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prepare for GPU fixed constraint (not done yet)

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This commit is contained in:
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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72
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
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@@ -15,6 +15,9 @@ subject to the following restrictions:
#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3
#define B3_GPU_FIXED_CONSTRAINT_TYPE 4
#define B3_INFINITY 1e30f
#define mymake_float4 (float4)
@@ -359,6 +362,12 @@ __kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGeneric
batchConstraints[i].m_numConstraintRows = 3;
break;
}
case B3_GPU_FIXED_CONSTRAINT_TYPE:
{
infos[i] = 6;
batchConstraints[i].m_numConstraintRows = 6;
break;
}
default:
{
}
@@ -500,6 +509,60 @@ void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstr
}
}
/*
@todo: convert this code to OpenCL
void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0,const b3Quaternion& orn1a,b3Vector3& axis,b3Scalar& angle)
{
Quaternion orn1 = orn0.nearest(orn1a);
Quaternion dorn = orn1 * orn0.inverse();
angle = dorn.getAngle();
axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = b3Scalar(0.);
//check for axis length
b3Scalar len = axis.length2();
if (len < B3_EPSILON*B3_EPSILON)
axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
else
axis /= b3Sqrt(len);
}
*/
void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)
{
Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;
Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;
int s = info->rowskip;
int start_index = start_row * s;
// 3 rows to make body rotations equal
info->m_J1angularAxis[start_index] = 1;
info->m_J1angularAxis[start_index + s + 1] = 1;
info->m_J1angularAxis[start_index + s*2+2] = 1;
if ( info->m_J2angularAxis)
{
info->m_J2angularAxis[start_index] = -1;
info->m_J2angularAxis[start_index + s+1] = -1;
info->m_J2angularAxis[start_index + s*2+2] = -1;
}
/*
@todo
float currERP = info->erp;
float k = info->fps * currERP;
float4 diff;
float angle;
float4 qrelCur = worldOrnA *qtInvert(worldOrnB);
calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,diff,angle);
diff*=-angle;
for (j=0; j<3; j++)
{
info->m_constraintError[(start_row+j)*info->rowskip] = k * diff[j];
}
*/
}
__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)
{
@@ -651,6 +714,15 @@ __kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows,
getInfo2Point2Point(constraint,&info2,bodies);
break;
}
case B3_GPU_FIXED_CONSTRAINT_TYPE:
{
getInfo2Point2Point(constraint,&info2,bodies);
getInfo2FixedOrientation(constraint,&info2,bodies,3);
break;
}
default:
{
}