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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
src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef B3_SOLVER_BODY_H
#define B3_SOLVER_BODY_H
struct b3RigidBody;
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Matrix3x3.h"

2
src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef B3_SOLVER_CONSTRAINT_H
#define B3_SOLVER_CONSTRAINT_H
struct b3RigidBody;
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Matrix3x3.h"
//#include "b3JacobianEntry.h"

2
src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
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@@ -111,7 +111,7 @@ public:
int m_numConstraintRows,nub;
};
static b3RigidBody& getFixedBody();
struct b3ConstraintInfo2 {
// integrator parameters: frames per second (1/stepsize), default error