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

work towards GPU joint solver (non-contact constraints), not working yet.

Browse Source
This commit is contained in:
erwin coumans
2013-07-06 13:08:58 -07:00
parent 01e5472f9f
commit 3a6e1ccff4
5 changed files with 121 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
View File

@@ -46,7 +46,7 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_device = device;
m_data->m_queue = q;
m_data->m_solver = new b3GpuPgsJacobiSolver(true);//new b3PgsJacobiSolver(true);
m_data->m_solver = new b3GpuPgsJacobiSolver(ctx,device,q,true);//new b3PgsJacobiSolver(true);
m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
@@ -237,7 +237,8 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
}
gpuBodies.copyFromHost(hostBodies);
//gpuBodies.copyFromHost(hostBodies);
printf("...\n");
}
if (numContacts)