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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.
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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/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
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@@ -506,7 +506,7 @@ static const char* solverUtilsCL= \
" float4 angular0, angular1, linear;\n"
" float4 r0 = cs->m_worldPos[ic] - posA;\n"
" float4 r1 = cs->m_worldPos[ic] - posB;\n"
" setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
" setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
" \n"
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
" *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"