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fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data

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enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
This commit is contained in:
Erwin Coumans
2015-06-05 11:46:53 -07:00
parent a94ac6300a
commit 1a4ce475f7
12 changed files with 307 additions and 249 deletions
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54
examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
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@@ -48,7 +48,7 @@ typedef struct
float m_frictionCoeff;
} Body;
__kernel void
__kernel void
copyTransformsToVBOKernel( __global Body* gBodies, __global float4* posOrnColor, const int numNodes)
{
int nodeID = get_global_id(0);
@@ -76,14 +76,14 @@ m_window(0)
{
m_instancingRenderer = 0;
}
m_window = helper->getAppInterface()->m_window;
m_data = new GpuRigidBodyDemoInternalData;
}
GpuRigidBodyDemo::~GpuRigidBodyDemo()
{
delete m_data;
}
@@ -97,9 +97,9 @@ static void PairKeyboardCallback(int key, int state)
{
if (key=='R' && state)
{
gReset = true;
//gReset = true;
}
//b3DefaultKeyboardCallback(key,state);
oldCallback(key,state);
}
@@ -122,13 +122,13 @@ void GpuRigidBodyDemo::initPhysics()
cl_program rbProg=0;
m_data->m_copyTransformsToVBOKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_rigidBodyKernelString,"copyTransformsToVBOKernel",&errNum,rbProg);
m_data->m_config.m_maxConvexBodies = b3Max(m_data->m_config.m_maxConvexBodies,gGpuArraySizeX*gGpuArraySizeY*gGpuArraySizeZ+10);
m_data->m_config.m_maxConvexShapes = m_data->m_config.m_maxConvexBodies;
int maxPairsPerBody = 16;
m_data->m_config.m_maxBroadphasePairs = maxPairsPerBody*m_data->m_config.m_maxConvexBodies;
m_data->m_config.m_maxContactCapacity = m_data->m_config.m_maxBroadphasePairs;
b3GpuNarrowPhase* np = new b3GpuNarrowPhase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue,m_data->m_config);
b3GpuBroadphaseInterface* bp =0;
@@ -155,11 +155,11 @@ void GpuRigidBodyDemo::initPhysics()
}
m_guiHelper->getRenderInterface()->writeTransforms();
}
@@ -171,8 +171,8 @@ void GpuRigidBodyDemo::exitPhysics()
delete m_data->m_rigidBodyPipeline;
delete m_data->m_broadphaseDbvt;
delete m_data->m_np;
m_data->m_np = 0;
delete m_data->m_bp;
@@ -185,7 +185,7 @@ void GpuRigidBodyDemo::exitPhysics()
void GpuRigidBodyDemo::renderScene()
{
m_guiHelper->getRenderInterface()->renderScene();
}
@@ -216,7 +216,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
if (animate && numObjects)
{
B3_PROFILE("gl2cl");
if (!m_data->m_instancePosOrnColor)
{
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
@@ -234,11 +234,11 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
assert(err==GL_NO_ERROR);
}
}
{
B3_PROFILE("stepSimulation");
m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
}
if (numObjects)
@@ -247,7 +247,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
{
b3GpuNarrowPhaseInternalData* npData = m_data->m_np->getInternalData();
npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU);
b3AlignedObjectArray<b3Vector4> vboCPU;
m_data->m_instancePosOrnColor->copyToHost(vboCPU);
@@ -301,7 +301,7 @@ b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
{
if (!m_instancingRenderer)
return b3MakeVector3(0,0,0);
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
@@ -339,7 +339,7 @@ b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
float height = m_instancingRenderer->getScreenHeight();
aspect = width / height;
hor*=aspect;
@@ -362,7 +362,7 @@ unsigned char* GpuRigidBodyDemo::loadImage(const char* fileName, int& width, int
bool GpuRigidBodyDemo::keyboardCallback(int key, int state)
{
if (m_data)
{
if (key==B3G_ALT )
@@ -429,17 +429,17 @@ bool GpuRigidBodyDemo::mouseButtonCallback(int button, int state, float x, float
m_data->m_rigidBodyPipeline->castRays(rays,hitResults);
if (hitResults[0].m_hitFraction<1.f)
{
int hitBodyA = hitResults[0].m_hitBody;
if (m_data->m_np->getBodiesCpu()[hitBodyA].m_invMass)
{
//printf("hit!\n");
m_data->m_np->readbackAllBodiesToCpu();
m_data->m_pickBody = hitBodyA;
//pivotInA
b3Vector3 pivotInB;
pivotInB.setInterpolate3(ray.m_from,ray.m_to,hitResults[0].m_hitFraction);
@@ -458,14 +458,14 @@ bool GpuRigidBodyDemo::mouseButtonCallback(int button, int state, float x, float
m_data->m_pickFixedBody = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0,pos,orn,fixedSphere,0,false);
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
m_data->m_bp->writeAabbsToGpu();
if (m_data->m_pickGraphicsShapeIndex<0)
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
m_data->m_pickGraphicsShapeIndex = m_guiHelper->getRenderInterface()->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
float color[4] ={1,0,0,1};
float scaling[4]={1,1,1,1};
@@ -480,7 +480,7 @@ bool GpuRigidBodyDemo::mouseButtonCallback(int button, int state, float x, float
m_instancingRenderer->writeSingleInstanceTransformToGPU(pivotInB,orn,m_data->m_pickGraphicsShapeInstance);
m_data->m_np->setObjectTransformCpu(pos,orn,m_data->m_pickFixedBody);
}
}
pivotInB.w = 0.f;
m_data->m_pickPivotInA = pivotInA;