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b3GpuDynamicsWorld improvements:

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apply forces
copy linear/angular velocity every frame at the CPU side, initial velocity works now
hook up setGravity
Note: the 'stepSimulation' for GPU only simulates a single simulation frame.
This commit is contained in:
erwincoumans
2013-06-06 22:01:06 -07:00
parent 74bdccc2cf
commit 9fe48d887d
12 changed files with 243 additions and 57 deletions
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186
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -14,7 +14,7 @@
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#ifdef _WIN32
@@ -22,6 +22,10 @@
#endif
//#if (BT_BULLET_VERSION >= 282)
//#define BT_USE_BODY_UPDATE_REVISION
//#endif
b3GpuDynamicsWorld::b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline)
:btDynamicsWorld(0,0,0),
@@ -29,7 +33,8 @@ b3GpuDynamicsWorld::b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuN
m_cpuGpuSync(true),
m_bp(bp),
m_np(np),
m_rigidBodyPipeline(rigidBodyPipeline)
m_rigidBodyPipeline(rigidBodyPipeline),
m_localTime(0.f)
{
}
@@ -42,8 +47,12 @@ b3GpuDynamicsWorld::~b3GpuDynamicsWorld()
int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStepsUnused, btScalar fixedTimeStep)
{
///Don't use more than 1 simulation step, it destroys the performance having to copy the data between CPU and GPU multiple times per frame
///Please use the CPU version in btDiscreteDynamicsWorld if you don't like this
#ifndef BT_NO_PROFILE
CProfileManager::Reset();
#endif //BT_NO_PROFILE
@@ -51,8 +60,44 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btS
BT_PROFILE("stepSimulation");
//convert all shapes now, and if any change, reset all (todo)
// detect any change (very simple)
{
BT_PROFILE("body update revision detection (CPU)");
#ifdef BT_USE_BODY_UPDATE_REVISION
b3Assert(m_bodyUpdateRevisions.size() == m_collisionObjects.size());
b3Assert(m_np->getNumRigidBodies() == m_bodyUpdateRevisions.size());
#endif //BT_USE_BODY_UPDATE_REVISION
b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
for (int i=0;i<this->m_collisionObjects.size();i++)
{
#ifdef BT_USE_BODY_UPDATE_REVISION
if (m_bodyUpdateRevisions[i] != m_collisionObjects[i]->getUpdateRevisionInternal())
#endif//BT_USE_BODY_UPDATE_REVISION
{
m_cpuGpuSync = true;
#ifdef BT_USE_BODY_UPDATE_REVISION
m_bodyUpdateRevisions[i] = m_collisionObjects[i]->getUpdateRevisionInternal();
#endif
bodiesCL[i].m_pos = (const b3Vector3&)m_collisionObjects[i]->getWorldTransform().getOrigin();
bodiesCL[i].m_quat = (const b3Quaternion&)m_collisionObjects[i]->getWorldTransform().getRotation();
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
{
body->integrateVelocities(fixedTimeStep);
bodiesCL[i].m_linVel = (const b3Vector3&)body->getLinearVelocity();
bodiesCL[i].m_angVel = (const b3Vector3&)body->getAngularVelocity();
}
}
}
}
if (m_cpuGpuSync)
{
@@ -62,55 +107,94 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btS
m_rigidBodyPipeline->writeAllInstancesToGpu();
}
//internalSingleStepSimulation(fixedTimeStep);
// dispatch preTick callback
if(0 != m_internalPreTickCallback) {
if(0 != m_internalPreTickCallback)
{
BT_PROFILE("internalPreTickCallback");
(*m_internalPreTickCallback)(this, fixedTimeStep);
}
m_rigidBodyPipeline->stepSimulation(fixedTimeStep);
{
BT_PROFILE("m_rigidBodyPipeline->stepSimulation");
m_rigidBodyPipeline->stepSimulation(fixedTimeStep);
}
{
BT_PROFILE("readbackBodiesToCpu");
//now copy info back to rigid bodies....
m_np->readbackAllBodiesToCpu();
}
{
BT_PROFILE("scatter transforms into rigidbody (CPU)");
const b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
for (int i=0;i<this->m_collisionObjects.size();i++)
{
BT_PROFILE("readbackBodiesToCpu");
//now copy info back to rigid bodies....
m_np->readbackAllBodiesToCpu();
btVector3 pos;
btQuaternion orn;
m_np->getObjectTransformFromCpu(&pos[0],&orn[0],i);
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
btCollisionObject* colObj = this->m_collisionObjects[i];
colObj->setWorldTransform(newTrans);
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
{
body->setLinearVelocity((btVector3&)bodiesCL[i].m_linVel);
body->setAngularVelocity((btVector3&)bodiesCL[i].m_angVel);
}
#ifdef BT_USE_BODY_UPDATE_REVISION
//ignore this revision update
m_bodyUpdateRevisions[i] = m_collisionObjects[i]->getUpdateRevisionInternal();
#endif //BT_USE_BODY_UPDATE_REVISION
}
{
BT_PROFILE("scatter transforms into rigidbody (CPU)");
for (int i=0;i<this->m_collisionObjects.size();i++)
{
btVector3 pos;
btQuaternion orn;
m_np->getObjectTransformFromCpu(&pos[0],&orn[0],i);
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
btCollisionObject* colObj = this->m_collisionObjects[i];
colObj->setWorldTransform(newTrans);
// synchronize motionstate
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
this->synchronizeSingleMotionState(body);
}
BT_PROFILE("synchronizeMotionStates");
synchronizeMotionStates();
}
}
clearForces();
#ifndef B3_NO_PROFILE
CProfileManager::Increment_Frame_Counter();
#endif //B3_NO_PROFILE
return 1;
}
void b3GpuDynamicsWorld::clearForces()
{
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
//need to check if next line is ok
//it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
if (body)
body->clearForces();
}
}
void b3GpuDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
m_rigidBodyPipeline->setGravity(gravity);
}
int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* colShape)
@@ -308,10 +392,43 @@ void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
}
}
void b3GpuDynamicsWorld::removeRigidBody(btRigidBody* colObj)
{
m_cpuGpuSync = true;
btDynamicsWorld::removeCollisionObject(colObj);
if (getNumCollisionObjects()==0)
{
m_uniqueShapes.resize(0);
m_uniqueShapeMapping.resize(0);
m_np->reset();
m_bp->reset();
m_rigidBodyPipeline->reset();
#ifdef BT_USE_BODY_UPDATE_REVISION
m_bodyUpdateRevisions.resize(0);
#endif //BT_USE_BODY_UPDATE_REVISION
}
}
void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
{
m_cpuGpuSync = true;
btDynamicsWorld::removeCollisionObject(colObj);
if (getNumCollisionObjects()==0)
{
m_uniqueShapes.resize(0);
m_uniqueShapeMapping.resize(0);
m_np->reset();
m_bp->reset();
m_rigidBodyPipeline->reset();
#ifdef BT_USE_BODY_UPDATE_REVISION
m_bodyUpdateRevisions.resize(0);
#endif
}
}
void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
@@ -319,6 +436,19 @@ void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3&
}
void b3GpuDynamicsWorld::synchronizeMotionStates()
{
//iterate over all collision objects
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
synchronizeSingleMotionState(body);
}
}
void b3GpuDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
{
btAssert(body);