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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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17
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -22,7 +22,7 @@ subject to the following restrictions:
#include "b3GpuNarrowPhase.h"
#include "Bullet3Geometry/b3AabbUtil.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h"
@@ -43,7 +43,7 @@ subject to the following restrictions:
bool integrateOnCpu = true;
#else
bool useDbvt = false;//true;
bool useDbvt = false;
bool useBullet2CpuSolver = true;
bool dumpContactStats = false;
bool calcWorldSpaceAabbOnCpu = false;//true;
@@ -70,7 +70,7 @@ subject to the following restrictions:
#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
{
m_data = new b3GpuRigidBodyPipelineInternalData;
m_data->m_constraintUid=0;
@@ -497,13 +497,14 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
} else
{
m_data->m_broadphaseSap->m_allAabbsCPU.resize(numBodies);
m_data->m_broadphaseSap->getAllAabbsCPU().resize(numBodies);
m_data->m_narrowphase->readbackAllBodiesToCpu();
for (int i=0;i<numBodies;i++)
{
b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_broadphaseSap->m_allAabbsCPU[0]);
b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_broadphaseSap->getAllAabbsCPU()[0]);
}
m_data->m_broadphaseSap->m_allAabbsGPU.copyFromHost(m_data->m_broadphaseSap->m_allAabbsCPU);
m_data->m_broadphaseSap->getAllAabbsGPU().copyFromHost(m_data->m_broadphaseSap->getAllAabbsCPU());
//m_data->m_broadphaseSap->writeAabbsToGpu();
}
}
} else
@@ -631,10 +632,10 @@ int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
{
if (mass)
{
m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher);
} else
{
m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher);
}
}
}

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
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@@ -32,7 +32,7 @@ protected:
public:
b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q , class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q , class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
virtual ~b3GpuRigidBodyPipeline();
void stepSimulation(float deltaTime);

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
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@@ -50,7 +50,7 @@ struct b3GpuRigidBodyPipelineInternalData
class b3GpuJacobiSolver* m_solver3;
class b3GpuRaycast* m_raycaster;
class b3GpuSapBroadphase* m_broadphaseSap;
class b3GpuBroadphaseInterface* m_broadphaseSap;
struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
b3OpenCLArray<b3SapAabb>* m_allAabbsGPU;