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83 Commits

Author SHA1 Message Date
hujiajie
3ed7ecbb58 Fix ternary selection operator on float scalars in OpenCL kernels. 
According to Section 6.3(i) of the OpenCL 1.1 specification, the first
expression of the operator cannot be a float.
 2016-03-11 09:40:40 +08:00
hujiajie
ad6fb3afc1 The 'static' storage-class specifier is not supported in OpenCL. 
This is documented in Section 6.8 (g) in OpenCL 1.1 specification.
 2016-03-08 08:49:28 +08:00
Jackson Lee
e4fbd5332d Accelerate GPU raycaster with PLBVH. 2014-02-23 20:40:58 -08:00
erwincoumans
bd5c2ff5ec batching reports the size of the batches, and solver uses this as termination condition, giving a good speedup 2014-02-07 06:28:15 -08:00
Erwin Coumans
472a4068fc Enable MPR by default 
Add the contact point from MPR, in addition to SAT/clipping contacts. Added a new kernel to clear/reset the number of contacts in pairs (stored in the z component)
Always sample unit sphere directions, if there are more edge-edge combinations than unit sphere directions (162 by default)
Remember last running demo for Bullet 3 (and save it in a text file, Bullet
Enable the testFileFracture.bullet in the Bullet2FileDemo
 2014-01-15 10:35:51 -08:00
erwincoumans
271f458837 Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes) 
Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
 2014-01-04 20:54:27 -08:00
erwin coumans
3fe969c4ee b3Solver -> pass pointer to source instead of 0 (was left over from a debugging session), thanks to David for the report 
Break up clipHullHullConcaveConvexKernel into multiple stages, so it might 'fit' in Apple's OpenCL implementation
Implemented bvhTraversalKernel and findConcaveSeparatingAxis on CPU (debugging, possible future CPU version)
 2013-12-13 07:52:41 -08:00
erwin coumans
beb9e98cd3 expose the gUseLargeBatches as command-line argument --use_large_batches 2013-11-21 09:15:52 -08:00
erwin coumans
8a7ad65177 added a variation of the constraint solver, that works on CPU OpenCL (oneBigBatch), one stage (batching) happens on CPU for this mode 2013-11-21 09:15:42 -08:00
erwincoumans
1d5c651753 Use more shared data structures in src\Bullet3OpenCL\NarrowphaseCollision\kernels\satClipHullContacts.cl 
Revert default error func (was broken)
 2013-11-19 17:52:59 -08:00
erwin coumans
26dfaa441e add some command-line options 
--use_jacobi
--allow_opencl_cpu

b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel
b3SetCustomErrorMessageFunc, printf error and exit(0)
 2013-11-19 13:42:53 -08:00
erwincoumans
a78cbcf354 Accidently left some very slow copyToHost in the batching code, removing it makes it faster :-) 2013-11-12 09:03:30 -08:00
erwincoumans
5ce0b3938f Re-introduce GPU parallel Jacobi solver, called btGpuJacobiContactSolver. There are still some issues, but for basic scene's it works. 
To avoid confusion, rename GPU contact solver to btGpuContactSolver, and constraint (non-contact) solver to btPgsConstraintSolver.
 2013-11-11 21:15:06 -08:00
erwincoumans
ef6be5370d more work towards hybrid of GPU grid and sap broadphase, separating small, large (moving) and static objects 
re-enable 'useNewBatchingKernel', it is slower but more robust
 2013-11-11 02:19:04 -08:00
erwin coumans
d13de109a5 work towards re-enabling GPU grid broadphase (in addition to GPU sap bp) 2013-11-10 23:19:51 -08:00
erwincoumans
ad8585f184 prepare for btGpuGridBroadphase 2013-11-10 14:15:23 -08:00
erwincoumans
768ea211a6 add a waiting message, during startup of a demo. 
fix an OpenCL kernel, broken in previous commit.
 2013-11-07 16:47:18 -08:00
erwin coumans
e85bae5fe3 share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL) 
integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)
 2013-11-07 15:49:57 -08:00
erwin coumans
e20cb22832 share more data structures and code between OpenCL and C/C++ on CPU: 
move the setConstraint4/b3ConvertConstraint4 to shared code.
 2013-11-07 12:46:01 -08:00
erwin coumans
a9a758dd54 share more code between OpenCL kernels and C++ by moving kernel data structures/code to the 'shared' folders 2013-11-06 19:57:36 -08:00
erwincoumans
181a323631 move b3RaycastInfo.h so it can be used without OpenCL dependency 
add b3Assert to make sure m_maxShapeCapacityInBytes is not exceeded in GLInstancingRenderer
prepare for CpuSoftClothDemo
 2013-09-02 22:31:48 -07:00
erwin coumans
a6d9cf382f more work towards cpu pipeline, sharing OpenCL kernel code 2013-08-30 16:30:22 -07:00
erwincoumans
0ccb6922a8 more work towards CPU version 2013-08-30 08:06:46 -07:00
erwin coumans
2c019d579f reduce memory allocation, lack of GPU memory totally destroys performance on my GTX 650M on the Macbook retina 
add some keys to toggle gui drawing and shadows
 2013-08-22 23:15:37 -07:00
erwincoumans
677722bba3 support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree. 
Remove constructor from b3Vector3,  to make it a POD type, so it can go into a union (and more compatible with OpenCL float4)
Use b3MakeVector3 instead of constructor
Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
Improve PairBench a bit, show timings and #overlapping pairs.
Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
 2013-08-20 03:19:59 -07:00
erwin coumans
ef224370ab implement compound versus compound BVH acceleration (quantized tree-versus-tree, using subtrees and quantization) on host 2013-08-16 08:58:52 -07:00
erwin coumans
b32ae0c75c move some files to shared folders 
use b3Aabb for compound vs compound on host (for testing, towards BVH)
 2013-08-14 17:48:12 -07:00
erwincoumans
ac23dbc4be contact normal should point from B to A (to be consistent with Bullet 2.x) 
stringify: pre-allocate bigger buffer (10MB, workaround)
 2013-08-10 12:08:15 -07:00
erwincoumans
d158507c03 remove m_localPosA for now (it breaks NVIDIA OpenCL, copy of structs > 128 bytes) 2013-08-08 13:28:23 -07:00
erwincoumans
3bf003ace1 change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines 
remove duplicate data in b3Contact4 (now in btContact4Data shared between CPU/C++ and OpenCL)
OpenCL kernels use #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
Increase number of batches back to 250 (from 50), need to fix this hard coded number (see https://github.com/erwincoumans/bullet3/issues/12)
Work towards GJK/EPA, in addition to SAT/clipping (early on)
 2013-08-08 12:24:09 -07:00
erwincoumans
906415429c added (and stripped) a simple C/C++ preprocessor (written in Lua), so the stringifier can handle the #include directive, 
and embed the included files directly in the stringified files.
We need this, because we start sharing struct definitions and code between C/C++ and OpenCL (and potentially other languages)
preprocessor is from http://github.com/willsteel/lcpp
 2013-08-01 21:05:19 -07:00
erwincoumans
34de49d8a4 add gjk/epa (host only), possibly improve convex-convex with many edge-edge tests 
more preparation towards persistent/incremental contact cache
 2013-07-31 23:22:43 -07:00
erwincoumans
7992ff816b use int4 for broadphase pair, it allows to store persistent information in the future 
(contact cache, applied impulse/warm starting info etc)
 2013-07-31 09:58:15 -07:00
erwincoumans
1c0fc6bc2d report when compound pair capacity is exceeded (and avoid crash) 
add tetrahedron, reorganized demos
 2013-07-30 17:00:50 -07:00
erwin coumans
310d31f3d5 tweaks to demos, add middle-mouse support, 2013-07-21 00:36:00 -07:00
erwincoumans
01fbe80f8f use int instead of void to avoid 64bit error 2013-07-19 07:10:38 -07:00
erwincoumans
733f9027fb Deterministic simulation for concave and compound collision shapes: added childShapeA/B to b3Contact4 + sort on them 
Use tetrahedra instead of barrel for convex demo (until performance for edge-edge is improved)
Increased #overlapping pair capacity from 12 to 16 / objec
 2013-07-17 22:42:50 -07:00
erwincoumans
ab125fbb6d implement GPU breakable constraints 
add GPU fixed constraint
fix performance issue with concave meshes (didn't clear the number of concave-convex pairs, so it increased every frame)
 2013-07-17 16:11:54 -07:00
erwincoumans
3beae80a73 prepare for GPU fixed constraint (not done yet) 2013-07-16 19:05:07 -07:00
erwincoumans
20f9e41ff0 remove some debug printf's from kernel (stringify doesn't handle it properly) 2013-07-15 10:36:02 -07:00
erwincoumans
a5d00c8219 add some clFinish for better profile timings 
improved parallel batching, don't try to write for static objects,
this fixed a bug, when the hash of a static object was identical with hash of dynamic objects, causing it to be assigned a bogus 100+i batching number
The parallel batching is still not enabled, because we need to measure the batching size (todo)
 2013-07-15 10:22:40 -07:00
erwincoumans
05ed1fdbcf revert to useNewBatchingKernel, the other one is broken (need to figure out why) 2013-07-15 01:06:04 -07:00
erwin coumans
1e31073f4b made the simulation deterministic 
disable 'simdwidth' optimization for determinism (need to double-check)
made the spatial batching 3D
 2013-07-14 19:16:33 -07:00
erwin coumans
4b293130bd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2013-07-12 20:46:49 -07:00
erwin coumans
061f7173b8 compute best axis on host and OpenCL for 1-axis SAP, based on best variance 2013-07-12 20:46:43 -07:00
erwin coumans
0fcdd290f5 remove dynamic OpenCL allocations at run-time 2013-07-12 16:00:25 -07:00
erwin coumans
2aad8419b7 add support for picking, using point 2 point constraint 
allow to remove constraints by unique id
added tiny wavefront loader, plan to use this instead of existing slow wavefront loader
 2013-07-10 00:21:23 -07:00
erwin coumans
9610b369a3 fix constraint issue with b3GpuDynamicsWorld 2013-07-09 19:32:14 -07:00
erwin coumans
a3c2456c65 introduce b3GpuSolverConstraint and fix Windows build 2013-07-09 18:03:51 -07:00
erwincoumans
282e19171f fix Linux version of ConstraintDemo 2013-07-09 14:41:56 -07:00