resolve some naming conflicts between Bullet 3.x and Bullet 2.x
add BasicGpuDemo that bridges Bullet 2.x and Bullet 3.x (still preliminary/crashing/instable)
This commit is contained in:
erwincoumans
357
Demos3/BasicGpuDemo/BasicGpuDemo.cpp
Normal file
357
Demos3/BasicGpuDemo/BasicGpuDemo.cpp
Normal file
@@ -0,0 +1,357 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
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||||
|
||||
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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
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///scaling of the objects (0.1 = 20 centimeter boxes )
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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#include "BasicGpuDemo.h"
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#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "b3GpuDynamicsWorld.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
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#include "Bullet3OpenCL/RigidBody/b3Config.h"
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#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
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#include <stdio.h> //printf debugging
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#include "GLDebugDrawer.h"
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static GLDebugDrawer gDebugDraw;
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void BasicGpuDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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swapBuffers();
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}
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void BasicGpuDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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}
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struct btInternalData
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{
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cl_context m_clContext;
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cl_device_id m_clDevice;
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cl_command_queue m_clQueue;
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const char* m_clDeviceName;
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bool m_clInitialized;
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btInternalData()
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{
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m_clContext = 0;
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m_clDevice = 0;
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m_clQueue = 0;
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m_clDeviceName = 0;
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m_clInitialized =false;
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}
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};
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void BasicGpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
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{
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void* glCtx=0;
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void* glDC = 0;
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int ciErrNum = 0;
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//#ifdef CL_PLATFORM_INTEL
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//cl_device_type deviceType = CL_DEVICE_TYPE_ALL;
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//#else
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cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
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//#endif
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cl_platform_id platformId;
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// if (useInterop)
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// {
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// m_data->m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
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// } else
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{
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m_clData->m_clContext = b3OpenCLUtils::createContextFromType(deviceType, &ciErrNum, 0,0,preferredDeviceIndex, preferredPlatformIndex,&platformId);
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b3OpenCLUtils::printPlatformInfo(platformId);
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}
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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int numDev = b3OpenCLUtils::getNumDevices(m_clData->m_clContext);
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if (numDev>0)
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{
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m_clData->m_clDevice= b3OpenCLUtils::getDevice(m_clData->m_clContext,0);
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m_clData->m_clQueue = clCreateCommandQueue(m_clData->m_clContext, m_clData->m_clDevice, 0, &ciErrNum);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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b3OpenCLUtils::printDeviceInfo(m_clData->m_clDevice);
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b3OpenCLDeviceInfo info;
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b3OpenCLUtils::getDeviceInfo(m_clData->m_clDevice,&info);
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m_clData->m_clDeviceName = info.m_deviceName;
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m_clData->m_clInitialized = true;
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}
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}
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void BasicGpuDemo::exitCL()
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{
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}
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BasicGpuDemo::BasicGpuDemo()
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{
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m_clData = new btInternalData;
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}
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BasicGpuDemo::~BasicGpuDemo()
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{
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exitPhysics();
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exitCL();
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delete m_clData;
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}
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void BasicGpuDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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setCameraDistance(btScalar(SCALING*50.));
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = 0;
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = 0;
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m_broadphase = 0;
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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m_solver = 0;
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initCL(-1,-1);
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if (!m_clData->m_clInitialized)
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{
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printf("Error: cannot initialize OpenCL\n");
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exit(0);
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}
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b3Config config;
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b3GpuNarrowPhase* np = new b3GpuNarrowPhase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue,config);
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b3GpuSapBroadphase* bp = new b3GpuSapBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
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//m_data->m_np = np;
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//m_data->m_bp = bp;
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b3DynamicBvhBroadphase* broadphaseDbvt = new b3DynamicBvhBroadphase(config.m_maxConvexBodies);
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b3GpuRigidBodyPipeline* rbp = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,broadphaseDbvt);
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m_dynamicsWorld = new b3GpuDynamicsWorld(bp,np,rbp);
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m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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//groundShape->initializePolyhedralFeatures();
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(2.0*i + start_x),
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btScalar(20+2.0*k + start_y),
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btScalar(2.0*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setWorldTransform(startTransform);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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np->writeAllBodiesToGpu();
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bp->writeAabbsToGpu();
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rbp->writeAllInstancesToGpu();
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}
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void BasicGpuDemo::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void BasicGpuDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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82
Demos3/BasicGpuDemo/BasicGpuDemo.h
Normal file
82
Demos3/BasicGpuDemo/BasicGpuDemo.h
Normal file
@@ -0,0 +1,82 @@
|
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 GPU_BASIC_DEMO_H
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#define GPU_BASIC_DEMO_H
|
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#ifdef _WINDOWS
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#include "Win32DemoApplication.h"
|
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#define PlatformDemoApplication Win32DemoApplication
|
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#else
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#include "GlutDemoApplication.h"
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#define PlatformDemoApplication GlutDemoApplication
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#endif
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#include "LinearMath/btAlignedObjectArray.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
|
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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class BasicGpuDemo : public PlatformDemoApplication
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
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|
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btBroadphaseInterface* m_broadphase;
|
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|
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btCollisionDispatcher* m_dispatcher;
|
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|
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btConstraintSolver* m_solver;
|
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|
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btDefaultCollisionConfiguration* m_collisionConfiguration;
|
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|
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struct btInternalData* m_clData;
|
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|
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void initCL(int d, int p);
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void exitCL();
|
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|
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public:
|
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|
||||
BasicGpuDemo();
|
||||
virtual ~BasicGpuDemo();
|
||||
|
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void initPhysics();
|
||||
|
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void exitPhysics();
|
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virtual void clientMoveAndDisplay();
|
||||
|
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virtual void displayCallback();
|
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virtual void clientResetScene();
|
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|
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static DemoApplication* Create()
|
||||
{
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BasicGpuDemo* demo = new BasicGpuDemo;
|
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demo->myinit();
|
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demo->initPhysics();
|
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return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //GPU_BASIC_DEMO_H
|
||||
|
||||
87
Demos3/BasicGpuDemo/CMakeLists.txt
Normal file
87
Demos3/BasicGpuDemo/CMakeLists.txt
Normal file
@@ -0,0 +1,87 @@
|
||||
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
|
||||
|
||||
|
||||
# For every executable you have with a main method you should have an add_executable line below.
|
||||
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
|
||||
|
||||
|
||||
# This is the variable for Windows. I use this to define the root of my directory structure.
|
||||
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
|
||||
|
||||
IF (USE_GLUT)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppBasicDemo
|
||||
main.cpp
|
||||
BasicDemo.cpp
|
||||
BasicDemo.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppBasicDemo
|
||||
main.cpp
|
||||
BasicDemo.cpp
|
||||
BasicDemo.h
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
|
||||
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBasicDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBasicDemo
|
||||
POST_BUILD
|
||||
# COMMAND copy /Y ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
|
||||
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
|
||||
ADD_EXECUTABLE(AppBasicDemo
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
Win32BasicDemo.cpp
|
||||
BasicDemo.cpp
|
||||
BasicDemo.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
|
||||
)
|
||||
|
||||
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
5
Demos3/BasicGpuDemo/Makefile.am
Normal file
5
Demos3/BasicGpuDemo/Makefile.am
Normal file
@@ -0,0 +1,5 @@
|
||||
noinst_PROGRAMS=BasicDemo
|
||||
|
||||
BasicDemo_SOURCES=BasicDemo.cpp BasicDemo.h main.cpp
|
||||
BasicDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
|
||||
BasicDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@
|
||||
25
Demos3/BasicGpuDemo/Win32BasicDemo.cpp
Normal file
25
Demos3/BasicGpuDemo/Win32BasicDemo.cpp
Normal file
@@ -0,0 +1,25 @@
|
||||
#ifdef _WINDOWS
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "BasicDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new BasicDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
39
Demos3/BasicGpuDemo/main.cpp
Normal file
39
Demos3/BasicGpuDemo/main.cpp
Normal file
@@ -0,0 +1,39 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "BasicGpuDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
BasicGpuDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,1024,600,"Bullet Physics Demo. http://bulletphysics.org",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user