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f2cc840c3113fcbf94b0cee1788c0698c3726199
bullet3/Demos3/GpuDemos/softbody/GpuSoftBodyDemo.cpp
erwin coumans f2cc840c31 move shaders to .glsl files and stringify to .h file. 
add crude screenshot facility (using F1 key), it can also be used for debugging
start with shadows using shadowmap, not working yet
add experimental 'ignore' body index in raycast, using b3HitInfo.m_m_hitResult2
2013-06-28 14:10:23 -07:00

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#include "GpuSoftBodyDemo.h"
#include "OpenGLWindow/ShapeData.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/RigidBody/b3Config.h"
#include "GpuSoftBodyDemoInternalData.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
#include "stb_image/stb_image.h"
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
#define MSTRINGIFY(A) #A
static const char* s_rigidBodyKernelString = MSTRINGIFY(
typedef struct
{
float4 m_pos;
float4 m_quat;
float4 m_linVel;
float4 m_angVel;
unsigned int m_collidableIdx;
float m_invMass;
float m_restituitionCoeff;
float m_frictionCoeff;
} Body;
__kernel void
copyTransformsToVBOKernel( __global Body* gBodies, __global float4* posOrnColor, const int numNodes)
{
int nodeID = get_global_id(0);
if( nodeID < numNodes )
{
posOrnColor[nodeID] = (float4) (gBodies[nodeID].m_pos.xyz,1.0);
posOrnColor[nodeID + numNodes] = gBodies[nodeID].m_quat;
}
}
);
GpuSoftBodyDemo::GpuSoftBodyDemo()
:m_instancingRenderer(0),
m_window(0)
{
m_data = new GpuSoftBodyDemoInternalData;
}
GpuSoftBodyDemo::~GpuSoftBodyDemo()
{
delete m_data;
}
static void PairKeyboardCallback(int key, int state)
{
if (key=='R' && state)
{
gReset = true;
}
//b3DefaultKeyboardCallback(key,state);
oldCallback(key,state);
}
void GpuSoftBodyDemo::setupScene(const ConstructionInfo& ci)
{
}
void GpuSoftBodyDemo::initPhysics(const ConstructionInfo& ci)
{
GLint err = glGetError();
assert(err==GL_NO_ERROR);
if (ci.m_window)
{
m_window = ci.m_window;
oldCallback = ci.m_window->getKeyboardCallback();
ci.m_window->setKeyboardCallback(PairKeyboardCallback);
}
m_instancingRenderer = ci.m_instancingRenderer;
initCL(ci.preferredOpenCLDeviceIndex,ci.preferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
{
int errNum=0;
cl_program rbProg=0;
m_data->m_copyTransformsToVBOKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_rigidBodyKernelString,"copyTransformsToVBOKernel",&errNum,rbProg);
b3Config config;
b3GpuNarrowPhase* np = new b3GpuNarrowPhase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue,config);
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,broadphaseDbvt,config);
err = glGetError();
assert(err==GL_NO_ERROR);
setupScene(ci);
err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
np->writeAllBodiesToGpu();
bp->writeAabbsToGpu();
}
m_instancingRenderer->writeTransforms();
}
void GpuSoftBodyDemo::exitPhysics()
{
delete m_data->m_instancePosOrnColor;
delete m_data->m_rigidBodyPipeline;
m_window->setKeyboardCallback(oldCallback);
delete m_data->m_np;
m_data->m_np = 0;
delete m_data->m_bp;
m_data->m_bp = 0;
exitCL();
}
struct GraphicsVertex
{
float pos[4];
float normal[3];
float texcoord[2];
};
void GpuSoftClothDemo::renderScene()
{
if (m_data->m_clothShapeIndex>=0 && m_data->m_clothVertices)
{
GraphicsVertex* cpu_buffer = (GraphicsVertex*)m_data->m_clothVertices;
int width = 256;
int height=256;
static float shift = 0.f;
shift+=0.01;
if (shift>B3_2_PI)
shift-=B3_2_PI;
int numVertices = 0;
// Initial test data for rendering
for(int y = 0; y < height; y++)
{
for(int x = 0; x < width; x++)
{
double coord = b3Sin(x/5.0+shift)*0.01;
//coord = sin(y/);
cpu_buffer[y*width+x].pos[0] = (x/((float)(width-1)))*1;
cpu_buffer[y*width+x].pos[1] = coord;
cpu_buffer[y*width+x].pos[2] = (y/((float)(height-1)))*1;
cpu_buffer[y*width+x].pos[3] = 0.f;
cpu_buffer[y*width+x].normal[0] = 1;
cpu_buffer[y*width+x].normal[1] = 0;
cpu_buffer[y*width+x].normal[2] = 0;
cpu_buffer[y*width+x].texcoord[0] = 1*x/((float)(width-1));
cpu_buffer[y*width+x].texcoord[1] = (1.f-4*y/((float)(height-1)));
numVertices++;
}
}
m_instancingRenderer->updateShape(m_data->m_clothShapeIndex,m_data->m_clothVertices);
}
m_instancingRenderer->renderScene();
}
void GpuSoftBodyDemo::renderScene()
{
m_instancingRenderer->renderScene();
}
void GpuSoftBodyDemo::clientMoveAndDisplay()
{
GLint err = glGetError();
assert(err==GL_NO_ERROR);
bool animate=true;
int numObjects= m_data->m_rigidBodyPipeline->getNumBodies();
//m_instancingRenderer->getInternalData()->m_totalNumInstances;
b3Vector4* positions = 0;
if (animate && numObjects)
{
B3_PROFILE("gl2cl");
if (!m_data->m_instancePosOrnColor)
{
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
GLint err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_instancePosOrnColor = new b3OpenCLArray<b3Vector4>(m_clData->m_clContext,m_clData->m_clQueue);
m_data->m_instancePosOrnColor->resize(3*numObjects);
m_data->m_instancePosOrnColor->copyFromHostPointer(positions,3*numObjects,0);
glUnmapBuffer( GL_ARRAY_BUFFER);
err = glGetError();
assert(err==GL_NO_ERROR);
}
}
err = glGetError();
assert(err==GL_NO_ERROR);
{
B3_PROFILE("stepSimulation");
m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
}
if (numObjects)
{
B3_PROFILE("cl2gl_convert");
int ciErrNum = 0;
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
launch.setBuffer(bodies);
launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
launch.setConst(numObjects);
launch.launch1D(numObjects);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
err = glGetError();
assert(err==GL_NO_ERROR);
if (animate && numObjects)
{
B3_PROFILE("cl2gl_upload");
GLint err = glGetError();
assert(err==GL_NO_ERROR);
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_instancePosOrnColor->copyToHostPointer(positions,3*numObjects,0);
glUnmapBuffer( GL_ARRAY_BUFFER);
err = glGetError();
assert(err==GL_NO_ERROR);
}
err = glGetError();
assert(err==GL_NO_ERROR);
}
GpuSoftClothDemo::GpuSoftClothDemo()
{
}
GpuSoftClothDemo::~GpuSoftClothDemo()
{
}
unsigned char* GpuSoftClothDemo::loadImage(const char* fileName, int& width, int& height, int& n)
{
unsigned char *data = stbi_load(fileName, &width, &height, &n, 0);
if (data)
{
GLubyte* image=new GLubyte[512*256*4];
for(int y=0;y<256;++y)
{
const int t=y>>4;
GLubyte* pi=image+y*512*3;
for(int x=0;x<512;++x)
{
const int s=x>>5;
const GLubyte b=180;
GLubyte c=b+((s+t&1)&1)*(255-b);
pi[0]=pi[1]=pi[2]=c;pi+=3;
}
}
{
for (int i=0;i<width;i++)
{
for (int j=0;j<height;j++)
{
int offsetx = (512-width)/2;
int offsety = (256-height)/2;
GLubyte* pi=image+((j+offsety)*512+i+offsetx)*3;
const GLubyte* src=data+(j*width+i)*4;
pi[0] = src[0];
pi[1] = src[1];
pi[2] = src[2];
}
}
}
width = 512;
height = 256;
return image;
}
return 0;
}
void GpuSoftClothDemo::setupScene(const ConstructionInfo& ci)
{
GLint err = glGetError();
assert(err==GL_NO_ERROR);
int width = 256;
int height = 256;
GraphicsVertex* cpu_buffer = new GraphicsVertex[width*height];
memset(cpu_buffer, 0, width*height*sizeof(GraphicsVertex));
int numVertices = 0;
// Initial test data for rendering
for(int y = 0; y < height; y++)
{
for(int x = 0; x < width; x++)
{
double coord = b3Sin(x/5.0)*0.01;
//coord = sin(y/);
cpu_buffer[y*width+x].pos[0] = (x/((float)(width-1)))*1;
cpu_buffer[y*width+x].pos[1] = coord;
cpu_buffer[y*width+x].pos[2] = (y/((float)(height-1)))*1;
cpu_buffer[y*width+x].pos[3] = 0.f;
cpu_buffer[y*width+x].normal[0] = 1;
cpu_buffer[y*width+x].normal[1] = 0;
cpu_buffer[y*width+x].normal[2] = 0;
cpu_buffer[y*width+x].texcoord[0] = 1*x/((float)(width-1));
cpu_buffer[y*width+x].texcoord[1] = (1.f-4*y/((float)(height-1)));
numVertices++;
}
}
err = glGetError();
assert(err==GL_NO_ERROR);
int numIndices = 0;
// Generate and fill index array for rendering
int* indices = new int[width*3*2+2 + height*width*3*2];
for(int y = 0; y < height-1; y++)
{
for(int x = 0; x < width-1; x++)
{
// *3 indices/triangle, *2 triangles/quad
int baseIndex = (x + y*(width-1))*3*2;
indices[baseIndex] = x + y*width;
indices[baseIndex+1] = x+1 + y*width;
indices[baseIndex+2] = x+width + y*width;
indices[baseIndex+3] = x + 1 + y*width;
indices[baseIndex+4] = x+(width+1) + y*width;
indices[baseIndex+5] = x+width + y*width;
numIndices++;
}
}
int num_barrel_vertices = sizeof(barrel_vertices)/(9*sizeof(float));
int num_barrel_indices = sizeof(barrel_indices)/sizeof(int);
int textureIndex = -1;
{
int width,height,n;
FILE* f = fopen("test.tst","wb");
fclose(f);
const char* filename = "data/bullet_logo.png";
const unsigned char* image=0;
const char* prefix[]={"./","../","../../","../../../","../../../../"};
int numprefix = sizeof(prefix)/sizeof(const char*);
for (int i=0;!image && i<numprefix;i++)
{
char relativeFileName[1024];
sprintf(relativeFileName,"%s%s",prefix[i],filename);
image = loadImage(relativeFileName,width,height,n);
}
b3Assert(image);
if (image)
{
textureIndex = ci.m_instancingRenderer->registerTexture(image,width,height);
}
}
// int shapeIndex = ci.m_instancingRenderer->registerShape(barrel_vertices,num_barrel_vertices,barrel_indices,num_barrel_indices);
err = glGetError();
assert(err==GL_NO_ERROR);
m_data->m_clothVertices = &cpu_buffer[0].pos[0];
int shapeIndex = ci.m_instancingRenderer->registerShape(&cpu_buffer[0].pos[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
m_data->m_clothShapeIndex = shapeIndex;
err = glGetError();
assert(err==GL_NO_ERROR);
float pos[4] = {0,0,0,0};
float orn[4] = {0,0,0,1};
float color[4] = {1,1,1,1};
float scaling[4] = {10,10,10,1};
ci.m_instancingRenderer->registerGraphicsInstance(shapeIndex,pos,orn,color,scaling);
ci.m_instancingRenderer->setCameraDistance(4);
ci.m_instancingRenderer->setCameraTargetPosition(pos);
err = glGetError();
assert(err==GL_NO_ERROR);
}
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