154 lines
4.4 KiB
C++
154 lines
4.4 KiB
C++
/*
|
|
* Copyright 1993-2006 NVIDIA Corporation. All rights reserved.
|
|
*
|
|
* NOTICE TO USER:
|
|
*
|
|
* This source code is subject to NVIDIA ownership rights under U.S. and
|
|
* international Copyright laws.
|
|
*
|
|
* NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
|
|
* CODE FOR ANY PURPOSE. IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
|
|
* IMPLIED WARRANTY OF ANY KIND. NVIDIA DISCLAIMS ALL WARRANTIES WITH
|
|
* REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
|
|
* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
|
|
* IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
|
|
* OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
|
|
* OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
|
|
* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
|
|
* OR PERFORMANCE OF THIS SOURCE CODE.
|
|
*
|
|
* U.S. Government End Users. This source code is a "commercial item" as
|
|
* that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting of
|
|
* "commercial computer software" and "commercial computer software
|
|
* documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
|
|
* and is provided to the U.S. Government only as a commercial end item.
|
|
* Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
|
|
* 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
|
|
* source code with only those rights set forth herein.
|
|
*/
|
|
|
|
#ifndef __BODYSYSTEMCUDA_H__
|
|
#define __BODYSYSTEMCUDA_H__
|
|
|
|
#define DEBUG_GRID 0
|
|
#define DO_TIMING 0
|
|
|
|
#include "particles_kernel.cuh"
|
|
#include "vector_functions.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
|
|
// CUDA BodySystem: runs on the GPU
|
|
class ParticleSystem
|
|
{
|
|
public:
|
|
ParticleSystem(uint numParticles, uint3 gridSize);
|
|
~ParticleSystem();
|
|
|
|
|
|
enum ParticleArray
|
|
{
|
|
POSITION,
|
|
VELOCITY,
|
|
};
|
|
|
|
enum ParticleConfig
|
|
{
|
|
CONFIG_RANDOM,
|
|
CONFIG_GRID,
|
|
_NUM_CONFIGS
|
|
};
|
|
|
|
enum SimulationMode
|
|
{
|
|
SIMULATION_CUDA,
|
|
SIMULATION_BULLET_CPU,
|
|
SIMULATION_NUM_MODES
|
|
};
|
|
|
|
void reset(ParticleConfig config);
|
|
void debugDraw();
|
|
|
|
|
|
///
|
|
///Bullet data
|
|
///
|
|
|
|
void initializeBullet();
|
|
void finalizeBullet();
|
|
class btDiscreteDynamicsWorld* m_dynamicsWorld;
|
|
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
|
class btCollisionDispatcher* m_dispatcher;
|
|
class btCudaBroadphase* m_broadphase;
|
|
class btSequentialImpulseConstraintSolver* m_constraintSolver;
|
|
btAlignedObjectArray<class btRigidBody*> m_bulletParticles;
|
|
|
|
|
|
void update(float deltaTime);
|
|
|
|
float* getArray(ParticleArray array);
|
|
|
|
int getNumParticles() const;
|
|
|
|
unsigned int getCurrentReadBuffer() const;
|
|
unsigned int getColorBuffer() const;
|
|
|
|
void dumpGrid();
|
|
void dumpParticles(uint start, uint count);
|
|
|
|
void setIterations(int i) { m_solverIterations = i; }
|
|
|
|
void setDamping(float x) { m_params.globalDamping = x; }
|
|
void setGravity(float x) { m_params.gravity = make_float3(0.0f, x, 0.0f); }
|
|
|
|
void setCollideSpring(float x) { m_params.spring = x; }
|
|
void setCollideDamping(float x) { m_params.damping = x; }
|
|
void setCollideShear(float x) { m_params.shear = x; }
|
|
void setCollideAttraction(float x) { m_params.attraction = x; }
|
|
|
|
void setColliderPos(float4 x) { m_params.colliderPos = x; }
|
|
|
|
float getParticleRadius() { return m_params.particleRadius; }
|
|
float4 getColliderPos() { return m_params.colliderPos; }
|
|
float getColliderRadius() { return m_params.colliderRadius; }
|
|
uint3 getGridSize() { return m_params.gridSize; }
|
|
float3 getWorldOrigin() { return m_params.worldOrigin; }
|
|
float3 getCellSize() { return m_params.cellSize; }
|
|
|
|
void addSphere(int index, float *pos, float *vel, int r, float spacing);
|
|
|
|
SimulationMode getSimulationMode() const
|
|
{
|
|
return m_simulationMode;
|
|
}
|
|
|
|
void setSimulationMode(SimulationMode mode)
|
|
{
|
|
m_simulationMode=mode;
|
|
}
|
|
|
|
protected: // methods
|
|
ParticleSystem()
|
|
: m_simulationMode(SIMULATION_CUDA)
|
|
{}
|
|
|
|
void initGrid(uint *size, float spacing, float jitter, uint numParticles);
|
|
|
|
|
|
protected: // data
|
|
bool m_bInitialized;
|
|
|
|
|
|
|
|
// params
|
|
SimParams m_params;
|
|
uint m_maxParticlesPerCell;
|
|
|
|
uint m_timer;
|
|
|
|
uint m_solverIterations;
|
|
|
|
SimulationMode m_simulationMode;
|
|
};
|
|
|
|
#endif // __BODYSYSTEMCUDA_H__
|