fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
Load Diff
@@ -1,93 +1,93 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BASIC_DEMO3D_H
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||||
#define BASIC_DEMO3D_H
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#include "GlutDemoApplication.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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|
||||
class btBroadphaseInterface;
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||||
class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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///BasicDemo is good starting point for learning the code base and porting.
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class BasicDemo3D : public GlutDemoApplication
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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int m_mouseButtons;
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int m_mouseOldX;
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||||
int m_mouseOldY;
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public:
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|
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BasicDemo3D()
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||||
{
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}
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virtual ~BasicDemo3D()
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||||
{
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exitPhysics();
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}
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void initPhysics();
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void exitPhysics();
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||||
|
||||
virtual void clientMoveAndDisplay();
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|
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virtual void displayCallback();
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||||
|
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virtual void keyboardCallback(unsigned char key, int x, int y);
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virtual void mouseFunc(int button, int state, int x, int y);
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virtual void mouseMotionFunc(int x,int y);
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virtual void clientResetScene();
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static DemoApplication* Create()
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{
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BasicDemo3D* demo = new BasicDemo3D;
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demo->myinit();
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demo->initPhysics();
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demo->m_mouseButtons = 0;
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demo->m_mouseOldX = 0;
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demo->m_mouseOldY = 0;
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return demo;
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}
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void DrawConstraintInfo();
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void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
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virtual void renderme();
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||||
|
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void setWireMode(bool wireOnOff);
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||||
};
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||||
|
||||
|
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#endif //BASIC_DEMO3D_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BASIC_DEMO3D_H
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#define BASIC_DEMO3D_H
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#include "GlutDemoApplication.h"
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#include "LinearMath/btAlignedObjectArray.h"
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||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
class BasicDemo3D : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_mouseButtons;
|
||||
int m_mouseOldX;
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int m_mouseOldY;
|
||||
|
||||
public:
|
||||
|
||||
BasicDemo3D()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo3D()
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||||
{
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exitPhysics();
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||||
}
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void initPhysics();
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void exitPhysics();
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|
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virtual void clientMoveAndDisplay();
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||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
virtual void mouseFunc(int button, int state, int x, int y);
|
||||
virtual void mouseMotionFunc(int x,int y);
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
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BasicDemo3D* demo = new BasicDemo3D;
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demo->myinit();
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demo->initPhysics();
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demo->m_mouseButtons = 0;
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demo->m_mouseOldX = 0;
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demo->m_mouseOldY = 0;
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return demo;
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||||
}
|
||||
|
||||
void DrawConstraintInfo();
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||||
void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
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||||
virtual void renderme();
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||||
|
||||
void setWireMode(bool wireOnOff);
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||||
};
|
||||
|
||||
|
||||
#endif //BASIC_DEMO3D_H
|
||||
|
||||
|
||||
@@ -1,32 +1,32 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
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#include "LinearMath/btQuickprof.h"
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||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
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||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
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#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
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#include "btGpuDemo3dSharedCode.h"
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|
||||
//--------------------------------------------------------------------------
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||||
//--------------------------------------------------------------------------
|
||||
//--------------------------------------------------------------------------
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||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
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||||
|
||||
//----------------------------------------------------------------------------------------
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||||
|
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#include "btGpuDemo3dSharedTypes.h"
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||||
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||||
//----------------------------------------------------------------------------------------
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||||
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#include "BulletMultiThreaded/btGpuDefines.h"
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#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
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#include "btGpuDemo3dSharedCode.h"
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//--------------------------------------------------------------------------
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//--------------------------------------------------------------------------
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//--------------------------------------------------------------------------
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File diff suppressed because it is too large
Load Diff
@@ -1,38 +1,38 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
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||||
void BT_GPU_PREF(collisionWithWallBox3D(void* trans,void* vel,void* angVel,btCudaPartProps pProp, btCudaBoxProps gProp,int numObjs,float dt));
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox3D(void* constraints,int *batch,int numConstraints,void *trans,void *vel,
|
||||
void *angularVel,float *lambdaDtBox,float *positionConstraint,void* normal,void* contact,
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||||
btCudaPartProps pProp,int iBatch,float dt));
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||||
|
||||
void BT_GPU_PREF(integrVel(float* pForceTorqueDamp, float* pInvInertiaMass, void* pVel, void* pAngVel, float timeStep, unsigned int numBodies));
|
||||
void BT_GPU_PREF(integrTrans(void* trans, void* vel, void* angVel, float timeStep, int numBodies));
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
|
||||
void BT_GPU_PREF(collisionWithWallBox3D(void* trans,void* vel,void* angVel,btCudaPartProps pProp, btCudaBoxProps gProp,int numObjs,float dt));
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox3D(void* constraints,int *batch,int numConstraints,void *trans,void *vel,
|
||||
void *angularVel,float *lambdaDtBox,float *positionConstraint,void* normal,void* contact,
|
||||
btCudaPartProps pProp,int iBatch,float dt));
|
||||
|
||||
void BT_GPU_PREF(integrVel(float* pForceTorqueDamp, float* pInvInertiaMass, void* pVel, void* pAngVel, float timeStep, unsigned int numBodies));
|
||||
void BT_GPU_PREF(integrTrans(void* trans, void* vel, void* angVel, float timeStep, int numBodies));
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
@@ -1,39 +1,39 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct btCudaPartProps
|
||||
{
|
||||
float m_mass;
|
||||
float m_diameter;
|
||||
float m_restCoeff;
|
||||
};
|
||||
|
||||
struct btCudaBoxProps
|
||||
{
|
||||
float minX;
|
||||
float maxX;
|
||||
float minY;
|
||||
float maxY;
|
||||
float minZ;
|
||||
float maxZ;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct btCudaPartProps
|
||||
{
|
||||
float m_mass;
|
||||
float m_diameter;
|
||||
float m_restCoeff;
|
||||
};
|
||||
|
||||
struct btCudaBoxProps
|
||||
{
|
||||
float minX;
|
||||
float maxX;
|
||||
float minY;
|
||||
float maxY;
|
||||
float minZ;
|
||||
float maxZ;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,252 +1,252 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#if 0 // ###
|
||||
#include <vector_types.h>
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#undef BT_GPU_PREF
|
||||
#endif
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
|
||||
|
||||
//#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 20
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 15
|
||||
|
||||
class btCudaDemoDynamicsWorld3D : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObj;
|
||||
int m_maxNeihbors;
|
||||
int m_maxConstr;
|
||||
int m_maxPointsPerConstr;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useSeqImpSolver;
|
||||
bool m_useCudaMotIntegr;
|
||||
bool m_copyIntegrDataToGPU;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dTrans;
|
||||
float4* m_dVel;
|
||||
float4* m_dAngVel;
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
float* m_dLambdaDtBox;
|
||||
float* m_dPositionConstraint;
|
||||
float3* m_dNormal;
|
||||
float3* m_dContact;
|
||||
float* m_dForceTorqueDamp;
|
||||
float* m_dInvInertiaMass;
|
||||
#endif
|
||||
|
||||
float4* m_hTrans;
|
||||
float4* m_hVel;
|
||||
float4* m_hAngVel;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_numConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float* m_hPositionConstraint;
|
||||
float3* m_hNormal;
|
||||
float3* m_hContact;
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
//-------------------------------
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
//-------------------------------
|
||||
|
||||
float* m_hForceTorqueDamp;
|
||||
float* m_hInvInertiaMass;
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES];
|
||||
|
||||
|
||||
btCudaDemoDynamicsWorld3D(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration, int maxPointsPerConstr = 4)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_useCPUSolver = false;
|
||||
m_useSeqImpSolver = false;
|
||||
m_useCudaMotIntegr = true;
|
||||
m_copyIntegrDataToGPU = true;
|
||||
m_maxObj = 32768;
|
||||
m_maxNeihbors = 26;
|
||||
m_maxConstr = m_maxObj * m_maxNeihbors;
|
||||
int sz = m_maxConstr;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObj];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hTrans = new float4[m_maxObj * 4];
|
||||
m_hVel = new float4[m_maxObj];
|
||||
m_hAngVel = new float4[m_maxObj];
|
||||
|
||||
m_maxPointsPerConstr = maxPointsPerConstr;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dTrans, sizeof(float4) * m_maxObj * 4);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObj);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float4) * m_maxObj);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dForceTorqueDamp, sizeof(float) * m_maxObj * 4 * 2);
|
||||
btCuda_allocateArray((void**)&m_dInvInertiaMass, sizeof(float) * m_maxObj * 4 * 3);
|
||||
#endif
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxPointsPerConstr];
|
||||
m_hPositionConstraint = new float[sz * m_maxPointsPerConstr];
|
||||
m_hNormal = new float3[sz * m_maxPointsPerConstr];
|
||||
m_hContact = new float3[sz * m_maxPointsPerConstr];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
m_hForceTorqueDamp = new float[m_maxObj * 4 * 2];
|
||||
m_hInvInertiaMass = new float[4 * m_maxObj * 3];
|
||||
|
||||
}
|
||||
virtual ~btCudaDemoDynamicsWorld3D()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hTrans;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hPositionConstraint;
|
||||
delete [] m_hNormal;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
delete [] m_hForceTorqueDamp;
|
||||
delete [] m_hInvInertiaMass;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dTrans);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dPositionConstraint);
|
||||
btCuda_freeArray(m_dNormal);
|
||||
btCuda_freeArray(m_dContact);
|
||||
btCuda_freeArray(m_dForceTorqueDamp);
|
||||
btCuda_freeArray(m_dInvInertiaMass);
|
||||
#endif
|
||||
|
||||
}
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
if(m_useSeqImpSolver)
|
||||
{
|
||||
btDiscreteDynamicsWorld::calculateSimulationIslands();
|
||||
}
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
virtual void integrateTransforms(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
|
||||
void solveConstraintsCPU(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabObjData();
|
||||
void grabConstrData();
|
||||
void createBatches();
|
||||
void copyDataToGPU();
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseSeqImpSolver(bool useSeqImpSolver) { m_useSeqImpSolver = useSeqImpSolver; }
|
||||
void setUseCudaMotIntegr(bool useCudaMotIntegr) { m_useCudaMotIntegr = useCudaMotIntegr; }
|
||||
void resetScene(void) { m_copyIntegrDataToGPU = true; }
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#if 0 // ###
|
||||
#include <vector_types.h>
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#undef BT_GPU_PREF
|
||||
#endif
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
|
||||
|
||||
//#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 20
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 15
|
||||
|
||||
class btCudaDemoDynamicsWorld3D : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObj;
|
||||
int m_maxNeihbors;
|
||||
int m_maxConstr;
|
||||
int m_maxPointsPerConstr;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useSeqImpSolver;
|
||||
bool m_useCudaMotIntegr;
|
||||
bool m_copyIntegrDataToGPU;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dTrans;
|
||||
float4* m_dVel;
|
||||
float4* m_dAngVel;
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
float* m_dLambdaDtBox;
|
||||
float* m_dPositionConstraint;
|
||||
float3* m_dNormal;
|
||||
float3* m_dContact;
|
||||
float* m_dForceTorqueDamp;
|
||||
float* m_dInvInertiaMass;
|
||||
#endif
|
||||
|
||||
float4* m_hTrans;
|
||||
float4* m_hVel;
|
||||
float4* m_hAngVel;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_numConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float* m_hPositionConstraint;
|
||||
float3* m_hNormal;
|
||||
float3* m_hContact;
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
//-------------------------------
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
//-------------------------------
|
||||
|
||||
float* m_hForceTorqueDamp;
|
||||
float* m_hInvInertiaMass;
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES];
|
||||
|
||||
|
||||
btCudaDemoDynamicsWorld3D(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration, int maxPointsPerConstr = 4)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_useCPUSolver = false;
|
||||
m_useSeqImpSolver = false;
|
||||
m_useCudaMotIntegr = true;
|
||||
m_copyIntegrDataToGPU = true;
|
||||
m_maxObj = 32768;
|
||||
m_maxNeihbors = 26;
|
||||
m_maxConstr = m_maxObj * m_maxNeihbors;
|
||||
int sz = m_maxConstr;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObj];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hTrans = new float4[m_maxObj * 4];
|
||||
m_hVel = new float4[m_maxObj];
|
||||
m_hAngVel = new float4[m_maxObj];
|
||||
|
||||
m_maxPointsPerConstr = maxPointsPerConstr;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dTrans, sizeof(float4) * m_maxObj * 4);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObj);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float4) * m_maxObj);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dForceTorqueDamp, sizeof(float) * m_maxObj * 4 * 2);
|
||||
btCuda_allocateArray((void**)&m_dInvInertiaMass, sizeof(float) * m_maxObj * 4 * 3);
|
||||
#endif
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxPointsPerConstr];
|
||||
m_hPositionConstraint = new float[sz * m_maxPointsPerConstr];
|
||||
m_hNormal = new float3[sz * m_maxPointsPerConstr];
|
||||
m_hContact = new float3[sz * m_maxPointsPerConstr];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
m_hForceTorqueDamp = new float[m_maxObj * 4 * 2];
|
||||
m_hInvInertiaMass = new float[4 * m_maxObj * 3];
|
||||
|
||||
}
|
||||
virtual ~btCudaDemoDynamicsWorld3D()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hTrans;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hPositionConstraint;
|
||||
delete [] m_hNormal;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
delete [] m_hForceTorqueDamp;
|
||||
delete [] m_hInvInertiaMass;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dTrans);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dPositionConstraint);
|
||||
btCuda_freeArray(m_dNormal);
|
||||
btCuda_freeArray(m_dContact);
|
||||
btCuda_freeArray(m_dForceTorqueDamp);
|
||||
btCuda_freeArray(m_dInvInertiaMass);
|
||||
#endif
|
||||
|
||||
}
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
if(m_useSeqImpSolver)
|
||||
{
|
||||
btDiscreteDynamicsWorld::calculateSimulationIslands();
|
||||
}
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
virtual void integrateTransforms(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
|
||||
void solveConstraintsCPU(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabObjData();
|
||||
void grabConstrData();
|
||||
void createBatches();
|
||||
void copyDataToGPU();
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseSeqImpSolver(bool useSeqImpSolver) { m_useSeqImpSolver = useSeqImpSolver; }
|
||||
void setUseCudaMotIntegr(bool useCudaMotIntegr) { m_useCudaMotIntegr = useCudaMotIntegr; }
|
||||
void resetScene(void) { m_copyIntegrDataToGPU = true; }
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
@@ -1,61 +1,61 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "BasicDemo3d.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
BasicDemo3D ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
ccdDemo.setWireMode(false);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "BasicDemo3d.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
BasicDemo3D ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
ccdDemo.setWireMode(false);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user