Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add support for BVH acceleration for concave trianglemesh collision against convex hulls

Browse Source 
bugfix/improvement in batching
This commit is contained in:
erwin coumans
2013-03-20 23:37:34 -07:00
parent 9a693fb850
commit b4f9416cdf
20 changed files with 760 additions and 690 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
demo/gpudemo/GpuDemo.h
View File

@@ -34,13 +34,13 @@ public:
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(5),
arraySizeY(5 ),
arraySizeZ(5),
arraySizeX(30),
arraySizeY(10 ),
arraySizeZ(30),
m_useConcaveMesh(false),
gapX(4.3),
gapY(2.0),
gapZ(4.3),
gapX(6.3),
gapY(12.0),
gapZ(6.3),
m_instancingRenderer(0),
m_window(0)
{

2
demo/gpudemo/main_opengl3core.cpp
View File

@@ -617,7 +617,7 @@ int main(int argc, char* argv[])
if (!gPause)
{
BT_PROFILE("simulate");
BT_PROFILE("clientMoveAndDisplay");
demo->clientMoveAndDisplay();
}

19
demo/gpudemo/rigidbody/ConcaveScene.cpp
View File

@@ -166,9 +166,9 @@ GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
void ConcaveScene::setupScene(const ConstructionInfo& ci)
{
objLoader* objData = new objLoader();
//char* fileName = "data/plane.obj";
char* fileName = "data/teddy.obj";//"plane.obj";
//char* fileName = "data/sponza_closed.obj";//"plane.obj";
//char* fileName = "data/plane100.obj";
//char* fileName = "data/teddy.obj";//"plane.obj";
char* fileName = "data/sponza_closed.obj";//"plane.obj";
FILE* f = 0;
@@ -200,16 +200,16 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
{
GraphicsShape* shape = createGraphicsShapeFromWavefrontObj(objData);
btVector4 scaling(1,1,1,1);
btVector4 scaling(4,4,4,1);
btAlignedObjectArray<btVector3> verts;
for (int i=0;i<shape->m_numvertices;i++)
{
btVector3 vtx = (btVector3&)shape->m_vertices->at(i).xyzw;
verts.push_back(vtx);
verts.push_back(vtx*scaling);
}
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,scaling);
int colIndex = m_data->m_np->registerConcaveMesh(&verts,shape->m_indices,btVector3(1,1,1));
{
int strideInBytes = 9*sizeof(float);
@@ -222,7 +222,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
int shapeId = ci.m_instancingRenderer->registerShape(&shape->m_vertices->at(0).xyzw[0], shape->m_numvertices, &shape->m_indices->at(0), shape->m_numIndices);
btQuaternion orn(0,0,0,1);
btVector4 color(0,1,0,1.f);//0.5);
btVector4 color(0,0,1,1.f);//0.5);//1.f
{
@@ -262,7 +262,8 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
{
float mass = 1;
btVector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
//btVector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
btVector3 position(-(ci.arraySizeX/2)*ci.gapX+i*ci.gapX,5+j*ci.gapY,-(ci.arraySizeZ/2)*ci.gapZ+k*ci.gapZ);
btQuaternion orn(1,0,0,0);
btVector4 color(0,1,0,1);
@@ -278,6 +279,6 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
float camPos[4]={0,0,0,0};//65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(50);
m_instancingRenderer->setCameraDistance(120);
}

8
demo/gpudemo/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -157,6 +157,7 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
btVector4* positions = 0;
if (animate && numObjects)
{
BT_PROFILE("gl2cl");
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(btVector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
@@ -172,10 +173,14 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
}
}
m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
{
BT_PROFILE("stepSimulation");
m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
}
if (numObjects)
{
BT_PROFILE("cl2gl_convert");
int ciErrNum = 0;
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
btLauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
@@ -188,6 +193,7 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
if (animate && numObjects)
{
BT_PROFILE("cl2gl_upload");
GLint err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_instancePosOrnColor->copyToHostPointer(positions,3*numObjects,0);