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Added preparation for GPU hardware accelerated solvers for BulletSoftBody (OpenCL and DirectCompute backends will follow)

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Added assert to check for positive masses in btCompoundShape::calculatePrincipalAxisTransform, see Issue 399
Fixes for LLVM/GCC compilation issue in btSequentialImpulseConstraintSolver
(Untested) fix for Linux 64bit compilation Issue 409
This commit is contained in:
erwin.coumans
2010-07-16 23:26:25 +00:00
parent 13d9441f30
commit b3f081fc85
21 changed files with 834 additions and 175 deletions
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54
Demos/Benchmarks/BenchmarkDemo.cpp
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@@ -41,12 +41,40 @@ subject to the following restrictions:
#ifdef USE_PARALLEL_DISPATCHER_BENCHMARK
#include "BulletMultiThreaded/Win32ThreadSupport.h"
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "BulletMultiThreaded/btParallelConstraintSolver.h"
btThreadSupportInterface* createSolverThreadSupport(int maxNumThreads)
{
//#define SEQUENTIAL
#ifdef SEQUENTIAL
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#else
#ifdef _WIN32
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads",SolverThreadFunc,SolverlsMemoryFunc,maxNumThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
#elif defined (USE_PTHREADS)
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", SolverThreadFunc,
SolverlsMemoryFunc, maxNumThreads);
PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
#else
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#endif
#endif
#undef USE_PARALLEL_SOLVER_BENCHMARK
#ifdef USE_PARALLEL_SOLVER_BENCHMARK
#include "BulletMultiThreaded/btParallelConstraintSolver.h"
return threadSupport;
}
#endif
class btRaycastBar2
@@ -319,8 +347,10 @@ void BenchmarkDemo::initPhysics()
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
#ifdef USE_PARALLEL_SOLVER_BENCHMARK
btConstraintSolver* sol = new btParallelConstraintSolver;
#ifdef USE_PARALLEL_DISPATCHER_BENCHMARK
btThreadSupportInterface* thread = createSolverThreadSupport(4);
btConstraintSolver* sol = new btParallelConstraintSolver(thread);
#else
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
#endif //USE_PARALLEL_DISPATCHER_BENCHMARK
@@ -331,9 +361,13 @@ void BenchmarkDemo::initPhysics()
btDiscreteDynamicsWorld* dynamicsWorld;
m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER_BENCHMARK
dynamicsWorld->getSimulationIslandManager()->setSplitIslands(false);
#endif //USE_PARALLEL_DISPATCHER_BENCHMARK
///the following 3 lines increase the performance dramatically, with a little bit of loss of quality
m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; //don't recalculate friction values each frame
dynamicsWorld->getSolverInfo().m_numIterations = 4; //few solver iterations
dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations
m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...);
@@ -494,8 +528,8 @@ void BenchmarkDemo::createWall(const btVector3& offsetPosition,int stackSize,con
void BenchmarkDemo::createPyramid(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize)
{
btScalar space = 0.0001f;
btScalar space = 0.000f;
btVector3 pos(0.0f, boxSize[1], 0.0f);
btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS));
@@ -507,9 +541,9 @@ void BenchmarkDemo::createPyramid(const btVector3& offsetPosition,int stackSize,
blockShape->calculateLocalInertia(mass,localInertia);
btScalar diffX = boxSize[0];
btScalar diffY = boxSize[1];
btScalar diffZ = boxSize[2];
btScalar diffX = boxSize[0]*1.02f;
btScalar diffY = boxSize[1]*1.02f;
btScalar diffZ = boxSize[2]*1.02f;
btScalar offsetX = -stackSize * (diffX * 2.0f + space) * 0.5f;
btScalar offsetZ = -stackSize * (diffZ * 2.0f + space) * 0.5f;

3
Demos/CMakeLists.txt
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@@ -3,7 +3,7 @@ IF (USE_GLUT)
IF(BUILD_CPU_DEMOS)
SET(SharedDemoSubdirs
OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld
OpenGL AllBulletDemos ConvexDecompositionDemo HelloWorld
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo HeightFieldFluidDemo
@@ -19,6 +19,7 @@ ELSE()
ENDIF()
SUBDIRS( ${SharedDemoSubdirs}
Benchmarks
ThreadingDemo
MultiThreadedDemo
VectorAdd_OpenCL

8
Demos/ParticlesOpenCL/Apple/CMakeLists.txt
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@@ -64,8 +64,6 @@ IF (CMAKE_CL_64)
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ELSE(CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
@@ -73,12 +71,14 @@ ELSE(CMAKE_CL_64)
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
IF (UNIX)
TARGET_LINK_LIBRARIES(AppParticlesOCL_Apple pthread)
ENDIF(UNIX)

8
Demos/ParticlesOpenCL/MiniCL/CMakeLists.txt
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@@ -62,8 +62,6 @@ IF (CMAKE_CL_64)
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ELSE(CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
@@ -71,12 +69,14 @@ ELSE(CMAKE_CL_64)
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
IF (UNIX)
TARGET_LINK_LIBRARIES(AppParticlesOCL_Mini pthread)
ENDIF(UNIX)