Gpu3D demo added
This commit is contained in:
rponom
252
Demos/Gpu3dDemo/btGpuDemoDynamicsWorld3D.h
Normal file
252
Demos/Gpu3dDemo/btGpuDemoDynamicsWorld3D.h
Normal file
@@ -0,0 +1,252 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#if 0 // ###
|
||||
#include <vector_types.h>
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#undef BT_GPU_PREF
|
||||
#endif
|
||||
|
||||
#include "btGpuDemo3DSharedTypes.h"
|
||||
|
||||
//#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 20
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 15
|
||||
|
||||
class btCudaDemoDynamicsWorld3D : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObj;
|
||||
int m_maxNeihbors;
|
||||
int m_maxConstr;
|
||||
int m_maxPointsPerConstr;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useSeqImpSolver;
|
||||
bool m_useCudaMotIntegr;
|
||||
bool m_copyIntegrDataToGPU;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dTrans;
|
||||
float4* m_dVel;
|
||||
float4* m_dAngVel;
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
float* m_dLambdaDtBox;
|
||||
float* m_dPositionConstraint;
|
||||
float3* m_dNormal;
|
||||
float3* m_dContact;
|
||||
float* m_dForceTorqueDamp;
|
||||
float* m_dInvInertiaMass;
|
||||
#endif
|
||||
|
||||
float4* m_hTrans;
|
||||
float4* m_hVel;
|
||||
float4* m_hAngVel;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_numConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float* m_hPositionConstraint;
|
||||
float3* m_hNormal;
|
||||
float3* m_hContact;
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
//-------------------------------
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
//-------------------------------
|
||||
|
||||
float* m_hForceTorqueDamp;
|
||||
float* m_hInvInertiaMass;
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES];
|
||||
|
||||
|
||||
btCudaDemoDynamicsWorld3D(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration, int maxPointsPerConstr = 4)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_useCPUSolver = false;
|
||||
m_useSeqImpSolver = false;
|
||||
m_useCudaMotIntegr = true;
|
||||
m_copyIntegrDataToGPU = true;
|
||||
m_maxObj = 32768;
|
||||
m_maxNeihbors = 26;
|
||||
m_maxConstr = m_maxObj * m_maxNeihbors;
|
||||
int sz = m_maxConstr;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObj];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hTrans = new float4[m_maxObj * 4];
|
||||
m_hVel = new float4[m_maxObj];
|
||||
m_hAngVel = new float4[m_maxObj];
|
||||
|
||||
m_maxPointsPerConstr = maxPointsPerConstr;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dTrans, sizeof(float4) * m_maxObj * 4);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObj);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float4) * m_maxObj);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dForceTorqueDamp, sizeof(float) * m_maxObj * 4 * 2);
|
||||
btCuda_allocateArray((void**)&m_dInvInertiaMass, sizeof(float) * m_maxObj * 4 * 3);
|
||||
#endif
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxPointsPerConstr];
|
||||
m_hPositionConstraint = new float[sz * m_maxPointsPerConstr];
|
||||
m_hNormal = new float3[sz * m_maxPointsPerConstr];
|
||||
m_hContact = new float3[sz * m_maxPointsPerConstr];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
m_hForceTorqueDamp = new float[m_maxObj * 4 * 2];
|
||||
m_hInvInertiaMass = new float[4 * m_maxObj * 3];
|
||||
|
||||
}
|
||||
virtual ~btCudaDemoDynamicsWorld3D()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hTrans;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hPositionConstraint;
|
||||
delete [] m_hNormal;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
delete [] m_hForceTorqueDamp;
|
||||
delete [] m_hInvInertiaMass;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dTrans);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dPositionConstraint);
|
||||
btCuda_freeArray(m_dNormal);
|
||||
btCuda_freeArray(m_dContact);
|
||||
btCuda_freeArray(m_dForceTorqueDamp);
|
||||
btCuda_freeArray(m_dInvInertiaMass);
|
||||
#endif
|
||||
|
||||
}
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
if(m_useSeqImpSolver)
|
||||
{
|
||||
btDiscreteDynamicsWorld::calculateSimulationIslands();
|
||||
}
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
virtual void integrateTransforms(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
|
||||
void solveConstraintsCPU(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabObjData();
|
||||
void grabConstrData();
|
||||
void createBatches();
|
||||
void copyDataToGPU();
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseSeqImpSolver(bool useSeqImpSolver) { m_useSeqImpSolver = useSeqImpSolver; }
|
||||
void setUseCudaMotIntegr(bool useCudaMotIntegr) { m_useCudaMotIntegr = useCudaMotIntegr; }
|
||||
void resetScene(void) { m_copyIntegrDataToGPU = true; }
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
Reference in New Issue
Block a user