int main(int argc, char* argv[])
{
CommandLineArgs args(argc,argv);
if (args.CheckCmdLineFlag("help"))
{
Usage();
return 0;
}
args.GetCmdLineArgument("enable_interop", useInterop);
printf("useInterop=%d\n",useInterop);
args.GetCmdLineArgument("enable_convexheightfield", useConvexHeightfield);
printf("enable_convexheightfield=%d\n",useConvexHeightfield);
args.GetCmdLineArgument("enable_gpusap", useSapGpuBroadphase);
printf("enable_gpusap=%d\n",useSapGpuBroadphase);
args.GetCmdLineArgument("pause_simulation", pauseSimulation);
printf("pause_simulation=%d\n",pauseSimulation);
args.GetCmdLineArgument("x_dim", NUM_OBJECTS_X);
args.GetCmdLineArgument("y_dim", NUM_OBJECTS_Y);
args.GetCmdLineArgument("z_dim", NUM_OBJECTS_Z);
args.GetCmdLineArgument("x_gap", X_GAP);
args.GetCmdLineArgument("y_gap", Y_GAP);
args.GetCmdLineArgument("z_gap", Z_GAP);
printf("x_dim=%d, y_dim=%d, z_dim=%d\n",NUM_OBJECTS_X,NUM_OBJECTS_Y,NUM_OBJECTS_Z);
printf("x_gap=%f, y_gap=%f, z_gap=%f\n",X_GAP,Y_GAP,Z_GAP);
args.GetCmdLineArgument("enable_static", keepStaticObjects);
printf("enable_static=%d\n",keepStaticObjects);
char* tmpfile = 0;
args.GetCmdLineArgument("load_bulletfile", tmpfile );
if (tmpfile)
fileName = tmpfile;
printf("load_bulletfile=%s\n",fileName);
printf("\n");
#ifdef _WIN32
Win32OpenGLWindow* window = new Win32OpenGLWindow();
#else
MacOpenGLWindow* window = new MacOpenGLWindow();
#endif
window->init(1024,768);
#ifdef _WIN32
GLenum err = glewInit();
#endif
window->startRendering();
window->endRendering();
GLInstancingRenderer render;
CLPhysicsDemo demo(window);
demo.init(-1,-1,useInterop);
render.InitShaders();
if (useInterop)
demo.setupInterop();
createScene(render, demo, useConvexHeightfield,fileName);
printf("numPhysicsInstances= %d\n", demo.m_numPhysicsInstances);
printf("numDynamicPhysicsInstances= %d\n", demo.m_numDynamicPhysicsInstances);
render.writeTransforms();
window->startRendering();
render.RenderScene();
window->endRendering();
while (!window->requestedExit())
{
CProfileManager::Reset();
if (shootObject)
{
shootObject = false;
btVector3 linVel;// = (m_cameraPosition-m_cameraTargetPosition).normalize()*-100;
int x,y;
window->getMouseCoordinates(x,y);
render.getMouseDirection(&linVel[0],x,y);
linVel.normalize();
linVel*=100;
// btVector3 startPos;
demo.setObjectLinearVelocity(&linVel[0],0);
float orn[4] = {0,0,0,1};
float pos[4] = {m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],1};
// demo.setObjectTransform(pos,orn,0);
render.writeSingleTransform(pos,orn,0);
// createScene(render, demo);
// printf("numPhysicsInstances= %d\n", demo.m_numPhysicsInstances);
// printf("numDynamicPhysicsInstances= %d\n", demo.m_numDynamicPhysicsInstances);
// render.writeTransforms();
}
if (!pauseSimulation )
demo.stepSimulation();
window->startRendering();
render.RenderScene();
window->endRendering();
{
BT_PROFILE("glFinish");
glFinish();
}
CProfileManager::Increment_Frame_Counter();
if (printStats && !pauseSimulation)
{
static int count = 3;
count--;
if (count<0)
{
count = 100;
CProfileManager::dumpAll();
printf("total broadphase pairs= %d\n", numPairsTotal);
printf("numPairsOut (culled) = %d\n", numPairsOut);
//printStats = false;
} else
{
// printf(".");
}
}
}
demo.cleanup();
render.CleanupShaders();
window->exit();
delete window;
return 0;
}
int main(int argc, char* argv[])
{
CommandLineArgs args(argc,argv);
if (args.CheckCmdLineFlag("help"))
{
Usage();
return 0;
}
args.GetCmdLineArgument("enable_interop", useInterop);
printf("useInterop=%d\n",useInterop);
args.GetCmdLineArgument("enable_convexheightfield", useConvexHeightfield);
printf("enable_convexheightfield=%d\n",useConvexHeightfield);
args.GetCmdLineArgument("enable_gpusap", useSapGpuBroadphase);
printf("enable_gpusap=%d\n",useSapGpuBroadphase);
args.GetCmdLineArgument("pause_simulation", pauseSimulation);
printf("pause_simulation=%d\n",pauseSimulation);
args.GetCmdLineArgument("x_dim", NUM_OBJECTS_X);
args.GetCmdLineArgument("y_dim", NUM_OBJECTS_Y);
args.GetCmdLineArgument("z_dim", NUM_OBJECTS_Z);
args.GetCmdLineArgument("x_gap", X_GAP);
args.GetCmdLineArgument("y_gap", Y_GAP);
args.GetCmdLineArgument("z_gap", Z_GAP);
printf("x_dim=%d, y_dim=%d, z_dim=%d\n",NUM_OBJECTS_X,NUM_OBJECTS_Y,NUM_OBJECTS_Z);
printf("x_gap=%f, y_gap=%f, z_gap=%f\n",X_GAP,Y_GAP,Z_GAP);
args.GetCmdLineArgument("enable_static", keepStaticObjects);
printf("enable_static=%d\n",keepStaticObjects);
int preferred_platform = -1;
int preferred_device = -1;
args.GetCmdLineArgument("cl_device", preferred_device);
args.GetCmdLineArgument("cl_platform", preferred_platform);
char* tmpfile = 0;
args.GetCmdLineArgument("load_bulletfile", tmpfile );
if (tmpfile)
bulletFileName = tmpfile;
printf("load_bulletfile=%s\n",bulletFileName);
benchmark=args.CheckCmdLineFlag("benchmark");
printf("\n");
#ifdef _WIN32
Win32OpenGLWindow* window = new Win32OpenGLWindow();
#else
MacOpenGLWindow* window = new MacOpenGLWindow();
#endif
btgWindowConstructionInfo wci;
window->createWindow(wci);
#ifdef _WIN32
GLenum err = glewInit();
#endif
window->startRendering();
window->endRendering();
GLInstancingRenderer render(MAX_CONVEX_BODIES_CL);
CLPhysicsDemo demo(render.getMaxShapeCapacity(), MAX_CONVEX_BODIES_CL);
demo.init(preferred_device,preferred_platform,useInterop);
render.InitShaders();
if (useInterop)
{
#ifdef _WIN32
g_interopBuffer = new btOpenCLGLInteropBuffer(g_cxMainContext,g_cqCommandQue,render.getInternalData()->m_vbo);
clFinish(g_cqCommandQue);
#endif
}
createScene(render, demo, useConvexHeightfield,bulletFileName);
printf("numPhysicsInstances= %d\n", demo.m_numPhysicsInstances);
printf("numDynamicPhysicsInstances= %d\n", demo.m_numDynamicPhysicsInstances);
FILE* f = 0;
if (benchmark)
{
char fileName[1024];
#ifdef _WIN32
SYSTEMTIME time;
GetLocalTime(&time);
char buf[1024];
DWORD dwCompNameLen = 1024;
if (0 != GetComputerName(buf, &dwCompNameLen))
{
printf("%s", buf);
} else
{
printf("unknown", buf);
}
sprintf(fileName,"%s_%s_%s_time_%d-%d-%d_date_%d-%d-%d.csv",g_deviceName,buf,"gpu_rigidbody_pipeline2",time.wHour,time.wMinute,time.wSecond,time.wDay,time.wMonth,time.wYear);
printf("Open file %s\n", fileName);
#else
char fileName[1024];
sprintf(fileName,"%s_%s_%d_%d_%d.txt",g_deviceName,"gpu_rigidbody_pipeline2",NUM_OBJECTS_X,NUM_OBJECTS_Y,NUM_OBJECTS_Z);
printf("Open file %s\n", fileName);
#endif //_WIN32
f=fopen(fileName,"w");
//if (f)
// fprintf(f,"%s (%dx%dx%d=%d),\n", g_deviceName,NUM_OBJECTS_X,NUM_OBJECTS_Y,NUM_OBJECTS_Z, NUM_OBJECTS_X*NUM_OBJECTS_Y*NUM_OBJECTS_Z);
}
render.writeTransforms();
window->startRendering();
render.RenderScene();
window->endRendering();
window->setMouseMoveCallback(btDefaultMouseMoveCallback);
window->setMouseButtonCallback(btDefaultMouseButtonCallback);
window->setWheelCallback(btDefaultWheelCallback);
window->setKeyboardCallback(btDefaultKeyboardCallback);
while (!window->requestedExit())
{
CProfileManager::Reset();
if (shootObject)
{
shootObject = false;
btVector3 linVel;// = (m_cameraPosition-m_cameraTargetPosition).normalize()*-100;
int x,y;
window->getMouseCoordinates(x,y);
render.getMouseDirection(&linVel[0],x,y);
linVel.normalize();
linVel*=100;
// btVector3 startPos;
demo.setObjectLinearVelocity(&linVel[0],0);
float orn[4] = {0,0,0,1};
float pos[4];
render.getCameraPosition(pos);
// demo.setObjectTransform(pos,orn,0);
render.writeSingleInstanceTransformToGPU(pos,orn,0);
// createScene(render, demo);
// printf("numPhysicsInstances= %d\n", demo.m_numPhysicsInstances);
// printf("numDynamicPhysicsInstances= %d\n", demo.m_numDynamicPhysicsInstances);
// render.writeTransforms();
}
if (!pauseSimulation )
{
GL2CL(demo,render);
demo.stepSimulation();
{
BT_PROFILE("copyTransformsToBVO");
copyTransformsToBVO(gFpIO, demo.getBodiesGpu());
}
CL2GL(demo);
}
window->startRendering();
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
render.RenderScene();
window->endRendering();
{
BT_PROFILE("glFinish");
glFinish();
}
CProfileManager::Increment_Frame_Counter();
if (benchmark && f)
{
static int count=0;
if (count>2 && count<102)
{
DumpSimulationTime(f);
}
if (count>=102)
window->setRequestExit();
count++;
}
if (printStats && !pauseSimulation)
{
static int count = 10;
count--;
if (count<=0)
{
count = 100;
CProfileManager::dumpAll();
printf("total broadphase pairs= %d\n", numPairsTotal);
printf("numPairsOut (culled) = %d\n", numPairsOut);
} else
{
// printf(".");
}
}
}
demo.cleanup();
#ifdef _WIN32
delete g_interopBuffer;
#endif
render.CleanupShaders();
window->closeWindow();
delete window;
return 0;
}