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add option for btDbvtBroadphase (comparison)

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This commit is contained in:
erwin coumans
2013-04-20 23:59:00 -07:00
parent a00af9d898
commit dc1984713a
25 changed files with 5042 additions and 45 deletions
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6
demo/gpudemo/GpuDemo.h
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@@ -38,9 +38,9 @@ public:
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(10),
arraySizeY(30),
arraySizeZ(10),
arraySizeX(30),
arraySizeY(20),
arraySizeZ(30),
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),

3
demo/gpudemo/main_opengl3core.cpp
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@@ -66,12 +66,13 @@ int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
// ConcaveCompound2Scene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,
GpuBoxPlaneScene::MyCreateFunc,
GpuConvexPlaneScene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,

1
demo/gpudemo/premake4.lua
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@@ -28,6 +28,7 @@ function createProject(vendor)
"gwen",
"Bullet3Common",
"Bullet3Geometry",
"Bullet3Collision",
"Bullet3Dynamics"
}

14
demo/gpudemo/rigidbody/ConcaveScene.cpp
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@@ -223,7 +223,7 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fil
float mass = 0.f;
b3Vector3 position(0,0,0);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
@@ -286,13 +286,15 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
btVector4 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);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
createDynamicObjects(ci);
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
float camPos[4]={0,0,0,0};//65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraPitch(45);
@@ -345,7 +347,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
curColor&=3;
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
@@ -572,7 +574,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
curColor&=3;
btVector4 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);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
@@ -687,7 +689,7 @@ b3Vector3 childPositions[3] = {
curColor&=3;
btVector4 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);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
@@ -746,7 +748,7 @@ void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}

9
demo/gpudemo/rigidbody/GpuCompoundScene.cpp
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@@ -122,13 +122,16 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
curColor&=3;
btVector4 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);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
}
}
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
@@ -219,7 +222,7 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
@@ -247,5 +250,5 @@ void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}

8
demo/gpudemo/rigidbody/GpuConvexScene.cpp
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@@ -27,6 +27,8 @@ 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};
@@ -101,7 +103,7 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
curColor&=3;
btVector4 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);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
index++;
}
@@ -132,7 +134,7 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
btVector4 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);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
@@ -155,6 +157,6 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}

4
demo/gpudemo/rigidbody/GpuRigidBodyDemo.cpp
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@@ -14,6 +14,7 @@
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
static btKeyboardCallback oldCallback = 0;
extern bool gReset;
@@ -111,8 +112,9 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
b3GpuSapBroadphase* bp = new b3GpuSapBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
m_data->m_np = np;
m_data->m_bp = bp;
b3DynamicBvhBroadphase* broadphaseDbvt = new b3DynamicBvhBroadphase(config.m_maxConvexBodies);
m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp);
m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,broadphaseDbvt);
setupScene(ci);

13
demo/gpudemo/rigidbody/GpuSphereScene.cpp
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@@ -31,7 +31,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
int group=1;
int mask=1;
int index=0;
bool writeInstanceToGpu = false;
if (0)
{
@@ -95,7 +95,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
index++;
@@ -152,7 +152,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index, writeInstanceToGpu);
index++;
}
@@ -182,12 +182,17 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
btVector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,index);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,index,false);
index++;
}
}
if (!writeInstanceToGpu)
{
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);