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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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16
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -186,10 +186,22 @@ int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, co
m_data->m_cpuConstraints.push_back(c);
return c.m_uid;
}
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* frameOrnA, const float* frameOrnB)
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB)
{
m_data->m_gpuSolver->recomputeBatches();
return 0;
b3GpuGenericConstraint c;
c.m_uid = m_data->m_constraintUid;
m_data->m_constraintUid++;
c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
c.m_rbA = bodyA;
c.m_rbB = bodyB;
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
c.m_relTargetAB.setValue(relTargetAB[0],relTargetAB[1],relTargetAB[2],relTargetAB[3]);
c.m_breakingImpulseThreshold = 1e30f;
c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE;
m_data->m_cpuConstraints.push_back(c);
return c.m_uid;
}