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Remove btSoftBodySolver_CPU.*

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Move btSoftBodySolverData.h to src/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h
Attempt to re-enable MiniCL version of OpenCLClothDemo (cloth-capsule collision still broken)
Add optional OpenCL acceleration to SerializeDemo (just for cloth)
This commit is contained in:
erwin.coumans
2011-11-11 19:00:26 +00:00
parent 14352169ab
commit 66c349caa6
40 changed files with 2442 additions and 1649 deletions
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10
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl
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@@ -1,8 +1,8 @@
MSTRINGIFY(
#pragma OPENCL EXTENSION cl_amd_printf : enable\n
float mydot3(float4 a, float4 b)
float mydot3a(float4 a, float4 b)
{
return a.x*b.x + a.y*b.y + a.z*b.z;
}
@@ -67,7 +67,7 @@ SolveCollisionsAndUpdateVelocitiesKernel(
__global CollisionShapeDescription * g_collisionObjectDetails,
__global float4 * g_vertexForces,
__global float4 *g_vertexVelocities,
__global float4 *g_vertexPositions)
__global float4 *g_vertexPositions GUID_ARG)
{
int nodeID = get_global_id(0);
float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
@@ -134,7 +134,7 @@ SolveCollisionsAndUpdateVelocitiesKernel(
float4 segment = (worldC2 - worldC1);
// compute distance of tangent to vertex along line segment in capsule
float distanceAlongSegment = -( mydot3( (worldC1 - position), segment ) / mydot3(segment, segment) );
float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) );
float4 closestPoint = (worldC1 + (float4)(segment * distanceAlongSegment));
float distanceFromLine = length(position - closestPoint);
@@ -178,7 +178,7 @@ SolveCollisionsAndUpdateVelocitiesKernel(
float4 p1 = normalize(cross(normalVector, segment));
float4 p2 = normalize(cross(p1, normalVector));
// Full friction is sum of velocities in each direction of plane
float4 frictionVector = p1*mydot3(relativeVelocity, p1) + p2*mydot3(relativeVelocity, p2);
float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
// Real friction is peak friction corrected by friction coefficients
frictionVector = frictionVector * (colliderFriction*clothFriction);