Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added GpuSphereDemo (broken on NVIDIA GPU)

Browse Source
This commit is contained in:
erwincoumans
2013-04-02 13:21:45 -07:00
parent 2aa2de45bc
commit 1ebcc78280
7 changed files with 269 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.cpp
View File

@@ -37,8 +37,8 @@ enum
};
bool gpuBatchContacts = true;
bool gpuSolveConstraint = true;
bool gpuBatchContacts = true;//true;
bool gpuSolveConstraint = false;//true;//true;
struct btGpuBatchingPgsSolverInternalData

79
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
View File

@@ -196,6 +196,85 @@ int btGpuNarrowPhase::allocateCollidable()
int btGpuNarrowPhase::registerSphereShape(float radius)
{
int collidableIndex = allocateCollidable();
btCollidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_SPHERE;
col.m_shapeIndex = 0;
col.m_radius = radius;
if (col.m_shapeIndex>=0)
{
btSapAabb aabb;
btVector3 myAabbMin(-radius,-radius,-radius);
btVector3 myAabbMax(radius,radius,radius);
aabb.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabb.m_min[1] = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabb.m_min[2] = myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabb.m_max[1] = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabb.m_max[2] = myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabb.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
m_data->m_localShapeAABBGPU->push_back(aabb);
clFinish(m_queue);
}
return collidableIndex;
}
int btGpuNarrowPhase::registerFace(const btVector3& faceNormal, float faceConstant)
{
int faceOffset = m_data->m_convexFaces.size();
btGpuFace& face = m_data->m_convexFaces.expand();
face.m_plane[0] = faceNormal.getX();
face.m_plane[1] = faceNormal.getY();
face.m_plane[2] = faceNormal.getZ();
face.m_plane[3] = faceConstant;
m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
return faceOffset;
}
int btGpuNarrowPhase::registerPlaneShape(const btVector3& planeNormal, float planeConstant)
{
int collidableIndex = allocateCollidable();
btCollidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_PLANE;
col.m_shapeIndex = registerFace(planeNormal,planeConstant);
col.m_radius = planeConstant;
if (col.m_shapeIndex>=0)
{
btSapAabb aabb;
aabb.m_min[0] = -1e30f;
aabb.m_min[1] = -1e30f;
aabb.m_min[2] = -1e30f;
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = 1e30f;
aabb.m_max[1] = 1e30f;
aabb.m_max[2] = 1e30f;
aabb.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
m_data->m_localShapeAABBGPU->push_back(aabb);
clFinish(m_queue);
}
return collidableIndex;
}
int btGpuNarrowPhase::registerConvexHullShape(btConvexUtility* convexPtr,btCollidable& col)
{
m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);

4
opencl/gpu_rigidbody/host/btGpuNarrowPhase.h
View File

@@ -31,7 +31,9 @@ public:
virtual ~btGpuNarrowPhase(void);
int registerSphereShape(float radius);
int registerPlaneShape(const btVector3& planeNormal, float planeConstant);
int registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes);
int registerFace(const btVector3& faceNormal, float faceConstant);