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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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8
Demos3/BasicGpuDemo/BasicGpuDemo.cpp
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@@ -15,9 +15,9 @@ subject to the following restrictions:
///create 125 (5x5x5) dynamic object ///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 30 #define ARRAY_SIZE_X 25
#define ARRAY_SIZE_Y 20 #define ARRAY_SIZE_Y 20
#define ARRAY_SIZE_Z 30 #define ARRAY_SIZE_Z 25
//maximum number of objects (and allow user to shoot additional boxes) //maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024) #define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
@@ -164,7 +164,7 @@ void BasicGpuDemo::exitCL()
BasicGpuDemo::BasicGpuDemo() BasicGpuDemo::BasicGpuDemo()
{ {
m_clData = new btInternalData; m_clData = new btInternalData;
setCameraDistance(btScalar(SCALING*120.)); setCameraDistance(btScalar(SCALING*60.));
this->setAzi(45); this->setAzi(45);
this->setEle(45); this->setEle(45);
@@ -181,7 +181,7 @@ BasicGpuDemo::~BasicGpuDemo()
void BasicGpuDemo::initPhysics() void BasicGpuDemo::initPhysics()
{ {
setTexturing(true); setTexturing(true);
setShadows(true); setShadows(false);//too slow with many objects
///collision configuration contains default setup for memory, collision setup ///collision configuration contains default setup for memory, collision setup

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" #define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
bool useDbvt = false; bool useDbvt = false;
bool useBullet2CpuSolver = false;//false; bool useBullet2CpuSolver = true;
bool dumpContactStats = false; bool dumpContactStats = false;
#ifdef TEST_OTHER_GPU_SOLVER #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); 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()); 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; b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
@@ -210,7 +211,6 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
b3AlignedObjectArray<b3Contact4> hostContacts; b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts); gpuContacts.copyToHost(hostContacts);
{ {
int numJoints = m_data->m_joints.size();
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0; b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
b3Contact4* contacts = numContacts? &hostContacts[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); // m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);