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Synchronize changes from branches/GpuClothAMD to trunk

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Main improvements are: GPU cloth collision detection against a capsule shape
,OpenCL-OpenGL interoperability (keeping data buffers on GPU), and bug fixes
Thanks to Lee Howes
This commit is contained in:
erwin.coumans
2011-02-27 09:07:07 +00:00
parent ec1bd45f4f
commit d52f58edd8
37 changed files with 3267 additions and 2481 deletions
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127
Demos/DX11ClothDemo/cloth_renderer.cpp
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@@ -38,15 +38,18 @@ class btDX11SIMDAwareSoftBodySolver;
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#define USE_SIMDAWARE_SOLVER
//#define USE_GPU_SOLVER
#define USE_GPU_SOLVER
#define USE_GPU_COPY
const int numFlags = 5;
const int clothWidth = 40;
const int clothHeight = 60;//60;
const int clothHeight = 60;
float _windAngle = 1.0;//0.4;
float _windStrength = 15;
//#define TABLETEST
#include <fstream>
#include <cmath>
@@ -171,21 +174,20 @@ struct vertex_struct
#include "capsule.h"
#include "cap.h"
#include "cylinder.h"
#include "cloth.h"
//#include "capsule.h"
//cylinder cyl_1;
//cap cap_1;
btRigidBody *capCollider;
capsule my_capsule;
btAlignedObjectArray<piece_of_cloth> cloths;
//capsule my_capsule;
//////////////////////////////////////////
// Bullet globals
@@ -205,6 +207,8 @@ btCPUSoftBodySolver *g_cpuSolver = NULL;
btDX11SoftBodySolver *g_dx11Solver = NULL;
btDX11SIMDAwareSoftBodySolver *g_dx11SIMDSolver = NULL;
btSoftBodySolverOutput *g_softBodyOutput = NULL;
btSoftBodySolver *g_solver = NULL;
// End bullet globals
@@ -359,13 +363,23 @@ void createFlag( int width, int height, btAlignedObjectArray<btSoftBody *> &flag
defaultRotate[0] = btVector3(cos(rotateAngleRoundZ), sin(rotateAngleRoundZ), 0.f);
defaultRotate[1] = btVector3(-sin(rotateAngleRoundZ), cos(rotateAngleRoundZ), 0.f);
defaultRotate[2] = btVector3(0.f, 0.f, 1.f);
//btMatrix3x3 defaultRotateAndScale( (defaultRotateX*defaultRotate) );
#ifdef TABLETEST
btMatrix3x3 defaultRotateX;
rotateAngleRoundX = 3.141592654/2;
defaultRotateX[0] = btVector3(1.f, 0.f, 0.f);
defaultRotateX[1] = btVector3( 0.f, cos(rotateAngleRoundX), sin(rotateAngleRoundX));
defaultRotateX[2] = btVector3(0.f, -sin(rotateAngleRoundX), cos(rotateAngleRoundX));
btMatrix3x3 defaultRotateAndScale( (defaultRotateX) );
#else
btMatrix3x3 defaultRotateX;
defaultRotateX[0] = btVector3(1.f, 0.f, 0.f);
defaultRotateX[1] = btVector3( 0.f, cos(rotateAngleRoundX), sin(rotateAngleRoundX));
defaultRotateX[2] = btVector3(0.f, -sin(rotateAngleRoundX), cos(rotateAngleRoundX));
//btMatrix3x3 defaultRotateAndScale( (defaultRotateX*defaultRotate) );
btMatrix3x3 defaultRotateAndScale( (defaultRotateX) );
#endif
// Construct the sequence flags applying a slightly different translation to each one to arrange them
@@ -387,10 +401,12 @@ void createFlag( int width, int height, btAlignedObjectArray<btSoftBody *> &flag
softBody->setMass(i, 10.f/mesh.m_numVertices);
}
#ifndef TABLETEST
// Set the fixed points
softBody->setMass((height-1)*(width), 0.f);
softBody->setMass((height-1)*(width) + width - 1, 0.f);
softBody->setMass((height-1)*width + width/2, 0.f);
#endif
softBody->m_cfg.collisions = btSoftBody::fCollision::CL_SS+btSoftBody::fCollision::CL_RS;
softBody->m_cfg.kLF = 0.0005f;
@@ -401,7 +417,7 @@ void createFlag( int width, int height, btAlignedObjectArray<btSoftBody *> &flag
flags.push_back( softBody );
softBody->transform( transform );
softBody->setFriction( 0.8f );
m_dynamicsWorld->addSoftBody( softBody );
}
@@ -437,11 +453,15 @@ void updatePhysicsWorld()
cloth->setWindVelocity( btVector3(xCoordinate, 0, zCoordinate) );
}
}
#ifndef TABLETEST
if (capCollider)
{
btVector3 origin( capCollider->getWorldTransform().getOrigin() );
origin.setZ( origin.getZ() + 0.01 );
capCollider->getWorldTransform().setOrigin( origin );
}
#endif
//btVector3 origin( capCollider->getWorldTransform().getOrigin() );
//origin.setX( origin.getX() + 0.05 );
//capCollider->getWorldTransform().setOrigin( origin );
counter++;
}
@@ -452,13 +472,25 @@ void initBullet(void)
#ifdef USE_GPU_SOLVER
g_dx11Solver = new btDX11SoftBodySolver( g_pd3dDevice, DXUTGetD3D11DeviceContext() );
g_solver = g_dx11Solver;
#ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputDXtoDX( g_pd3dDevice, DXUTGetD3D11DeviceContext() );
#else // #ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputDXtoCPU;
#endif // #ifdef USE_GPU_COPY
#else
#ifdef USE_SIMDAWARE_SOLVER
g_dx11SIMDSolver = new btDX11SIMDAwareSoftBodySolver( g_pd3dDevice, DXUTGetD3D11DeviceContext() );
g_solver = g_dx11SIMDSolver;
g_softBodyOutput = new btSoftBodySolverOutputDXtoCPU;
#ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputDXtoDX( g_pd3dDevice, DXUTGetD3D11DeviceContext() );
#else // #ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputDXtoCPU;
#endif // #ifdef USE_GPU_COPY
#else
g_cpuSolver = new btCPUSoftBodySolver;
g_solver = g_cpuSolver;
g_softBodyOutput = new btSoftBodySolverOutputCPUtoCPU;
//g_defaultSolver = new btDefaultSoftBodySolver;
//g_solver = g_defaultSolver;
#endif
@@ -519,7 +551,8 @@ void initBullet(void)
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btCollisionShape *capsuleShape = new btCapsuleShape(5, 30);
btCollisionShape *capsuleShape = new btCapsuleShape(5, 10);
capsuleShape->setMargin( 0.5 );
@@ -532,11 +565,21 @@ void initBullet(void)
m_collisionShapes.push_back(capsuleShape);
btTransform capsuleTransform;
capsuleTransform.setIdentity();
capsuleTransform.setOrigin(btVector3(0, 10, 0));
#ifdef TABLETEST
capsuleTransform.setOrigin(btVector3(0, 10, -11));
const btScalar pi = 3.141592654;
capsuleTransform.setRotation(btQuaternion(0, 0, pi/2));
#else
capsuleTransform.setOrigin(btVector3(0, 20, -10));
const btScalar pi = 3.141592654;
//capsuleTransform.setRotation(btQuaternion(0, 0, pi/2));
capsuleTransform.setRotation(btQuaternion(0, 0, 0));
#endif
btDefaultMotionState* myMotionState = new btDefaultMotionState(capsuleTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,capsuleShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction( 0.8f );
my_capsule.set_collision_object(body);
m_dynamicsWorld->addRigidBody(body);
@@ -644,6 +687,7 @@ int WINAPI wWinMain( HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdL
// Enable run-time memory check for debug builds.
#if defined(DEBUG) | defined(_DEBUG)
_CrtSetDbgFlag( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
_CrtSetReportMode ( _CRT_ERROR, _CRTDBG_MODE_DEBUG);
#endif
// DXUT will create and use the best device (either D3D9 or D3D11)
@@ -694,10 +738,10 @@ void InitApp()
g_SampleUI.Init( &g_DialogResourceManager );
g_HUD.SetCallback( OnGUIEvent ); int iY = 10;
//restart is broken, @todo: fix
// g_HUD.AddButton( IDC_TOGGLEFULLSCREEN, L"Toggle full screen", 0, iY, 170, 23 );
// g_HUD.AddButton( IDC_TOGGLEREF, L"Toggle REF (F3)", 0, iY += 26, 170, 23, VK_F3 );
// g_HUD.AddButton( IDC_CHANGEDEVICE, L"Change device (F2)", 0, iY += 26, 170, 23, VK_F2 );
g_HUD.AddButton( IDC_TOGGLEFULLSCREEN, L"Toggle full screen", 0, iY, 170, 23 );
g_HUD.AddButton( IDC_TOGGLEREF, L"Toggle REF (F3)", 0, iY += 26, 170, 23, VK_F3 );
g_HUD.AddButton( IDC_CHANGEDEVICE, L"Change device (F2)", 0, iY += 26, 170, 23, VK_F2 );
g_HUD.AddButton( IDC_PAUSE, L"Pause", 0, iY += 26, 170, 23 );
g_HUD.AddButton( IDC_WIREFRAME, L"Wire frame", 0, iY += 26, 170, 23 );
@@ -1020,8 +1064,8 @@ HRESULT CALLBACK OnD3D11CreateDevice( ID3D11Device* pd3dDevice, const DXGI_SURFA
// Setup the camera's view parameters
D3DXVECTOR3 vecEye( 30.0f, -10.0f, -80.0f );
D3DXVECTOR3 vecAt ( 0.0f, 20.0f, -0.0f );
D3DXVECTOR3 vecEye( 0.0f, 0.0f, -100.0f );
D3DXVECTOR3 vecAt ( 0.0f, 0.0f, -0.0f );
g_Camera.SetViewParams( &vecEye, &vecAt );
@@ -1035,25 +1079,12 @@ HRESULT CALLBACK OnD3D11CreateDevice( ID3D11Device* pd3dDevice, const DXGI_SURFA
initBullet();
//my_capsule.create_buffers(50,40);
std::wstring flagTexsName[] = {
L"atiFlag.bmp",
std::wstring flagTexs[] = {
L"amdFlag.bmp",
L"atiFlag.bmp",
};
int numFlagTexs = 2;
WCHAR flagTexs[2][MAX_PATH];
HRESULT res = DXUTFindDXSDKMediaFileCch(flagTexs[0],MAX_PATH, flagTexsName[0].c_str());
res = DXUTFindDXSDKMediaFileCch(flagTexs[1],MAX_PATH, flagTexsName[1].c_str());
for( int flagIndex = 0; flagIndex < numFlags; ++flagIndex )
{
cloths[flagIndex].create_texture(flagTexs[flagIndex % numFlagTexs]);
@@ -1062,12 +1093,10 @@ HRESULT CALLBACK OnD3D11CreateDevice( ID3D11Device* pd3dDevice, const DXGI_SURFA
cloths[flagIndex].z_offset = 0;
}
//cap_1.create_texture();
//cap_1.x_offset = 0;
//cap_1.y_offset = 0;
//cap_1.z_offset = 0;
//my_capsule.create_texture();
my_capsule.create_buffers(50,40);
my_capsule.create_texture();
//Turn off backface culling
D3D11_RASTERIZER_DESC rsDesc;
@@ -1142,10 +1171,7 @@ HRESULT CALLBACK OnD3D11ResizedSwapChain( ID3D11Device* pd3dDevice, IDXGISwapCha
}
#ifndef BT_NO_PROFILE
btClock m_clock;
#endif //BT_NO_PROFILE
//--------------------------------------------------------------------------------------
// Render the scene using the D3D11 device
//--------------------------------------------------------------------------------------
@@ -1157,12 +1183,8 @@ void CALLBACK OnD3D11FrameRender( ID3D11Device* pd3dDevice, ID3D11DeviceContext*
//float ms = getDeltaTimeMicroseconds();
#ifndef BT_NO_PROFILE
btScalar dt = (btScalar)m_clock.getTimeMicroseconds();
m_clock.reset();
#else
btScalar dt = 1000000.f/60.f;
#endif //BT_NO_PROFILE
///step the simulation
if (m_dynamicsWorld && !paused)
@@ -1198,12 +1220,11 @@ void CALLBACK OnD3D11FrameRender( ID3D11Device* pd3dDevice, ID3D11DeviceContext*
for( int flagIndex = 0; flagIndex < m_flags.size(); ++flagIndex )
{
g_solver->copySoftBodyToVertexBuffer( m_flags[flagIndex], cloths[flagIndex].m_vertexBufferDescriptor );
g_softBodyOutput->copySoftBodyToVertexBuffer( m_flags[flagIndex], cloths[flagIndex].m_vertexBufferDescriptor );
cloths[flagIndex].draw();
}
//my_capsule.draw();
//cap_1.draw();
my_capsule.draw();
DXUT_BeginPerfEvent( DXUT_PERFEVENTCOLOR, L"HUD / Stats" );
@@ -1265,6 +1286,8 @@ void CALLBACK OnD3D11DestroyDevice( void* pUserContext )
cloths[flagIndex].destroy();
}
my_capsule.destroy();
// Shouldn't need to delete this as it's just a soft body and will be deleted later by the collision object cleanup.
//for( int flagIndex = 0; flagIndex < m_flags.size(); ++flagIndex )
//{
@@ -1280,6 +1303,8 @@ void CALLBACK OnD3D11DestroyDevice( void* pUserContext )
delete g_dx11Solver;
if( g_dx11SIMDSolver )
delete g_dx11SIMDSolver;
if( g_softBodyOutput )
delete g_softBodyOutput;
for(int i=0; i< m_collisionShapes.size(); i++)