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prepare for btGpuGridBroadphase

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This commit is contained in:
erwincoumans
2013-11-10 14:15:23 -08:00
parent 6b5921b1b3
commit ad8585f184
14 changed files with 241 additions and 36 deletions
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20
Demos3/GpuDemos/broadphase/PairBench.cpp
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@@ -4,6 +4,8 @@
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
@@ -103,7 +105,7 @@ __kernel void updateAabbSimple( __global float4* posOrnColors, const int numNode
struct PairBenchInternalData
{
b3GpuSapBroadphase* m_broadphaseGPU;
b3GpuBroadphaseInterface* m_broadphaseGPU;
cl_kernel m_moveObjectsKernel;
cl_kernel m_sineWaveKernel;
@@ -176,6 +178,8 @@ void PairBench::initPhysics(const ConstructionInfo& ci)
if (m_clData->m_clContext)
{
m_data->m_broadphaseGPU = new b3GpuSapBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
//m_data->m_broadphaseGPU = new b3GpuGridBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
cl_program pairBenchProg=0;
int errNum=0;
m_data->m_moveObjectsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_pairBenchKernelString,"moveObjectsKernel",&errNum,pairBenchProg);
@@ -446,7 +450,7 @@ void PairBench::clientMoveAndDisplay()
}
}
bool updateOnGpu=false;
bool updateOnGpu=false;//true;
if (updateOnGpu)
{
@@ -463,7 +467,7 @@ void PairBench::clientMoveAndDisplay()
B3_PROFILE("updateOnCpu");
if (!gPairBenchFileName)
{
int allAabbs = m_data->m_broadphaseGPU->m_allAabbsCPU.size();
int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
@@ -476,10 +480,10 @@ void PairBench::clientMoveAndDisplay()
{
b3Vector3 position = posOrnColorsCpu[nodeId];
b3Vector3 halfExtents = b3MakeFloat4(1.01f,1.01f,1.01f,0.f);
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_minVec = position-halfExtents;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_minIndices[3] = nodeId;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_maxVec = position+halfExtents;
m_data->m_broadphaseGPU->m_allAabbsCPU[nodeId].m_signedMaxIndices[3]= nodeId;
m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_minVec = position-halfExtents;
m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_minIndices[3] = nodeId;
m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_maxVec = position+halfExtents;
m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_signedMaxIndices[3]= nodeId;
}
}
m_data->m_broadphaseGPU->writeAabbsToGpu();
@@ -506,7 +510,7 @@ void PairBench::clientMoveAndDisplay()
if (m_data->m_gui)
{
int allAabbs = m_data->m_broadphaseGPU->m_allAabbsCPU.size();
int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
int numOverlap = m_data->m_broadphaseGPU->getNumOverlap();
float time = dt/1000.f;