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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2013-05-23 19:15:28 -07:00
parent 3a7f821a76 084bc4ec32
commit c8b979e7ef
38 changed files with 3222 additions and 176 deletions
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11
Demos3/GpuDemos/GpuDemo.cpp
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@@ -46,15 +46,14 @@ void GpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
//#endif
cl_platform_id platformId;
// if (useInterop)
// {
// m_data->m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
// } else
{
m_clData->m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, 0,0,preferredDeviceIndex, preferredPlatformIndex,&platformId);
b3OpenCLUtils::printPlatformInfo(platformId);
m_clData->m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, 0,0,preferredDeviceIndex, preferredPlatformIndex,&m_clData->m_platformId);
}
@@ -68,7 +67,7 @@ void GpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
m_clData->m_clQueue = clCreateCommandQueue(m_clData->m_clContext, m_clData->m_clDevice, 0, &ciErrNum);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
b3OpenCLUtils::printDeviceInfo(m_clData->m_clDevice);
b3OpenCLDeviceInfo info;
b3OpenCLUtils::getDeviceInfo(m_clData->m_clDevice,&info);
m_clData->m_clDeviceName = info.m_deviceName;
@@ -78,6 +77,10 @@ void GpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
}
GpuDemoInternalData* GpuDemo::getInternalData()
{
return m_clData;
}
int GpuDemo::registerGraphicsSphereShape(const ConstructionInfo& ci, float radius, bool usePointSprites, int largeSphereThreshold, int mediumSphereThreshold)
{

8
Demos3/GpuDemos/GpuDemo.h
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@@ -38,9 +38,9 @@ public:
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(25),
arraySizeY(20),
arraySizeZ(25),
arraySizeX(30),
arraySizeY(30),
arraySizeZ(30),
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),
@@ -67,6 +67,8 @@ public:
int registerGraphicsSphereShape(const ConstructionInfo& ci, float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
struct GpuDemoInternalData* getInternalData();
};
#endif

1
Demos3/GpuDemos/GpuDemoInternalData.h
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@@ -5,6 +5,7 @@
struct GpuDemoInternalData
{
cl_platform_id m_platformId;
cl_context m_clContext;
cl_device_id m_clDevice;
cl_command_queue m_clQueue;

138
Demos3/GpuDemos/main_opengl3core.cpp
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@@ -13,6 +13,9 @@
#include "OpenGLWindow/X11OpenGLWindow.h"
#endif
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "GpuDemoInternalData.h"
#include "OpenGLWindow/GLPrimitiveRenderer.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
//#include "OpenGL3CoreRenderer.h"
@@ -68,34 +71,36 @@ int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
// ConcaveCompound2Scene::MyCreateFunc,
GpuBoxPlaneScene::MyCreateFunc,
// GpuConvexScene::MyCreateFunc,
//ConcaveSphereScene::MyCreateFunc,
GpuBoxPlaneScene::MyCreateFunc,
GpuConvexPlaneScene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
GpuConvexScene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,
ConcaveScene::MyCreateFunc,
ConcaveCompoundScene::MyCreateFunc,
GpuCompoundPlaneScene::MyCreateFunc,
GpuSphereScene::MyCreateFunc,
GpuSoftClothDemo::MyCreateFunc,
Bullet2FileDemo::MyCreateFunc,
PairBench::MyCreateFunc,
PairBench::MyCreateFunc,
//GpuRigidBodyDemo::MyCreateFunc,
@@ -106,9 +111,9 @@ GpuDemo::CreateFunc* allDemos[]=
//ParticleDemo::MyCreateFunc,
//GpuCompoundDemo::CreateFunc,
//EmptyDemo::CreateFunc,
};
@@ -204,7 +209,7 @@ sth_stash* initFont(GLPrimitiveRenderer* primRender)
struct sth_stash* stash = 0;
int datasize;
float sx,sy,dx,dy,lh;
GLuint texture;
@@ -322,7 +327,7 @@ sth_stash* initFont(GLPrimitiveRenderer* primRender)
void Usage()
{
printf("\nprogram.exe [--selected_demo=<int>] [--cl_device=<int>] [--benchmark] [--disable_opencl] [--cl_platform=<int>] [--x_dim=<int>] [--y_dim=<num>] [--z_dim=<int>] [--x_gap=<float>] [--y_gap=<float>] [--z_gap=<float>] [--use_concave_mesh] [--new_batching]\n");
printf("\nprogram.exe [--selected_demo=<int>] [--cl_device=<int>] [--benchmark] [--dump_timings] [--disable_opencl] [--cl_platform=<int>] [--x_dim=<int>] [--y_dim=<num>] [--z_dim=<int>] [--x_gap=<float>] [--y_gap=<float>] [--z_gap=<float>] [--use_concave_mesh] [--new_batching]\n");
};
@@ -392,7 +397,8 @@ extern bool useNewBatchingKernel;
int main(int argc, char* argv[])
{
FILE* defaultOutput = stdout;
b3Vector3 test(1,2,3);
test.x = 1;
test.y = 4;
@@ -408,10 +414,10 @@ int main(int argc, char* argv[])
return 0;
}
args.GetCmdLineArgument("selected_demo",selectedDemo);
if (args.CheckCmdLineFlag("new_batching"))
{
useNewBatchingKernel = true;
@@ -435,13 +441,6 @@ int main(int argc, char* argv[])
args.GetCmdLineArgument("z_gap", ci.gapZ);
printf("Demo settings:\n");
printf("x_dim=%d, y_dim=%d, z_dim=%d\n",ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ);
printf("x_gap=%f, y_gap=%f, z_gap=%f\n",ci.gapX,ci.gapY,ci.gapZ);
printf("Preferred cl_device index %d\n", ci.preferredOpenCLDeviceIndex);
printf("Preferred cl_platform index%d\n", ci.preferredOpenCLPlatformIndex);
printf("-----------------------------------------------------\n");
#ifndef B3_NO_PROFILE
b3ProfileManager::Reset();
@@ -600,17 +599,29 @@ int main(int argc, char* argv[])
ci.m_gui = gui;
ci.m_instancingRenderer->init();
ci.m_instancingRenderer->InitShaders();
// render.init();
demo->initPhysics(ci);
printf("-----------------------------------------------------\n");
FILE* f = 0;
FILE* csvFile = 0;
FILE* detailsFile = 0;
if (benchmark)
{
gPause = false;
char fileName[1024];
char prefixFileName[1024];
char csvFileName[1024];
char detailsFileName[1024];
b3OpenCLDeviceInfo info;
b3OpenCLUtils::getDeviceInfo(demo->getInternalData()->m_clDevice,&info);
#ifdef _WIN32
SYSTEMTIME time;
@@ -624,23 +635,43 @@ int main(int argc, char* argv[])
{
printf("unknown", buf);
}
sprintf(fileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d.csv",g_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,time.wDay,time.wMonth,time.wYear,time.wHour,time.wMinute,time.wSecond);
printf("Open file %s\n", fileName);
sprintf(prefixFileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d",info.m_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,time.wDay,time.wMonth,time.wYear,time.wHour,time.wMinute,time.wSecond);
#else
sprintf(fileName,"%s_%d_%d_%d.csv",g_deviceName,ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ);
printf("Open file %s\n", fileName);
sprintf(prefixFileName,"%s_%d_%d_%d",info.m_deviceName,ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ);
#endif
sprintf(csvFileName,"%s.csv",prefixFileName);
sprintf(detailsFileName,"%s.txt",prefixFileName);
printf("Open csv file %s and details file %s\n", csvFileName,detailsFileName);
//GetSystemTime(&time2);
f=fopen(fileName,"w");
csvFile=fopen(csvFileName,"w");
detailsFile = fopen(detailsFileName,"w");
if (detailsFile)
defaultOutput = detailsFile;
//if (f)
// fprintf(f,"%s (%dx%dx%d=%d),\n", g_deviceName,ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ);
}
printf("-----------------------------------------------------\n");
fprintf(defaultOutput,"Demo settings:\n");
fprintf(defaultOutput," SelectedDemo=%d, demoname = %s\n", selectedDemo, demo->getName());
fprintf(defaultOutput," x_dim=%d, y_dim=%d, z_dim=%d\n",ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ);
fprintf(defaultOutput," x_gap=%f, y_gap=%f, z_gap=%f\n",ci.gapX,ci.gapY,ci.gapZ);
fprintf(defaultOutput,"\nOpenCL settings:\n");
fprintf(defaultOutput," Preferred cl_device index %d\n", ci.preferredOpenCLDeviceIndex);
fprintf(defaultOutput," Preferred cl_platform index%d\n", ci.preferredOpenCLPlatformIndex);
fprintf(defaultOutput,"\n");
b3OpenCLUtils::printPlatformInfo(defaultOutput, demo->getInternalData()->m_platformId);
fprintf(defaultOutput,"\n");
b3OpenCLUtils::printDeviceInfo(defaultOutput, demo->getInternalData()->m_clDevice);
fprintf(defaultOutput,"\n");
do
{
b3ProfileManager::Reset();
@@ -695,21 +726,30 @@ int main(int argc, char* argv[])
B3_PROFILE("glFinish");
}
if (dump_timings)
b3ProfileManager::dumpAll();
if (f)
{
static int count=0;
b3ProfileManager::dumpAll(stdout);
}
if (count>2 && count<102)
if (csvFile)
{
static int frameCount=0;
if (frameCount>0)
{
DumpSimulationTime(f);
DumpSimulationTime(csvFile);
if (detailsFile)
{
fprintf(detailsFile,"\n==================================\nFrame %d:\n", frameCount);
b3ProfileManager::dumpAll(detailsFile);
}
}
if (count>=102)
if (frameCount>=102)
window->setRequestExit();
count++;
frameCount++;
}
@@ -720,8 +760,16 @@ int main(int argc, char* argv[])
demo->exitPhysics();
b3ProfileManager::CleanupMemory();
delete demo;
if (f)
fclose(f);
if (detailsFile)
{
fclose(detailsFile);
detailsFile=0;
}
if (csvFile)
{
fclose(csvFile);
csvFile=0;
}
}

13
Demos3/GpuDemos/premake4.lua
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@@ -25,13 +25,13 @@ function createProject(vendor)
links {
"gwen",
"Bullet3Common",
"Bullet3Geometry",
"Bullet3Collision",
"Bullet3Dynamics",
"Bullet2FileLoader",
"Bullet3OpenCL_" .. vendor
"Bullet3OpenCL_" .. vendor,
"Bullet3Dynamics",
"Bullet3Collision",
"Bullet3Geometry",
"Bullet3Common",
}
files {
@@ -89,6 +89,7 @@ function createProject(vendor)
end
end
createProject("clew")
createProject("Apple")
createProject("AMD")
createProject("Intel")

4
Demos3/GpuDemos/rigidbody/ConcaveScene.cpp
View File

@@ -173,14 +173,16 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
f = fopen(relativeFileName,"r");
if (f)
{
fclose(f);
break;
}
}
}
if (f)
{
fclose(f);
f=0;
}
else
return;

47
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
View File

@@ -28,12 +28,12 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
index+=createDynamicsObjects(ci);
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(40);
m_instancingRenderer->setCameraDistance(100);
char msg[1024];
@@ -44,10 +44,15 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
int GpuConvexScene::createDynamicsObjects(const ConstructionInfo& ci)
{
int strideInBytes = 9*sizeof(float);
/* int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(barrel_vertices)/strideInBytes;
int numIndices = sizeof(barrel_indices)/sizeof(int);
return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices);
*/
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
return createDynamicsObjects2(ci,cube_vertices,numVertices,cube_indices,numIndices);
}
int GpuBoxPlaneScene::createDynamicsObjects(const ConstructionInfo& ci)
@@ -67,20 +72,20 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
int group=1;
int mask=1;
int index=0;
{
b3Vector4 colors[4] =
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
int curColor = 0;
float scaling[4] = {1,1,1,1};
int prevBody = -1;
@@ -99,18 +104,18 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
{
//mass=0.f;
}
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(i*2.2,10+j*2.2,k*2.2);
b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
//b3Vector3 position(i*2.2,10+j*1.9,k*2.2);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
if (prevBody>=0)
{
@@ -137,19 +142,19 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
int group=1;
int mask=1;
int index=0;
{
b3Vector4 scaling(400,1,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
@@ -168,9 +173,9 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}