[](https://ci.appveyor.com/project/erwincoumans/bullet3)
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# Bullet 2.x with optional Bullet 3 GPU rigid body pipeline using OpenCL.
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# Bullet 2.x including experimental Bullet 3 OpenCL.
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This is the official repository of Bullet 2.x, moved from http://bullet.googlecode.com
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It includes the future work-in-progress Bullet 3 GPU pipeline.
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It includes the optional work-in-progress Bullet 3 GPU pipeline.
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The Bullet 2 API will stay default and up-to-date while slowly moving to Bullet 3.
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The steps towards Bullet 3 are in a nutshell:
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1. The old Bullet2 demos are being moved from ObsoleteDemos to AllBullet2Demos
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1. The old Bullet2 demos are being merged into the examples/ExampleBrowser
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2. A new Bullet 3 API is created
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3. All Bullet2 functionality is added to Bullet 3. Until this is done, you can use the Demos3/BasicGpuDemo/b3GpuDynamicsWorld or explore the Demos3/GpuDemos to check out Bullet 3.
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3. All Bullet2 functionality is added to Bullet 3.
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4. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl
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You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk
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@@ -26,23 +27,23 @@ Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical d
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https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit
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## Requirements for Bullet 3
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The entire collision detection and rigid body dynamics is executed on the GPU.
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A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or similar.
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A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better.
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We succesfully tested the software under Windows, Linux and Mac OSX.
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The software currently doesn't work on OpenCL CPU devices. It might run
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on a laptop GPU but performance is likely not very good.
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on a laptop GPU but performance is likely not very good. Note that
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often an OpenCL drivers fails to compile a kernel. Some unit tests exist to
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track down the issue, but more work is required to cover all OpenCL kernels.
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## License
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All source code files are licensed under the permissive zlib license
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(http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file.
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## Build instructions for Bullet 3.
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## Build instructions for Bullet using premake. You can also use cmake instead.
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**Windows**
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@@ -73,60 +74,21 @@ Click on build3/xcode4.command or in a terminal window execute
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## Usage
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The demo executables will be located in the bin folder.
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The Bullet 2 demo starts with App_AllBullet2Demos*
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The Bullet 3 demo starts with App_Bullet3_OpenCL_Demos_*
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The App_ExampleBrowser executables will be located in the bin folder.
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You can just run it though a terminal/command prompt, or by clicking it.
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There are some command-line options, you can see using the --help option. For example, this will perform a benchmark writing to some files:
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./App_Bullet3_OpenCL_Demos_clew_gmake --benchmark
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```
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[--selected_demo=<int>] Start with a selected demo
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[--benchmark] Run benchmark and export results to file
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[--maxFrameCount=<int>] Run the benchmark for <int> frames
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[--dump_timings] Print the profile timings to console
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[--cl_device=<int>] Choose a certain OpenCL device
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[--cl_platform=<int>] Choose a certain OpenCL platform
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[--disable_cached_cl_kernels] Disable loading cached binary OpenCL kernels
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[--x_dim=<int>] Change default demo settings (x,y,z)
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[--pair_benchmark_file=<filename>] Load AABB's from disk for the PairBench
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[--no_instanced_collision_shapes] Disable collision shape instancing (for tests)
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[--no_shadow_map] Disable shadowmap rendering
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[--shadowmap_resolution=<int>] Change the resolution of the shadowmap
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[--shadowmap_size=<int>] Change the worldspace size of the shadowmap
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[--use_uniform_grid] Use uniform grid broadphase (no all scenes work)
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[--use_jacobi] Use GPU parallel Jacobi solver (instead of PGS)
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[--use_large_batches] Use a different strategy for the constrains solver
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[--debug_kernel_launch] Show debug info at start/end of each kernel launch
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[--use_dbvt] Use the CPU dynamic BVH tree broadphase
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[--allow_opencl_cpu] Allow to use an OpenCL CPU device
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[--start_demo_name="Demo Name"] Start with a selected demo
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[--enable_experimental_opencl] Enable some experimental OpenCL examples
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[--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed
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[--mouse_move_multiplier=0.400000] Set the mouse move sensitivity
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[--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity
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[--background_color_red= 0.9] Set the red component for background color. Same for green and blue.
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[--fixed_timestep= 0.0] Use either a real-time delta time (0.0) or a fixed step size (0.016666)
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```
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You can use mouse picking to grab objects. When holding the ALT of CONTROL key, you have Maya style camera mouse controls.
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Press F1 to create a screenshot. Hit ESCAPE to exit the demo app.
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Bullet 3.x only implements a small set of collision shapes and constraints:
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* Static plane
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* Static concave triangle mesh
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* Sphere
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* Convex Polyhedron
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* Compound of Convex Polyhedra
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Bullet 3.x uses the separating axis test (SAT) between convex polyhedra, testing all vertex - face and edge - edge combinations. For performance it is best to keep the number of edges in a convex polyhedron low, using simple shapes such as a tetrahedron or a box.
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The constraint solver currently supports two constraints:
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* point to point constraint (ball-socket
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* fixed constraint
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It can be extended to other constraint types. The constraint solver uses the same algorithm as Bullet 2.x.
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It is possibly to try out Bullet 3.x using the Bullet 2.x API, using the b3GpuDynamicsWorld bridge:
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Copy the source code of both versions in the same location, and click on build3/vs2010_bullet2gpu.bat to generate Visual Studio project files.
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Press F1 to create series of screenshot. Hit ESCAPE to exit the demo app.
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See docs folder for further information.
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@@ -53,6 +53,7 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou
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/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
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ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
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{
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protected:
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btAlignedObjectArray<btCompoundShapeChild> m_children;
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btVector3 m_localAabbMin;
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btVector3 m_localAabbMax;
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@@ -64,7 +65,6 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
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btScalar m_collisionMargin;
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protected:
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btVector3 m_localScaling;
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public:
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