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Added a possibility to build appGpu2dDemo with CUDA solver.

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It is disabled by default, see Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h for instructions how to enable it

Cleaned up Extras/CUDA folder and libbulletcuda project
This commit is contained in:
rponom
2009-05-14 20:20:56 +00:00
parent 42ece54556
commit a95b2a33bd
35 changed files with 528 additions and 5845 deletions
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58
Extras/CUDA/btCudaBroadphase.cpp
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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.
@@ -18,23 +18,32 @@ subject to the following restrictions:
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "btCudaBroadphaseKernel.h"
#include "btCudaBroadphase.h"
#include "radixsort.cuh"
//#include "vector_functions.h"
//--------------------------------------------------------------------------
#define BT_GPU_PREF(func) btCuda_##func
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h"
#undef BT_GPU_PREF
extern "C" void btCuda_setParameters(bt3DGridBroadphaseParams* hostParams);
//--------------------------------------------------------------------------
#include <stdio.h>
//--------------------------------------------------------------------------
btCudaBroadphase::btCudaBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
int maxBodiesPerCell,
btScalar cellFactorAABB) :
bt3DGridBroadphase(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, maxSmallProxies, maxLargeProxies, maxPairsPerBody, maxBodiesPerCell,cellFactorAABB)
btCudaBroadphase::btCudaBroadphase( btOverlappingPairCache* overlappingPairCache,
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerSmallProxy,
int maxSmallProxiesPerCell) :
btGpu3DGridBroadphase(overlappingPairCache, worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, maxSmallProxies, maxLargeProxies, maxPairsPerSmallProxy, maxSmallProxiesPerCell)
{
_initialize();
} // btCudaBroadphase::btCudaBroadphase()
@@ -65,7 +74,7 @@ void btCudaBroadphase::_initialize()
btCuda_copyArrayToDevice(m_dPairBuffStartCurr, m_hPairBuffStartCurr, (m_maxHandles * 2 + 1) * sizeof(unsigned int));
unsigned int numAABB = m_maxHandles + m_maxLargeHandles;
btCuda_allocateArray((void**)&m_dAABB, numAABB * sizeof(btCuda3F1U) * 2);
btCuda_allocateArray((void**)&m_dAABB, numAABB * sizeof(bt3DGrid3F1U) * 2);
btCuda_allocateArray((void**)&m_dPairScan, (m_maxHandles + 1) * sizeof(unsigned int));
@@ -77,13 +86,6 @@ void btCudaBroadphase::_initialize()
void btCudaBroadphase::_finalize()
{
assert(m_bInitialized);
delete [] m_hBodiesHash;
delete [] m_hCellStart;
delete [] m_hPairBuffStartCurr;
delete [] m_hAABB;
delete [] m_hPairBuff;
delete [] m_hPairScan;
delete [] m_hPairOut;
btCuda_freeArray(m_dBodiesHash[0]);
btCuda_freeArray(m_dBodiesHash[1]);
btCuda_freeArray(m_dCellStart);
@@ -92,10 +94,6 @@ void btCudaBroadphase::_finalize()
btCuda_freeArray(m_dPairBuff);
btCuda_freeArray(m_dPairScan);
btCuda_freeArray(m_dPairOut);
btAlignedFree(m_pLargeHandlesRawPtr);
m_bInitialized = false;
} // btCudaBroadphase::_finalize()
//--------------------------------------------------------------------------
@@ -108,14 +106,14 @@ void btCudaBroadphase::_finalize()
void btCudaBroadphase::prepareAABB()
{
bt3DGridBroadphase::prepareAABB();
btCuda_copyArrayToDevice(m_dAABB, m_hAABB, sizeof(btCuda3F1U) * 2 * (m_numHandles + m_numLargeHandles));
btGpu3DGridBroadphase::prepareAABB();
btCuda_copyArrayToDevice(m_dAABB, m_hAABB, sizeof(bt3DGrid3F1U) * 2 * (m_numHandles + m_numLargeHandles));
return;
} // btCudaBroadphase::prepareAABB()
//--------------------------------------------------------------------------
void btCudaBroadphase::setParameters(btCudaBroadphaseParams* hostParams)
void btCudaBroadphase::setParameters(bt3DGridBroadphaseParams* hostParams)
{
btCuda_setParameters(hostParams);
return;
@@ -183,7 +181,7 @@ void btCudaBroadphase::computePairCacheChanges()
void btCudaBroadphase::scanOverlappingPairBuff()
{
btCuda_copyArrayFromDevice(m_hPairScan, m_dPairScan, sizeof(unsigned int)*(m_numHandles + 1));
bt3DGridBroadphase::scanOverlappingPairBuff();
btGpu3DGridBroadphase::scanOverlappingPairBuff();
btCuda_copyArrayToDevice(m_dPairScan, m_hPairScan, sizeof(unsigned int)*(m_numHandles + 1));
return;
} // btCudaBroadphase::scanOverlappingPairBuff()
@@ -199,3 +197,11 @@ void btCudaBroadphase::squeezeOverlappingPairBuff()
} // btCudaBroadphase::squeezeOverlappingPairBuff()
//--------------------------------------------------------------------------
void btCudaBroadphase::resetPool(btDispatcher* dispatcher)
{
btGpu3DGridBroadphase::resetPool(dispatcher);
btCuda_copyArrayToDevice(m_dPairBuffStartCurr, m_hPairBuffStartCurr, (m_maxHandles * 2 + 1) * sizeof(unsigned int));
} // btCudaBroadphase::resetPool()
//--------------------------------------------------------------------------