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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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60
src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
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@@ -5,11 +5,15 @@
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h"
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3CollidableData.h"
struct b3CpuRigidBodyPipelineInternalData
{
b3AlignedObjectArray<b3RigidBodyData> m_rigidBodies;
b3AlignedObjectArray<b3Aabb> m_aabbWorldSpace;
b3DynamicBvhBroadphase* m_bp;
b3CpuNarrowPhase* m_np;
b3Config m_config;
@@ -32,6 +36,27 @@ b3CpuRigidBodyPipeline::~b3CpuRigidBodyPipeline()
void b3CpuRigidBodyPipeline::updateAabbWorldSpace()
{
for (int i=0;i<this->getNumBodies();i++)
{
b3RigidBodyData* body = &m_data->m_rigidBodies[i];
b3Float4 position = body->m_pos;
b3Quat orientation = body->m_quat;
int collidableIndex = body->m_collidableIdx;
b3Collidable& collidable = m_data->m_np->getCollidableCpu(collidableIndex);
int shapeIndex = collidable.m_shapeIndex;
if (shapeIndex>=0)
{
b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(shapeIndex);
b3Aabb& worldAabb = m_data->m_aabbWorldSpace[i];
float margin=0.f;
b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&worldAabb.m_minVec,&worldAabb.m_maxVec);
m_data->m_bp->setAabb(i,worldAabb.m_minVec,worldAabb.m_maxVec,0);
}
}
}
void b3CpuRigidBodyPipeline::computeOverlappingPairs()
@@ -39,15 +64,15 @@ void b3CpuRigidBodyPipeline::computeOverlappingPairs()
int numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
m_data->m_bp->calculateOverlappingPairs();
numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
//printf("numPairs=%d\n",numPairs);
}
void b3CpuRigidBodyPipeline::computeContactPoints()
{
b3AlignedObjectArray<b3Aabb> aabbWorldSpace;
b3AlignedObjectArray<b3Int4> pairs;
b3AlignedObjectArray<b3Int4>& pairs = m_data->m_bp->getOverlappingPairCache()->getOverlappingPairArray();
m_data->m_np->computeContacts(&pairs,&aabbWorldSpace);
m_data->m_np->computeContacts(pairs,m_data->m_aabbWorldSpace, m_data->m_rigidBodies);
}
void b3CpuRigidBodyPipeline::stepSimulation(float deltaTime)
@@ -87,7 +112,7 @@ void b3CpuRigidBodyPipeline::integrate(float deltaTime)
int b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userData)
{
b3RigidBodyData body;
int index = m_data->m_rigidBodies.size();
int bodyIndex = m_data->m_rigidBodies.size();
body.m_invMass = mass ? 1.f/mass : 0.f;
body.m_angVel.setValue(0,0,0);
body.m_collidableIdx = collidableIndex;
@@ -99,15 +124,32 @@ int b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
m_data->m_rigidBodies.push_back(body);
if (collidableIndex>=0)
{
b3Aabb& worldAabb = m_data->m_aabbWorldSpace.expand();
b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(collidableIndex);
b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
b3Scalar margin = 0.01f;
b3Transform t;
t.setIdentity();
t.setOrigin(b3MakeVector3(position[0],position[1],position[2]));
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
b3TransformAabb(localAabbMin,localAabbMax, margin,t,worldAabb.m_minVec,worldAabb.m_maxVec);
m_data->m_bp->createProxy(worldAabb.m_minVec,worldAabb.m_maxVec,bodyIndex,0,1,1);
// b3Vector3 aabbMin,aabbMax;
// m_data->m_bp->getAabb(bodyIndex,aabbMin,aabbMax);
} else
{
b3Error("registerPhysicsInstance using invalid collidableIndex\n");
}
return index;
return bodyIndex;
}