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work-in-progress Bullet 3.x GPU raytest

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work-in-progress P2P constraint for b3GpuDynamicsWorld
This commit is contained in:
erwincoumans
2013-06-17 13:47:35 -07:00
parent 02a858e7c1
commit 161c48d331
14 changed files with 192 additions and 60 deletions
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21
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -33,7 +33,7 @@ bool dumpContactStats = false;
#include "Bullet3Common/b3Quickprof.h"
#include "b3Config.h"
#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
@@ -55,6 +55,8 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_solver2 = new b3GpuBatchingPgsSolver(ctx,device,q,config.m_maxBroadphasePairs);
m_data->m_raycaster = new b3GpuRaycast(ctx,device,q);
m_data->m_broadphaseDbvt = broadphaseDbvt;
m_data->m_broadphaseSap = broadphaseSap;
@@ -85,6 +87,7 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
{
clReleaseKernel(m_data->m_integrateTransformsKernel);
delete m_data->m_raycaster;
delete m_data->m_solver;
delete m_data->m_allAabbsGPU;
delete m_data->m_overlappingPairsGPU;
@@ -110,6 +113,14 @@ void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
{
m_data->m_joints.push_back(constraint);
}
void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
{
m_data->m_joints.remove(constraint);
}
void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
{
@@ -220,7 +231,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
{
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
// m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
}
@@ -438,3 +449,9 @@ int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
return bodyIndex;
}
void b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults)
{
this->m_data->m_raycaster->castRaysHost(rays,hitResults,getNumBodies(),this->m_data->m_narrowphase->getBodiesCpu(),m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu());
}