Test for btCudaBroadphase added

Extras/CDTestFramework/BulletSAPCompleteBoxPruningTest.cpp

@@ -24,6 +24,8 @@ subject to the following restrictions:
 #include "btBulletCollisionCommon.h"
 #include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
 #include "Camera.h"
+#include "../CUDA/btCudaBroadphase.h"
+#include "LinearMath/btQuickprof.h"
 
 int numParts =2;
 
@@ -34,6 +36,8 @@ bool	enableOcclusion	=	false;
 bool	showOcclusion	=	true;
 int		visiblecount	=	0;
 
+static bool sBulletProfilerToggle = false;
+
 struct OcclusionBuffer
 {
 struct WriteOCL
@@ -418,7 +422,17 @@ BulletSAPCompleteBoxPruningTest::BulletSAPCompleteBoxPruningTest(int numBoxes,in
 		m_isdbvt				=	true;
 		methodname				=	"dynamic AABB tree, btDbvtBroadphase";
 		}
-	break;
+		break;
+	case 8:
+//		m_broadphase = new btAxisSweep3(aabbMin,aabbMax,maxNumBoxes);
+//		m_broadphase = new btSimpleBroadphase(maxNumBoxes,new btSortedOverlappingPairCache());
+//		m_broadphase = new btCudaBroadphase(aabbMin, aabbMax, 8, 8, 8, 8192, 8192, 64, 16);
+//		m_broadphase = new btCudaBroadphase(aabbMin, aabbMax, 12, 12, 12, 8192, 8192, 64, 16);
+//		m_broadphase = new btCudaBroadphase(aabbMin, aabbMax, 16, 16, 16, 8192, 8192, 64, 16);
+		m_broadphase = new btCudaBroadphase(aabbMin, aabbMax, 24, 24, 24, 8192, 8192, 64, 16);
+//		m_broadphase = new btCudaBroadphase(aabbMin, aabbMax, 32, 32, 32, 8192, 8192, 64, 16);
+		methodname	=	"btCudaBroadphase";
+		break;
 	default:
 		{
 			m_broadphase = new btAxisSweep3(aabbMin,aabbMax,numBoxes,new btNullPairCache());
@@ -586,8 +600,22 @@ void BulletSAPCompleteBoxPruningTest::PerformTest()
 		m_broadphase->setAabb(m_proxies[i],aabbMin,aabbMax,0);//m_dispatcher);
 	}
 
+#ifndef BT_NO_PROFILE
+	if(sBulletProfilerToggle)
+	{
+		CProfileManager::Reset();
+	}
+#endif //BT_NO_PROFILE
+
 	m_broadphase->calculateOverlappingPairs(0);
 
+#ifndef BT_NO_PROFILE
+	if(sBulletProfilerToggle)
+	{
+		CProfileManager::Increment_Frame_Counter();
+		CProfileManager::dumpAll();
+	}
+#endif //BT_NO_PROFILE
 	
 
 	mProfiler.End();
@@ -706,7 +734,7 @@ void BulletSAPCompleteBoxPruningTest::PerformTest()
 		}
 	
 	char Buffer[4096];
-	sprintf(Buffer, "Bullet %s: %5.1f us (%d cycles) : %d pairs\n", methodname, mProfiler.mMsTime, mProfiler.mCycles, 
+	sprintf_s(Buffer, sizeof(Buffer), "Bullet %s: %5.1f us (%d cycles) : %d pairs\n", methodname, mProfiler.mMsTime, mProfiler.mCycles, 
 			m_broadphase->getOverlappingPairCache()->getNumOverlappingPairs());
 
 //	m_broadphase)->printStats();
@@ -1004,6 +1032,14 @@ if((!m_isdbvt)||(!enableCulling))
 
 void BulletSAPCompleteBoxPruningTest::KeyboardCallback(unsigned char key, int x, int y)
 {
+	switch (key)
+	{
+		case 'p':
+		case 'P':
+			sBulletProfilerToggle = !sBulletProfilerToggle;
+			break;
+		default : break;
+	}
 }
 
 void BulletSAPCompleteBoxPruningTest::MouseCallback(int button, int state, int x, int y)

Extras/CDTestFramework/CDTestFramework.cpp

@@ -29,6 +29,7 @@ subject to the following restrictions:
 #include "Camera.h"
 #include "GLFontRenderer.h"
 #include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
+#include "LinearMath/btQuickprof.h"
 
 #define NUM_SAP_BOXES 8192
 //#define NUM_SAP_BOXES 1024
@@ -73,12 +74,15 @@ enum TestIndex
  	TEST_BULLET_MULTISAP_8192,
 //	TEST_BIPARTITE_BOX_PRUNING,
 	TEST_DBVT_8192,
+	TEST_BULLET_CUDA_8192,
  	TEST_OPCODE_ARRAY_SAP,
 	MAX_NB_TESTS
 };
 
-static int gTest = TEST_DBVT_8192;//TEST_BULLET_MULTISAP_8192;
+//static int gTest = TEST_DBVT_8192;//TEST_BULLET_MULTISAP_8192;
-static int gSelectedTest = TEST_DBVT_8192;//TEST_BULLET_MULTISAP_8192;
+//static int gSelectedTest = TEST_DBVT_8192;//TEST_BULLET_MULTISAP_8192;
+static int gTest = TEST_BULLET_CUDA_8192;
+static int gSelectedTest = TEST_BULLET_CUDA_8192;
 static CollisionTest* gCollisionTests[MAX_NB_TESTS];
 
 static GLFontRenderer gFnt;
@@ -306,6 +310,7 @@ int main(int argc, char** argv)
 			{TEST_BULLET_MULTISAP_8192, "Bullet MultiSAP 8192"},
 //			{TEST_BIPARTITE_BOX_PRUNING, "Bipartite box pruning"},
 			{TEST_DBVT_8192, "Bullet DBVT 8192"},
+			{TEST_BULLET_CUDA_8192, "Bullet CUDA 8192"},
 			{TEST_OPCODE_ARRAY_SAP, "OPCODE ARRAY SAP"},
 		};
 		TwType testType = TwDefineEnum("CollisionTest", testEV, MAX_NB_TESTS);
@@ -328,6 +333,7 @@ int main(int argc, char** argv)
  	gCollisionTests[TEST_BULLET_MULTISAP_8192]	= new BulletSAPCompleteBoxPruningTest(NUM_SAP_BOXES,6);
 //	gCollisionTests[TEST_BIPARTITE_BOX_PRUNING]	= new BipartiteBoxPruningTest;
 	gCollisionTests[TEST_DBVT_8192]	= new BulletSAPCompleteBoxPruningTest(NUM_SAP_BOXES,7);
+	gCollisionTests[TEST_BULLET_CUDA_8192]	= new BulletSAPCompleteBoxPruningTest(NUM_SAP_BOXES,8);
 	gCollisionTests[TEST_OPCODE_ARRAY_SAP]	= new OpcodeArraySAPTest(NUM_SAP_BOXES);
 
 	for(int i=0;i<MAX_NB_TESTS;i++)

Extras/CDTestFramework/CDTestFramework.sln

@@ -2,9 +2,10 @@ Microsoft Visual Studio Solution File, Format Version 9.00
 # Visual Studio 2005
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CDTestFramework", "CDTestFramework.vcproj", "{0565DB39-45CC-416E-B549-BFC24F2666D1}"
 	ProjectSection(ProjectDependencies) = postProject
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165} = {F74E8E02-0B47-4816-BD0B-FAEAE3343165}
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2} = {DBE44CA3-2912-4441-8D99-AA2242688AD2}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Opcode", "Opcode\Opcode.vcproj", "{DBE44CA3-2912-4441-8D99-AA2242688AD2}"
@@ -13,46 +14,78 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletmath", "..\..\msvc
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletcollision", "..\..\msvc\8\libbulletcollision.vcproj", "{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletcuda", "..\CUDA\libbulletcuda.vcproj", "{F74E8E02-0B47-4816-BD0B-FAEAE3343165}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Win32 = Debug|Win32
+		DebugDll|Win32 = DebugDll|Win32
 		DebugDoublePrecision|Win32 = DebugDoublePrecision|Win32
 		Release|Win32 = Release|Win32
+		ReleaseDll|Win32 = ReleaseDll|Win32
 		ReleaseDoublePrecision|Win32 = ReleaseDoublePrecision|Win32
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.Debug|Win32.ActiveCfg = Debug|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.Debug|Win32.Build.0 = Debug|Win32
+		{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDll|Win32.ActiveCfg = Debug|Win32
+		{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDll|Win32.Build.0 = Debug|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.Release|Win32.ActiveCfg = Release|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.Release|Win32.Build.0 = Release|Win32
+		{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDll|Win32.ActiveCfg = Release|Win32
+		{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDll|Win32.Build.0 = Release|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
 		{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Debug|Win32.ActiveCfg = Debug|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Debug|Win32.Build.0 = Debug|Win32
+		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDll|Win32.ActiveCfg = Debug|Win32
+		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDll|Win32.Build.0 = Debug|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Release|Win32.ActiveCfg = Release|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Release|Win32.Build.0 = Release|Win32
+		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDll|Win32.ActiveCfg = Release|Win32
+		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDll|Win32.Build.0 = Release|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
 		{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Win32.ActiveCfg = Debug|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Win32.Build.0 = Debug|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.Build.0 = DebugDll|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Win32.ActiveCfg = Release|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Win32.Build.0 = Release|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Win32.ActiveCfg = Debug|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Win32.Build.0 = Debug|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.Build.0 = DebugDll|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Win32.ActiveCfg = Release|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Win32.Build.0 = Release|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
 		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.Debug|Win32.ActiveCfg = Debug|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.Debug|Win32.Build.0 = Debug|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.Release|Win32.ActiveCfg = Release|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.Release|Win32.Build.0 = Release|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{F74E8E02-0B47-4816-BD0B-FAEAE3343165}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Extras/CDTestFramework/CDTestFramework.vcproj

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>
 <VisualStudioProject
 	ProjectType="Visual C++"
-	Version="8,00"
+	Version="8.00"
 	Name="CDTestFramework"
 	ProjectGUID="{0565DB39-45CC-416E-B549-BFC24F2666D1}"
 	Keyword="Win32Proj"
@@ -62,9 +62,10 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
+				AdditionalDependencies="cudart.lib"
 				OutputFile="./Bin/CDTestFrameworkDEBUG.exe"
 				LinkIncremental="2"
-				AdditionalLibraryDirectories=".\AntTweakBar\lib,../../Glut"
+				AdditionalLibraryDirectories=".\AntTweakBar\lib;../../Glut;&quot;$(CUDA_LIB_PATH)&quot;"
 				GenerateDebugInformation="true"
 				ProgramDatabaseFile="$(OutDir)/CDTestFramework.pdb"
 				SubSystem="1"
@@ -145,9 +146,10 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
+				AdditionalDependencies="cudart.lib"
 				OutputFile="./Bin/CDTestFramework.exe"
 				LinkIncremental="1"
-				AdditionalLibraryDirectories=".\AntTweakBar\lib,../../Glut"
+				AdditionalLibraryDirectories=".\AntTweakBar\lib,../../Glut;&quot;$(CUDA_LIB_PATH)&quot;"
 				GenerateDebugInformation="true"
 				SubSystem="1"
 				OptimizeReferences="2"