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prepare for GPU fixed constraint (not done yet)

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erwincoumans
2013-07-16 19:05:07 -07:00
parent 20f9e41ff0
commit 3beae80a73
6 changed files with 175 additions and 12 deletions
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22
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@@ -53,7 +53,7 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
// m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
float camPos[4]={ci.arraySizeX,ci.gapY*ci.arraySizeY/2,ci.arraySizeZ,0};
float camPos[4]={ci.arraySizeX,ci.gapY,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
@@ -197,16 +197,22 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
}
case 1:
{
/*
b3Vector3 pivotInA(-1.05,0,0);
b3Vector3 pivotInB (1.05,0,0);
b3Transform frameInA,frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
frameInA.setOrigin(b3Vector3(0,-1.1,0));
frameInB.setOrigin(b3Vector3(0,1.1,0));
c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
frameInA.setOrigin(pivotInA);
frameInB.setOrigin(pivotInB);
b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
//c->setBreakingImpulseThreshold(37.1);
*/
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(pid,prevBody,pivotInA,pivotInB,relTargetAB);
break;
}
@@ -277,4 +283,4 @@ void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci)
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
}