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Re-introduce GPU parallel Jacobi solver, called btGpuJacobiContactSolver. There are still some issues, but for basic scene's it works.

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To avoid confusion, rename GPU contact solver to btGpuContactSolver, and constraint (non-contact) solver to btPgsConstraintSolver.
This commit is contained in:
erwincoumans
2013-11-11 21:15:06 -08:00
parent ef6be5370d
commit 5ce0b3938f
19 changed files with 1557 additions and 58 deletions
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2
Demos3/GpuDemos/main_opengl3core.cpp
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@@ -84,7 +84,7 @@ enum
};
b3AlignedObjectArray<const char*> demoNames;
int selectedDemo = 1;
int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
//ConcaveCompound2Scene::MyCreateFunc,

7
Demos3/GpuDemos/rigidbody/ConcaveScene.cpp
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@@ -22,10 +22,9 @@
#include "../gwenUserInterface.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define CONCAVE_GAPX 14
#define CONCAVE_GAPY 8
#define CONCAVE_GAPY 5
#define CONCAVE_GAPZ 14
GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
{
@@ -342,7 +341,9 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;
//b3Vector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,3+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Vector3 position=b3MakeVector3(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,
23+j*CONCAVE_GAPY,
-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];

36
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
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@@ -240,6 +240,42 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
}
/*
void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=0;
{
b3Vector4 scaling=b3MakeVector4(100,0.001,100,1);
//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 normal=b3MakeVector3(0,1,0);
float constant=0.f;
int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position=b3MakeVector3(0,0,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
*/