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more work towards cpu pipeline, sharing OpenCL kernel code

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This commit is contained in:
erwin coumans
2013-08-30 16:30:22 -07:00
parent 0ccb6922a8
commit a6d9cf382f
19 changed files with 1247 additions and 130 deletions
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20
Demos3/CpuDemos/rigidbody/RigidBodyDemo.cpp
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@@ -9,7 +9,6 @@
#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3CpuCollisionWorld.h"
static b3Vector4 colors[4] =
{
@@ -25,17 +24,16 @@ void RigidBodyDemo::initPhysics(const ConstructionInfo& ci)
{
m_instancingRenderer = ci.m_instancingRenderer;
int x_dim=30;
int y_dim=30;
int z_dim=30;
int x_dim=1;
int y_dim=2;
int z_dim=1;
int aabbCapacity = x_dim*y_dim*z_dim+1;
int aabbCapacity = x_dim*y_dim*z_dim+10;
b3Config config;
m_bp = new b3DynamicBvhBroadphase(aabbCapacity);
m_np = new b3CpuNarrowPhase(config);
m_cd = new b3CpuCollisionWorld(m_bp,m_np);
m_rb = new b3CpuRigidBodyPipeline(m_np,m_bp, config);
@@ -69,7 +67,6 @@ void RigidBodyDemo::initPhysics(const ConstructionInfo& ci)
float mass=0.f;
int collidableIndex = m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int bodyIndex = m_rb->getNumBodies();
m_cd->addCollidable(bodyIndex,collidableIndex,position,orn);
int userData=-1;
@@ -82,19 +79,19 @@ void RigidBodyDemo::initPhysics(const ConstructionInfo& ci)
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int collidableIndex = m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
for (int x=-x_dim/2;x<x_dim/2;x++)
for (int x=0;x<x_dim;x++)
{
//for (int y=-y_dim/2;y<y_dim/2;y++)
for (int y=1;y<y_dim;y++)
for (int y=0;y<y_dim;y++)
{
for (int z=-z_dim/2;z<z_dim/2;z++)
for (int z=0;z<z_dim;z++)
{
static int curColor=0;
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector3 position = b3MakeVector3(x*2,y*2,z*2);
b3Vector3 position = b3MakeVector3(x*2,2+y*2,z*2);
b3Quaternion orn(0,0,0,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
@@ -102,7 +99,6 @@ void RigidBodyDemo::initPhysics(const ConstructionInfo& ci)
int userData=-1;
int bodyIndex = m_rb->getNumBodies();
m_cd->addCollidable(bodyIndex,collidableIndex,position,orn);
int rbid = m_rb->registerPhysicsInstance(mass, position, orn, collidableIndex, userData);
}

3
Demos3/CpuDemos/rigidbody/RigidBodyDemo.h
View File

@@ -8,8 +8,7 @@ struct RigidBodyDemo : public CpuDemo
struct b3DynamicBvhBroadphase* m_bp;
struct b3CpuNarrowPhase* m_np;
class b3CpuCollisionWorld* m_cd;
struct b3CpuRigidBodyPipeline* m_rb;
GLInstancingRenderer* m_instancingRenderer;