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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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170
Demos/OpenCLClothDemo/cl_cloth_demo.cpp
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@@ -17,12 +17,22 @@ subject to the following restrictions:
#include <GL/glew.h>
#endif
#ifndef USE_MINICL
#define USE_SIMDAWARE_SOLVER
#define USE_GPU_SOLVER
#define USE_GPU_COPY
#endif //USE_MINICL
#include "clstuff.h"
#include "gl_win.h"
#include "cloth.h"
#define USE_GPU_SOLVER
#include "../OpenGL/GLDebugDrawer.h"
GLDebugDrawer debugDraw;
const int numFlags = 5;
const int clothWidth = 40;
@@ -32,8 +42,8 @@ float _windStrength = 15;
#include <iostream>
using namespace std;
@@ -44,6 +54,13 @@ using namespace std;
#include "vectormath/vmInclude.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/CPU/btSoftBodySolver_CPU.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h"
btRigidBody *capCollider;
using Vectormath::Aos::Vector3;
@@ -56,6 +73,8 @@ class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
namespace Vectormath
{
namespace Aos
@@ -73,16 +92,19 @@ btDefaultCollisionConfiguration* m_collisionConfiguration;
btCPUSoftBodySolver *g_cpuSolver = NULL;
btOpenCLSoftBodySolver *g_openCLSolver = NULL;
btOpenCLSoftBodySolverSIMDAware *g_openCLSIMDSolver = NULL;
btSoftBodySolver *g_solver = NULL;
btSoftBodySolverOutput *g_softBodyOutput = NULL;
btAlignedObjectArray<btSoftBody *> m_flags;
btSoftRigidDynamicsWorld* m_dynamicsWorld;
btAlignedObjectArray<piece_of_cloth> cloths;
extern cl_context g_cxMainContext;
extern cl_device_id g_cdDevice;
extern cl_command_queue g_cqCommandQue;
extern cl_device_id g_cdDevice;
extern cl_command_queue g_cqCommandQue;
const float flagSpacing = 30.f;
@@ -254,6 +276,7 @@ void createFlag( btSoftBodySolver &solver, int width, int height, btAlignedObjec
btVector3 defaultTranslate(0.f, 20.f, zTranslate);
btTransform transform( defaultRotateAndScale, defaultTranslate );
transform.setOrigin(defaultTranslate);
btSoftBody *softBody = createFromIndexedMesh( vertexArray, mesh.m_numVertices, triangleVertexIndexArray, mesh.m_numTriangles, true );
@@ -268,6 +291,11 @@ void createFlag( btSoftBodySolver &solver, int width, int height, btAlignedObjec
softBody->setMass((height-1)*width + width/2, 0.f);
softBody->m_cfg.collisions = btSoftBody::fCollision::CL_SS+btSoftBody::fCollision::CL_RS;
softBody->m_cfg.kLF = 0.0005f;
softBody->m_cfg.kVCF = 0.001f;
softBody->m_cfg.kDP = 0.f;
softBody->m_cfg.kDG = 0.f;
flags.push_back( softBody );
@@ -283,7 +311,7 @@ void createFlag( btSoftBodySolver &solver, int width, int height, btAlignedObjec
void updatePhysicsWorld()
{
static int counter = 0;
static int counter = 1;
// Change wind velocity a bit based on a frame counter
if( (counter % 400) == 0 )
@@ -317,16 +345,33 @@ void initBullet(void)
{
#ifdef USE_GPU_SOLVER
g_openCLSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
//g_openCLSolver->setDefaultWorkgroupSize(32);
#ifdef USE_SIMDAWARE_SOLVER
g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext);
g_solver = g_openCLSIMDSolver;
#ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputCLtoGL(g_cqCommandQue, g_cxMainContext);
#else // #ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
#endif // #ifdef USE_GPU_COPY
#else
g_openCLSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext );
g_solver = g_openCLSolver;
#ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputCLtoGL(g_cqCommandQue, g_cxMainContext);
#else // #ifdef USE_GPU_COPY
g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
#endif // #ifdef USE_GPU_COPY
#endif
#else
g_cpuSolver = new btCPUSoftBodySolver;
g_solver = g_cpuSolver;
g_softBodyOutput = new btSoftBodySolverOutputCPUtoCPU;
#endif
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
@@ -376,6 +421,51 @@ void initBullet(void)
#endif
#if 1
{
btScalar mass(0.);
//btScalar mass(1.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btCollisionShape *capsuleShape = new btCapsuleShape(5, 10);
capsuleShape->setMargin( 0.5 );
btVector3 localInertia(0,0,0);
if (isDynamic)
capsuleShape->calculateLocalInertia(mass,localInertia);
m_collisionShapes.push_back(capsuleShape);
btTransform capsuleTransform;
capsuleTransform.setIdentity();
#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, 0, 0));
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 );
m_dynamicsWorld->addRigidBody(body);
//cap_1.collisionShape = body;
capCollider = body;
}
#endif
#ifdef USE_GPU_SOLVER
createFlag( *g_openCLSolver, clothWidth, clothHeight, m_flags );
#else
@@ -391,7 +481,12 @@ void initBullet(void)
// In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc.
// Copies will be performed GPU-side directly into the output buffer
#ifdef USE_GPU_COPY
GLuint targetVBO = cloths[flagIndex].getVBO();
btOpenGLInteropVertexBufferDescriptor *vertexBufferDescriptor = new btOpenGLInteropVertexBufferDescriptor(g_cqCommandQue, g_cxMainContext, targetVBO, 0, 8, 3, 8);
#else
btCPUVertexBufferDescriptor *vertexBufferDescriptor = new btCPUVertexBufferDescriptor(reinterpret_cast< float* >(cloths[flagIndex].cpu_buffer), 0, 8, 3, 8);
#endif
cloths[flagIndex].m_vertexBufferDescriptor = vertexBufferDescriptor;
}
@@ -402,40 +497,49 @@ void initBullet(void)
#ifndef BT_NO_PROFILE
btClock m_clock;
#endif //BT_NO_PROFILE
void doFlags()
{
//float ms = getDeltaTimeMicroseconds();
#ifndef BT_NO_PROFILE
btScalar dt = (btScalar)m_clock.getTimeMicroseconds();
m_clock.reset();
#else
btScalar dt = 1000000.f/60.f;
#endif
///step the simulation
if( m_dynamicsWorld )
{
m_dynamicsWorld->stepSimulation(dt/1000000.);
static int frameCount = 0;
frameCount++;
if (frameCount==100)
{
m_dynamicsWorld->stepSimulation(1./60.,0);
#ifndef BT_NO_PROFILE
btDefaultSerializer* serializer = new btDefaultSerializer();
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
fclose(file);
CProfileManager::dumpAll();
#endif //BT_NO_PROFILE
}
updatePhysicsWorld();
//m_dynamicsWorld->setDebugDrawer(&debugDraw);
//debugDraw.setDebugMode(btIDebugDraw::DBG_DrawWireframe);
//g_solver->copyBackToSoftBodies();
//m_dynamicsWorld->debugDrawWorld();
}
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();
}
}
@@ -444,9 +548,25 @@ void doFlags()
int main(int argc, char *argv[])
{
preInitGL(argc, argv);
glewInit();
#ifdef USE_GPU_COPY
#ifdef _WIN32
HGLRC glCtx = wglGetCurrentContext();
#else //!_WIN32
GLXContext glCtx = glXGetCurrentContext();
#endif //!_WIN32
HDC glDC = wglGetCurrentDC();
initCL(glCtx, glDC);
#else
initCL();
#endif
cloths.resize(numFlags);
for( int flagIndex = 0; flagIndex < numFlags; ++flagIndex )
@@ -457,8 +577,6 @@ int main(int argc, char *argv[])
initBullet();
m_dynamicsWorld->stepSimulation(1./60.,0);
preInitGL(argc, argv);
std::string flagTexs[] = {
"atiFlag.bmp",
"amdFlag.bmp",
@@ -474,6 +592,16 @@ int main(int argc, char *argv[])
}
goGL();
if( g_cpuSolver )
delete g_cpuSolver;
if( g_openCLSolver )
delete g_openCLSolver;
if( g_openCLSIMDSolver )
delete g_openCLSIMDSolver;
if( g_softBodyOutput )
delete g_softBodyOutput;
return 0;
}