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z() -> z or getZ() or [2]
w() -> w or getW() or [3]

make sphere-convex and sphere-compound collision work (still issues remaining)
This commit is contained in:
erwin coumans
2013-04-03 18:27:36 -07:00
parent 8cee2e9b23
commit 4a93c2e704
23 changed files with 692 additions and 315 deletions
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8
opencl/gpu_rigidbody/host/Solver.cpp
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@@ -344,8 +344,8 @@ void solveContact(btGpuConstraint4& cs,
btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
#ifdef _WIN32
btAssert(_finite(linImp0.x()));
btAssert(_finite(linImp1.x()));
btAssert(_finite(linImp0.getX()));
btAssert(_finite(linImp1.getX()));
#endif
if( JACOBI )
{
@@ -427,8 +427,8 @@ void solveContact(btGpuConstraint4& cs,
btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
#ifdef _WIN32
btAssert(_finite(linImp0.x()));
btAssert(_finite(linImp1.x()));
btAssert(_finite(linImp0.getX()));
btAssert(_finite(linImp1.getX()));
#endif
linVelA += linImp0;
angVelA += angImp0;

4
opencl/gpu_rigidbody/host/btConfig.h
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@@ -6,6 +6,7 @@ struct btConfig
int m_maxConvexBodies;
int m_maxConvexShapes;
int m_maxBroadphasePairs;
int m_maxContactCapacity;
int m_maxVerticesPerFace;
int m_maxFacesPerShape;
@@ -18,7 +19,7 @@ struct btConfig
int m_maxTriConvexPairCapacity;
btConfig()
:m_maxConvexBodies(32*1024),
:m_maxConvexBodies(128*1024),
m_maxConvexShapes(8192),
m_maxVerticesPerFace(64),
m_maxFacesPerShape(64),
@@ -29,6 +30,7 @@ struct btConfig
m_maxTriConvexPairCapacity(512*1024)
{
m_maxBroadphasePairs = 16*m_maxConvexBodies;
m_maxContactCapacity = m_maxBroadphasePairs;
}
};

8
opencl/gpu_rigidbody/host/btGpuJacobiSolver.cpp
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@@ -182,8 +182,8 @@ static __inline void solveContact(btGpuConstraint4& cs,
btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
#ifdef _WIN32
btAssert(_finite(linImp0.x()));
btAssert(_finite(linImp1.x()));
btAssert(_finite(linImp0.getX()));
btAssert(_finite(linImp1.getX()));
#endif
if (invMassA)
@@ -304,8 +304,8 @@ static inline void solveFriction(btGpuConstraint4& cs,
btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
#ifdef _WIN32
btAssert(_finite(linImp0.x()));
btAssert(_finite(linImp1.x()));
btAssert(_finite(linImp0.getX()));
btAssert(_finite(linImp1.getX()));
#endif
if (invMassA)
{

12
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
View File

@@ -103,9 +103,8 @@ m_queue(queue)
m_data->m_inertiaBufferCPU = new btAlignedObjectArray<btInertiaCL>();
m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_pBufContactOutGPU = new btOpenCLArray<btContact4>(ctx,queue, config.m_maxBroadphasePairs,true);
btContact4 test = m_data->m_pBufContactOutGPU->forcedAt(0);
m_data->m_pBufContactOutGPU = new btOpenCLArray<btContact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_inertiaBufferGPU = new btOpenCLArray<btInertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new btOpenCLArray<btCollidable>(ctx,queue,config.m_maxConvexShapes);
@@ -601,9 +600,9 @@ int btGpuNarrowPhase::registerConcaveMeshShape(btAlignedObjectArray<btVector3>*
btVector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
btScalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.x();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.y();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.z();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.getX();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.getY();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.getZ();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
@@ -718,6 +717,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_bodyBufferGPU,
m_data->m_pBufContactOutGPU,
nContactOut,
m_data->m_config.m_maxContactCapacity,
*m_data->m_convexPolyhedraGPU,
*m_data->m_convexVerticesGPU,
*m_data->m_uniqueEdgesGPU,