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expose gravity to host

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prettify convex demo
This commit is contained in:
erwin coumans
2013-03-22 14:14:54 -07:00
parent 9997e45dcb
commit 47344ec500
10 changed files with 65 additions and 105 deletions
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4
opencl/gpu_rigidbody/host/btConfig.h
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@@ -18,7 +18,7 @@ struct btConfig
int m_maxTriConvexPairCapacity;
btConfig()
:m_maxConvexBodies(16*1024),
:m_maxConvexBodies(32*1024),
m_maxConvexShapes(8192),
m_maxVerticesPerFace(64),
m_maxFacesPerShape(64),
@@ -26,7 +26,7 @@ struct btConfig
m_maxConvexIndices(8192),
m_maxConvexUniqueEdges(8192),
m_maxCompoundChildShapes(8192),
m_maxTriConvexPairCapacity(16*1024)
m_maxTriConvexPairCapacity(64*1024)
{
m_maxBroadphasePairs = 16*m_maxConvexBodies;
}

2
opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.cpp
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@@ -35,7 +35,7 @@ enum
};
bool gpuBatchContacts = false;
bool gpuBatchContacts = true;
bool gpuSolveConstraint = true;

5
opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
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@@ -143,10 +143,13 @@ void btGpuRigidBodyPipeline::integrate(float timeStep)
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
launcher.setConst(numBodies);
launcher.setConst(timeStep);
float angularDamp = 0.99f;
launcher.setConst(angularDamp);
btVector3 gravity(0.f,-9.8f,0.f);
launcher.setConst(gravity);
launcher.launch1D(numBodies);
}

3
opencl/gpu_rigidbody/kernels/integrateKernel.cl
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@@ -42,7 +42,7 @@ typedef struct
__kernel void
integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping)
integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)
{
int nodeID = get_global_id(0);
float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
@@ -86,7 +86,6 @@ __kernel void
bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;
//apply gravity
float4 gravityAcceleration = (float4)(0.f,-9.8f,0.f,0.f);
bodies[nodeID].m_linVel += gravityAcceleration * timeStep;
}

3
opencl/gpu_rigidbody/kernels/integrateKernel.h
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@@ -44,7 +44,7 @@ static const char* integrateKernelCL= \
"\n"
"\n"
"__kernel void \n"
" integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping)\n"
" integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
"{\n"
" int nodeID = get_global_id(0);\n"
" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
@@ -88,7 +88,6 @@ static const char* integrateKernelCL= \
" bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;\n"
" \n"
" //apply gravity\n"
" float4 gravityAcceleration = (float4)(0.f,-9.8f,0.f,0.f);\n"
" bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
" \n"
" }\n"