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support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree.

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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)
This commit is contained in:
erwincoumans
2013-08-20 03:19:59 -07:00
parent 41ba48b10d
commit 677722bba3
62 changed files with 1827 additions and 564 deletions
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12
src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
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@@ -90,11 +90,11 @@ b3Vector3 color[4]=
void b3QuantizedBvh::setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin)
{
//enlarge the AABB to avoid division by zero when initializing the quantization values
b3Vector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
b3Vector3 clampValue =b3MakeVector3(quantizationMargin,quantizationMargin,quantizationMargin);
m_bvhAabbMin = bvhAabbMin - clampValue;
m_bvhAabbMax = bvhAabbMax + clampValue;
b3Vector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = b3Vector3(b3Scalar(65533.0),b3Scalar(65533.0),b3Scalar(65533.0)) / aabbSize;
m_bvhQuantization = b3MakeVector3(b3Scalar(65533.0),b3Scalar(65533.0),b3Scalar(65533.0)) / aabbSize;
m_useQuantization = true;
}
@@ -233,7 +233,7 @@ int b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
int numIndices = endIndex - startIndex;
b3Scalar splitValue;
b3Vector3 means(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 means=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
for (i=startIndex;i<endIndex;i++)
{
b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
@@ -284,8 +284,8 @@ int b3QuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
{
int i;
b3Vector3 means(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 variance(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 means=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 variance=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
int numIndices = endIndex-startIndex;
for (i=startIndex;i<endIndex;i++)
@@ -754,7 +754,7 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallba
void b3QuantizedBvh::reportRayOverlappingNodex (b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const
{
reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,b3Vector3(0,0,0),b3Vector3(0,0,0));
reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,b3MakeVector3(0,0,0),b3MakeVector3(0,0,0));
}