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fixes in Jam msvcgen -> use SSE instead of SSE2 to stay compatible with older AMD Athlon XP processors, updated build files, minor compile fixes for GPU experimental code

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This commit is contained in:
erwin.coumans
2009-05-09 21:25:42 +00:00
parent 9da45d5751
commit 0a360904b6
14 changed files with 312 additions and 251 deletions
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16
Demos/Gpu2dDemo/CMakeLists.txt
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@@ -19,8 +19,20 @@ LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppBasicDemo
ADD_EXECUTABLE(AppGpu2dDemo
main.cpp
BasicDemo.cpp
BasicDemo.cpp
BasicDemo.h
btGpuDemoPairCache.cpp
btGpuDemoPairCache.h
btGpuDemo2dSharedTypes.h
btGpuDemo2dCpuFunc.cpp
btGpuDemoDynamicsWorld.cpp
btGpuDemoDynamicsWorld.h
oecakeLoader.cpp
oecakeLoader.h
btGpuDemo2dSharedCode.h
btGpuDemo2dSharedDefs.h
)

4
Demos/Gpu2dDemo/Jamfile
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@@ -1,3 +1,3 @@
SubDir TOP Demos BasicDemo ;
SubDir TOP Demos Gpu2dDemo ;
BulletDemo BasicDemo : [ Wildcard *.h *.cpp ] ;
BulletDemo Gpu2dDemo : [ Wildcard *.h *.cpp ] ;

45
Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
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@@ -19,6 +19,7 @@ subject to the following restrictions:
#define FRICTION_BOX_GROUND_FACT 0.05f
#define FRICTION_BOX_BOX_FACT 0.05f
#define USE_CENTERS 1
#include "LinearMath/btMinMax.h"
//------------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------------
@@ -58,6 +59,7 @@ BT_GPU___device__ void testSphSph(float3 aPos, float3 bPos, float radA, float ra
float dist = BT_GPU_dot(del, del);
dist = sqrtf(dist);
float maxD = radA + radB;
if(dist > maxD)
{
return;
@@ -76,7 +78,9 @@ BT_GPU___device__ void testSphSph(float3 aPos, float3 bPos, float radA, float ra
normal = BT_GPU_make_float3(1.f, 0.f, 0.f);
}
// float3 contact = (bPos + aPos + normal * (radB - radA)) * 0.5f;
float3 contact = aPos - normal * radA;
float3 tmp = (normal * radA);
float3 contact = aPos - tmp;
// now add point
int numPoints = 0;
for(int i = 0; i < MAX_VTX_PER_OBJ; i++)
@@ -143,14 +147,20 @@ BT_GPU___global__ void setConstraintDataD(int2 *constraints,
for(i = 0; i < numSphA; i++)
{
float3 va = aPos;
va += ai * shapeA[i].x;
va += aj * shapeA[i].y;
float3 tmp = ai * shapeA[i].x;
float3 tmp2 = aj * shapeA[i].y;
va += tmp;
va += tmp2;
float radA = shapeA[i].w;
for(j = 0; j < numSphB; j++)
{
float3 vb = bPos;
vb += bi * shapeB[j].x;
vb += bj * shapeB[j].y;
float3 tmp =bi * shapeB[j].x;
float3 tmp2 = bj * shapeB[j].y;
vb += tmp;
vb += tmp2;
float radB = shapeB[j].w;
testSphSph(va, vb, radA, radB, pOut);
}
@@ -174,7 +184,7 @@ BT_GPU___device__ float computeImpulse1(float3 rVel,
if(positionConstraint > 0)
return lambdaDt;
positionConstraint = min(0.0f,positionConstraint+penetrationError);
positionConstraint = btMin(0.0f,positionConstraint+penetrationError);
lambdaDt = -(BT_GPU_dot(cNormal,rVel)*(1+collisionConstant));
lambdaDt -= (baumgarteConstant/dt*positionConstraint);
@@ -216,7 +226,8 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
float3 aVel = BT_GPU_make_float3(vel[idx].x, vel[idx].y, vel[idx].z);
float aAngVel = angVel[idx];
float3 rerVertex = ai * shape[iVtx].x;
rerVertex += aj * shape[iVtx].y;
float3 tmp = aj * shape[iVtx].y;
rerVertex += tmp;
float3 vPos = aPos + rerVertex;
float rad = shape[iVtx].w;
float3 vVel =aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),rerVertex);
@@ -239,11 +250,14 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
{
lat_vel_len = sqrtf(lat_vel_len);
lat_vel *= 1.f/lat_vel_len;
impulse -= lat_vel * BT_GPU_dot(lat_vel, vVel) * FRICTION_BOX_GROUND_FACT;
float3 tmp = lat_vel * BT_GPU_dot(lat_vel, vVel) * FRICTION_BOX_GROUND_FACT;
impulse -= tmp;
}
#endif //USE_FRICTION
vel[idx] += BT_GPU_make_float42(impulse,0.0f);
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
vel[idx] += tmp;
float tmp2 = BT_GPU_cross(rerVertex,impulse).z;
angVel[idx] += tmp2;
}
}
@@ -257,7 +271,8 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
BT_GPU_make_float3(1.0f,0.0f,0.0f),
dt);
vel[idx] += BT_GPU_make_float42(impulse,0.0f);
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
vel[idx] += tmp;
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
}
}
@@ -272,7 +287,8 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
BT_GPU_make_float3(-1.0f,0.0f,0.0f),
dt);
vel[idx] += BT_GPU_make_float42(impulse,0.0f);
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
vel[idx] += tmp;
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
}
}
@@ -326,7 +342,7 @@ BT_GPU___device__ void collisionResolutionBox( int constrId,
{
float rLambdaDt=lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx];
float pLambdaDt=rLambdaDt;
rLambdaDt=max(pLambdaDt+lambdaDt,0.0f);
rLambdaDt=btMax(pLambdaDt+lambdaDt,0.0f);
lambdaDt=rLambdaDt-pLambdaDt;
lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx]=rLambdaDt;
}
@@ -340,7 +356,8 @@ BT_GPU___device__ void collisionResolutionBox( int constrId,
{
lat_vel_len = sqrtf(lat_vel_len);
lat_vel *= 1.f/lat_vel_len;
impulse -= lat_vel * BT_GPU_dot(lat_vel , relVel) * FRICTION_BOX_BOX_FACT;
float3 tmp = lat_vel * BT_GPU_dot(lat_vel , relVel) * FRICTION_BOX_BOX_FACT;
impulse -= tmp;
}
}
#endif //USE_FRICTION