mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
added fracture scene .bullet file (doesn't work well yet)
added tetrahedral mesh test scene expose b3Config as member variable for demos. move a 'glFlush' out of the innerloop (render performance) SSE -> SSE2 in premake fix crash in broadphase (when no aabb's exist)
This commit is contained in:
parent
3ccc9680a1
commit
2793a174c6
@ -48,8 +48,8 @@ __kernel void
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sineWaveKernel( __global float4* posOrnColors, __global float* pBodyTimes,const int numNodes)
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{
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int nodeID = get_global_id(0);
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float timeStepPos = 0.000166666;
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float mAmplitude = 26.f;
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float timeStepPos = 0.00166666;
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float mAmplitude = 36.f;
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if( nodeID < numNodes )
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{
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pBodyTimes[nodeID] += timeStepPos;
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@ -117,6 +117,7 @@ GpuDemo::CreateFunc* allDemos[]=
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GpuConstraintsDemo::MyCreateFunc,
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GpuTetraScene::MyCreateFunc,
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GpuSoftClothDemo::MyCreateFunc,
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@ -679,7 +680,7 @@ int main(int argc, char* argv[])
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bool useGpu = false;
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int maxObjectCapacity=512*1024;
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int maxObjectCapacity=128*1024;
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maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10);
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{
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@ -931,7 +932,7 @@ int main(int argc, char* argv[])
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}
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}
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if (frameCount>=102)
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if (frameCount>=1002)
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window->setRequestExit();
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frameCount++;
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}
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@ -20,9 +20,18 @@
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#include "OpenGLWindow/GLPrimitiveRenderer.h"
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#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h"
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#include "OpenGLWindow/GLRenderToTexture.h"
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b3Vector4 colors[4] =
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{
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b3Vector4(1,0,0,1),
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b3Vector4(0,1,0,1),
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b3Vector4(0,1,1,1),
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b3Vector4(1,1,0,1),
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};
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void GpuConvexScene::setupScene(const ConstructionInfo& ci)
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{
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m_primRenderer = ci.m_primRenderer;
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@ -98,13 +107,7 @@ int GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
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{
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b3Vector4 colors[4] =
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{
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b3Vector4(1,0,0,1),
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b3Vector4(0,1,0,1),
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b3Vector4(0,1,1,1),
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b3Vector4(1,1,0,1),
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};
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int curColor = 0;
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float scaling[4] = {1,1,1,1};
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@ -237,3 +240,248 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
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}
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struct TetraBunny
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{
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#include "bunny.inl"
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};
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struct TetraCube
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{
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#include "cube.inl"
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};
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static int nextLine(const char* buffer)
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{
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int numBytesRead=0;
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while (*buffer != '\n')
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{
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buffer++;
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numBytesRead++;
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}
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if (buffer[0]==0x0a)
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{
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buffer++;
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numBytesRead++;
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}
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return numBytesRead;
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}
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static float mytetra_vertices[] =
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{
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-1.f, 0, -1.f, 0.5f, 0, 1,0, 0,0,
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-1.f, 0, 1.f, 0.5f, 0, 1,0, 1,0,
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1.f, 0, 1.f, 0.5f, 0, 1,0, 1,1,
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1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1,
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0, -1, 0 , 0.5f, 0, 1,0, 0,1
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};
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static int mytetra_indices[]=
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{
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0,1,2,
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3,1,2,3,2,0,
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3,0,1
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};
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/* Create from TetGen .ele, .face, .node data */
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void GpuTetraScene::createFromTetGenData(const char* ele,
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const char* node,
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const ConstructionInfo& ci)
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{
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b3Scalar scaling(10);
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b3AlignedObjectArray<b3Vector3> pos;
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int nnode=0;
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int ndims=0;
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int nattrb=0;
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int hasbounds=0;
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int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
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result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
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node += nextLine(node);
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//b3AlignedObjectArray<b3Vector3> rigidBodyPositions;
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//b3AlignedObjectArray<int> rigidBodyIds;
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pos.resize(nnode);
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for(int i=0;i<pos.size();++i)
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{
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int index=0;
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//int bound=0;
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float x,y,z;
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sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
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// sn>>index;
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// sn>>x;sn>>y;sn>>z;
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node += nextLine(node);
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//for(int j=0;j<nattrb;++j)
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// sn>>a;
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//if(hasbounds)
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// sn>>bound;
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pos[index].setX(b3Scalar(x)*scaling);
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pos[index].setY(b3Scalar(y)*scaling);
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pos[index].setZ(b3Scalar(z)*scaling);
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}
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if(ele&&ele[0])
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{
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int ntetra=0;
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int ncorner=0;
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int neattrb=0;
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sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
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ele += nextLine(ele);
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//se>>ntetra;se>>ncorner;se>>neattrb;
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for(int i=0;i<ntetra;++i)
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{
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int index=0;
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int ni[4];
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//se>>index;
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//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
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sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
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ele+=nextLine(ele);
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b3Vector3 average(0,0,0);
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for (int v=0;v<4;v++)
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{
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average+=pos[ni[v]];
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}
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average/=4;
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for (int v=0;v<4;v++)
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{
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b3Vector3 shiftedPos = pos[ni[v]]-average;
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mytetra_vertices[0+v*9] = shiftedPos.getX();
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mytetra_vertices[1+v*9] = shiftedPos.getY();
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mytetra_vertices[2+v*9] = shiftedPos.getZ();
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}
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//todo: subtract average
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(mytetra_vertices)/strideInBytes;
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int numIndices = sizeof(mytetra_indices)/sizeof(int);
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int shapeId = ci.m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
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int group=1;
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int mask=1;
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{
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b3Vector4 scaling(1,1,1,1);
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int colIndex = m_data->m_np->registerConvexHullShape(&mytetra_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position(0,150,0);
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// position+=average;//*1.2;//*2;
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position+=average*1.2;//*2;
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//rigidBodyPositions.push_back(position);
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b3Quaternion orn(0,0,0,1);
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static int curColor=0;
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b3Vector4 color = colors[curColor++];
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curColor&=3;
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
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//rigidBodyIds.push_back(pid);
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}
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//for(int j=0;j<neattrb;++j)
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// se>>a;
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//psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
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}
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// printf("Nodes: %u\r\n",psb->m_nodes.size());
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// printf("Links: %u\r\n",psb->m_links.size());
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// printf("Faces: %u\r\n",psb->m_faces.size());
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// printf("Tetras: %u\r\n",psb->m_tetras.size());
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}
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m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
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m_data->m_np->writeAllBodiesToGpu();
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m_data->m_bp->writeAabbsToGpu();
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m_data->m_rigidBodyPipeline->setupGpuAabbsFull();
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m_data->m_bp->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
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int numPairs = m_data->m_bp->getNumOverlap();
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cl_mem pairs = m_data->m_bp->getOverlappingPairBuffer();
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b3OpenCLArray<b3Int2> clPairs(m_clData->m_clContext,m_clData->m_clQueue);
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clPairs.setFromOpenCLBuffer(pairs,numPairs);
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b3AlignedObjectArray<b3Int2> allPairs;
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clPairs.copyToHost(allPairs);
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for (int p=0;p<allPairs.size();p++)
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{
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b3Vector3 posA,posB;
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b3Quaternion ornA,ornB;
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int bodyIndexA = allPairs[p].x;
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int bodyIndexB = allPairs[p].y;
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m_data->m_np->getObjectTransformFromCpu(posA,ornA,bodyIndexA);
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m_data->m_np->getObjectTransformFromCpu(posB,ornB,bodyIndexB);
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b3Vector3 pivotWorld = (posA+posB)*0.5f;
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b3Transform transA,transB;
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transA.setIdentity();
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transA.setOrigin(posA);
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transA.setRotation(ornA);
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transB.setIdentity();
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transB.setOrigin(posB);
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transB.setRotation(ornB);
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b3Vector3 pivotInA = transA.inverse()*pivotWorld;
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b3Vector3 pivotInB = transB.inverse()*pivotWorld;
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b3Transform frameInA,frameInB;
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frameInA.setIdentity();
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frameInB.setIdentity();
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frameInA.setOrigin(pivotInA);
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frameInB.setOrigin(pivotInB);
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b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
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//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
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float breakingThreshold = 45;//37.f;
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//c->setBreakingImpulseThreshold(37.1);
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bool useGPU = true;
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if (useGPU)
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{
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int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
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} else
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{
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b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);
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c->setBreakingImpulseThreshold(breakingThreshold);
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m_data->m_rigidBodyPipeline->addConstraint(c);
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}
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}
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printf("numPairs = %d\n",numPairs);
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}
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int GpuTetraScene::createDynamicsObjects(const ConstructionInfo& ci)
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{
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//createFromTetGenData(TetraCube::getElements(),TetraCube::getNodes(),ci);
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createFromTetGenData(TetraBunny::getElements(),TetraBunny::getNodes(),ci);
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return 0;
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}
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@ -86,7 +86,29 @@ public:
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};
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class GpuTetraScene : public GpuConvexScene
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{
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protected:
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void createFromTetGenData(const char* ele,
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const char* node,
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const ConstructionInfo& ci);
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public:
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virtual const char* getName()
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{
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return "GpuTetraScene";
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}
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static GpuDemo* MyCreateFunc()
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{
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GpuDemo* demo = new GpuTetraScene;
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return demo;
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}
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virtual int createDynamicsObjects(const ConstructionInfo& ci);
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};
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#endif //GPU_CONVEX_SCENE_H
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@ -107,20 +107,19 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
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cl_program rbProg=0;
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m_data->m_copyTransformsToVBOKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_rigidBodyKernelString,"copyTransformsToVBOKernel",&errNum,rbProg);
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b3Config config;
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config.m_maxConvexBodies = b3Max(config.m_maxConvexBodies,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ+10);
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config.m_maxConvexShapes = config.m_maxConvexBodies;
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config.m_maxBroadphasePairs = 16*config.m_maxConvexBodies;
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config.m_maxContactCapacity = config.m_maxBroadphasePairs;
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m_data->m_config.m_maxConvexBodies = b3Max(m_data->m_config.m_maxConvexBodies,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ+10);
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m_data->m_config.m_maxConvexShapes = m_data->m_config.m_maxConvexBodies;
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m_data->m_config.m_maxBroadphasePairs = 16*m_data->m_config.m_maxConvexBodies;
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m_data->m_config.m_maxContactCapacity = m_data->m_config.m_maxBroadphasePairs;
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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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b3GpuNarrowPhase* np = new b3GpuNarrowPhase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue,m_data->m_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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m_data->m_broadphaseDbvt = new b3DynamicBvhBroadphase(config.m_maxConvexBodies);
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m_data->m_broadphaseDbvt = new b3DynamicBvhBroadphase(m_data->m_config.m_maxConvexBodies);
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m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,m_data->m_broadphaseDbvt,config);
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m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,m_data->m_broadphaseDbvt,m_data->m_config);
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setupScene(ci);
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@ -4,6 +4,7 @@
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3OpenCL/RigidBody/b3Config.h"
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struct GpuRigidBodyDemoInternalData
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{
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@ -30,6 +31,7 @@ struct GpuRigidBodyDemoInternalData
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int m_pickFixedBody;
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int m_pickGraphicsShapeIndex;
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int m_pickGraphicsShapeInstance;
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b3Config m_config;
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GpuRigidBodyDemoInternalData()
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:m_instancePosOrnColor(0),
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4
Demos3/GpuDemos/rigidbody/bunny.inl
Normal file
4
Demos3/GpuDemos/rigidbody/bunny.inl
Normal file
File diff suppressed because one or more lines are too long
4
Demos3/GpuDemos/rigidbody/cube.inl
Normal file
4
Demos3/GpuDemos/rigidbody/cube.inl
Normal file
File diff suppressed because one or more lines are too long
@ -1489,10 +1489,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
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{
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B3_PROFILE("glFlush");
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glFlush();
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}
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int indexCount = gfxObj->m_numIndices;
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int indexOffset = 0;
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@ -1571,6 +1568,10 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
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curOffset+= gfxObj->m_numGraphicsInstances;
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}
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{
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B3_PROFILE("glFlush");
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glFlush();
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}
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if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
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{
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// writeTextureToPng(shadowMapWidth,shadowMapHeight,"shadowmap.png",4);
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@ -33,7 +33,7 @@
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configurations {"Release", "Debug"}
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configuration "Release"
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flags { "Optimize", "EnableSSE","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
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flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
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configuration "Debug"
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defines {"_DEBUG=1"}
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flags { "Symbols", "StaticRuntime" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
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Binary file not shown.
@ -1051,11 +1051,11 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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}
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}
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if (m_prefixScanFloat4)
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int numSmallAabbs = m_smallAabbsGPU.size();
|
||||
if (m_prefixScanFloat4 && numSmallAabbs)
|
||||
{
|
||||
B3_PROFILE("GPU compute best variance axis");
|
||||
int numSmallAabbs = m_smallAabbsGPU.size();
|
||||
|
||||
if (m_dst.size()!=(numSmallAabbs+1))
|
||||
{
|
||||
m_dst.resize(numSmallAabbs+1);
|
||||
@ -1133,7 +1133,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
|
||||
|
||||
|
||||
|
||||
int numSmallAabbs = m_smallAabbsGPU.size();
|
||||
|
||||
m_gpuSmallSortData.resize(numSmallAabbs);
|
||||
int numLargeAabbs = m_smallAabbsGPU.size();
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user