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add b3FixedConstraint, with less memory footprint than b3Generic6DofConstraint, and easier to port to OpenCL.

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remove the 'obsolete' part of b3Generic6DofConstraint and b3Point2PointConstraint
This commit is contained in:
erwin coumans
2013-07-06 00:44:06 -07:00
parent 956c3fc267
commit 01e5472f9f
8 changed files with 226 additions and 62 deletions
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59
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@@ -16,6 +16,9 @@
#include "../rigidbody/GpuRigidBodyDemoInternalData.h"
#include "../gwenUserInterface.h"
#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
#include "Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h"
#include "Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h"
#include "OpenGLWindow/GLPrimitiveRenderer.h"
#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
@@ -34,7 +37,7 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
index+=createDynamicsObjects(ci);
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
@@ -123,9 +126,10 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
if (ci.m_useInstancedCollisionShapes)
colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
int constraintType=0;
for (int i=0;i<ci.arraySizeZ;i++)
{
constraintType=(constraintType+1)&0x11;
for (int k=0;k<ci.arraySizeX;k++)
{
@@ -159,12 +163,57 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
b3TypedConstraint* c = 0;
if (prevBody>=0)
{
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
switch (constraintType)
{
case 0:
c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
break;
case 1:
{
b3Transform frameInA,frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
frameInA.setOrigin(b3Vector3(0,-1.1,0));
frameInB.setOrigin(b3Vector3(0,1.1,0));
c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
//c->setBreakingImpulseThreshold(37.1);
break;
}
case 2:
{
b3Transform frameInA,frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
frameInA.setOrigin(b3Vector3(0,-1.1,0));
frameInB.setOrigin(b3Vector3(0,1.1,0));
b3Generic6DofConstraint* dof6 = new b3Generic6DofConstraint(pid,prevBody,frameInA,frameInB,false,m_data->m_np->getBodiesCpu());
for (int i=0;i<6;i++)
dof6->setLimit(i,0,0);
c=dof6;
break;
}
default:
{
b3Assert(0);
}
};
if (c)
{
m_data->m_rigidBodyPipeline->addConstraint(c);//,false);
}
}
prevBody = pid;
index++;
@@ -192,7 +241,7 @@ void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci)
{
b3Vector4 scaling(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-400,0);
b3Vector3 position(0,-405,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);