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enable CPU joint (non-contact) constraint solver in GPU rigid body pipeline

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small change to BasicGpuDemo
This commit is contained in:
erwin coumans
2013-05-08 15:55:02 -07:00
parent 25fe5f4a77
commit 4877a2af8a
2 changed files with 8 additions and 8 deletions
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6
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -19,7 +19,7 @@
#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
bool useDbvt = false;
bool useBullet2CpuSolver = false;//false;
bool useBullet2CpuSolver = true;
bool dumpContactStats = false;
#ifdef TEST_OTHER_GPU_SOLVER
@@ -200,7 +200,8 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
if (useBullet2CpuSolver)
int numJoints = m_data->m_joints.size();
if (useBullet2CpuSolver && numJoints)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
@@ -210,7 +211,6 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
int numJoints = m_data->m_joints.size();
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
// m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);