6ee9eb9bb5
implement CPU version of narrowphase convex collision, for comparison/debug purposes start towards cpu/gpu sync, for adding/removing bodies (work in progress)
311 lines
9.1 KiB
C++
311 lines
9.1 KiB
C++
#include "b3GpuDynamicsWorld.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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//#include "../../../opencl/gpu_rigidbody_pipeline2/CLPhysicsDemo.h"
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//#include "../../../opencl/gpu_rigidbody_pipeline/b3GpuNarrowPhaseAndSolver.h"
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#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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#include "LinearMath/btQuickprof.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
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#ifdef _WIN32
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#include <wiNdOws.h>
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#endif
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b3GpuDynamicsWorld::b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline)
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:btDynamicsWorld(0,0,0),
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m_gravity(0,-10,0),
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m_cpuGpuSync(true),
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m_bp(bp),
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m_np(np),
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m_rigidBodyPipeline(rigidBodyPipeline)
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{
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}
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b3GpuDynamicsWorld::~b3GpuDynamicsWorld()
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{
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}
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int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
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{
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#ifndef BT_NO_PROFILE
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CProfileManager::Reset();
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#endif //BT_NO_PROFILE
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BT_PROFILE("stepSimulation");
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//convert all shapes now, and if any change, reset all (todo)
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if (m_cpuGpuSync)
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{
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m_cpuGpuSync = false;
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m_np->writeAllBodiesToGpu();
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m_bp->writeAabbsToGpu();
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m_rigidBodyPipeline->writeAllInstancesToGpu();
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}
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m_rigidBodyPipeline->stepSimulation(fixedTimeStep);
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{
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{
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BT_PROFILE("readbackBodiesToCpu");
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//now copy info back to rigid bodies....
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m_np->readbackAllBodiesToCpu();
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}
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{
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BT_PROFILE("scatter transforms into rigidbody (CPU)");
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for (int i=0;i<this->m_collisionObjects.size();i++)
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{
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btVector3 pos;
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btQuaternion orn;
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m_np->getObjectTransformFromCpu(&pos[0],&orn[0],i);
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btTransform newTrans;
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newTrans.setOrigin(pos);
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newTrans.setRotation(orn);
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this->m_collisionObjects[i]->setWorldTransform(newTrans);
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}
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}
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}
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#ifndef B3_NO_PROFILE
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CProfileManager::Increment_Frame_Counter();
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#endif //B3_NO_PROFILE
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return 1;
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}
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void b3GpuDynamicsWorld::setGravity(const btVector3& gravity)
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{
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}
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int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* colShape)
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{
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int index = m_uniqueShapes.findLinearSearch(colShape);
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if (index==m_uniqueShapes.size())
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{
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if (colShape->isPolyhedral())
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{
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m_uniqueShapes.push_back(colShape);
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btPolyhedralConvexShape* convex = (btPolyhedralConvexShape*)colShape;
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int numVertices=convex->getNumVertices();
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int strideInBytes=sizeof(btVector3);
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btAlignedObjectArray<btVector3> tmpVertices;
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tmpVertices.resize(numVertices);
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for (int i=0;i<numVertices;i++)
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convex->getVertex(i,tmpVertices[i]);
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const float scaling[4]={1,1,1,1};
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bool noHeightField=true;
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int gpuShapeIndex = m_np->registerConvexHullShape(&tmpVertices[0].getX(), strideInBytes, numVertices, scaling);
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m_uniqueShapeMapping.push_back(gpuShapeIndex);
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} else
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{
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if (colShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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m_uniqueShapes.push_back(colShape);
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btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) colShape;
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btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
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b3AlignedObjectArray<b3Vector3> vertices;
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b3AlignedObjectArray<int> indices;
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btVector3 trimeshScaling(1,1,1);
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for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
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{
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const unsigned char *vertexbase = 0;
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int numverts = 0;
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PHY_ScalarType type = PHY_INTEGER;
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int stride = 0;
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const unsigned char *indexbase = 0;
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int indexstride = 0;
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int numfaces = 0;
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PHY_ScalarType indicestype = PHY_INTEGER;
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//PHY_ScalarType indexType=0;
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b3Vector3 triangleVerts[3];
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
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btVector3 aabbMin,aabbMax;
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for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
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{
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unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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triangleVerts[j] = b3Vector3(
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graphicsbase[0]*trimeshScaling.getX(),
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graphicsbase[1]*trimeshScaling.getY(),
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graphicsbase[2]*trimeshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
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triangleVerts[j] = b3Vector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
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btScalar(graphicsbase[1]*trimeshScaling.getY()),
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btScalar(graphicsbase[2]*trimeshScaling.getZ()));
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}
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}
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vertices.push_back(triangleVerts[0]);
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vertices.push_back(triangleVerts[1]);
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vertices.push_back(triangleVerts[2]);
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indices.push_back(indices.size());
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indices.push_back(indices.size());
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indices.push_back(indices.size());
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}
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}
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//GraphicsShape* gfxShape = 0;//b3BulletDataExtractor::createGraphicsShapeFromWavefrontObj(objData);
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//GraphicsShape* gfxShape = b3BulletDataExtractor::createGraphicsShapeFromConvexHull(&sUnitSpherePoints[0],MY_UNITSPHERE_POINTS);
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float meshScaling[4] = {1,1,1,1};
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//int shapeIndex = renderer.registerShape(gfxShape->m_vertices,gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
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float groundPos[4] = {0,0,0,0};
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//renderer.registerGraphicsInstance(shapeIndex,groundPos,rotOrn,color,meshScaling);
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if (vertices.size() && indices.size())
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{
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int gpuShapeIndex = m_np->registerConcaveMesh(&vertices,&indices, meshScaling);
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m_uniqueShapeMapping.push_back(gpuShapeIndex);
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} else
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{
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printf("Error: no vertices in mesh in b3GpuDynamicsWorld::addRigidBody\n");
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index = -1;
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b3Assert(0);
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}
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} else
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{
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if (colShape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
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{
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btCompoundShape* compound = (btCompoundShape*) colShape;
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b3AlignedObjectArray<b3GpuChildShape> childShapes;
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for (int i=0;i<compound->getNumChildShapes();i++)
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{
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//for now, only support polyhedral child shapes
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b3Assert(compound->getChildShape(i)->isPolyhedral());
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b3GpuChildShape child;
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child.m_shapeIndex = findOrRegisterCollisionShape(compound->getChildShape(i));
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btVector3 pos = compound->getChildTransform(i).getOrigin();
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btQuaternion orn = compound->getChildTransform(i).getRotation();
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for (int v=0;v<4;v++)
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{
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child.m_childPosition[v] = pos[v];
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child.m_childOrientation[v] = orn[v];
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}
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childShapes.push_back(child);
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}
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index = m_uniqueShapes.size();
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m_uniqueShapes.push_back(colShape);
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int gpuShapeIndex = m_np->registerCompoundShape(&childShapes);
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m_uniqueShapeMapping.push_back(gpuShapeIndex);
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/*printf("Error: unsupported compound type (%d) in b3GpuDynamicsWorld::addRigidBody\n",colShape->getShapeType());
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index = -1;
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b3Assert(0);
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*/
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} else
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{
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if (colShape->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
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{
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m_uniqueShapes.push_back(colShape);
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btSphereShape* sphere = (btSphereShape*)colShape;
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int gpuShapeIndex = m_np->registerSphereShape(sphere->getRadius());
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m_uniqueShapeMapping.push_back(gpuShapeIndex);
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} else
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{
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if (colShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
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{
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m_uniqueShapes.push_back(colShape);
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btStaticPlaneShape* plane = (btStaticPlaneShape*)colShape;
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int gpuShapeIndex = m_np->registerPlaneShape((b3Vector3&)plane->getPlaneNormal(),plane->getPlaneConstant());
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m_uniqueShapeMapping.push_back(gpuShapeIndex);
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} else
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{
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printf("Error: unsupported shape type (%d) in b3GpuDynamicsWorld::addRigidBody\n",colShape->getShapeType());
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index = -1;
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b3Assert(0);
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}
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}
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}
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}
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}
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}
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return index;
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}
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void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
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{
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m_cpuGpuSync = true;
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body->setMotionState(0);
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int index = findOrRegisterCollisionShape(body->getCollisionShape());
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if (index>=0)
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{
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int gpuShapeIndex= m_uniqueShapeMapping[index];
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float mass = body->getInvMass() ? 1.f/body->getInvMass() : 0.f;
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btVector3 pos = body->getWorldTransform().getOrigin();
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btQuaternion orn = body->getWorldTransform().getRotation();
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m_rigidBodyPipeline->registerPhysicsInstance(mass,&pos.getX(),&orn.getX(),gpuShapeIndex,m_collisionObjects.size(),false);
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m_collisionObjects.push_back(body);
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//btDynamicsWorld::addCollisionObject(
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}
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}
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void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
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{
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m_cpuGpuSync = true;
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btDynamicsWorld::removeCollisionObject(colObj);
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}
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void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
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{
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}
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