add joint/constraint solver support (using CPU, Bullet 2.x solver), in combination with GPU contact solver

demo/gpudemo/rigidbody/Bullet2GpuDemo.cpp

@@ -0,0 +1,28 @@
+#include "Bullet2GpuDemo.h"
+#include "../btGpuDynamicsWorld.h"
+#include "GpuRigidBodyDemoInternalData.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "gpu_rigidbody/host/btRigidBody.h"
+
+void Bullet2GpuDemo::setupScene(const ConstructionInfo& ci)
+{
+
+//	m_data->m_np = np;
+//	m_data->m_bp = bp;
+//	m_data->m_rigidBodyPipeline
+	m_gpuDynamicsWorld = new btGpuDynamicsWorld(m_data->m_bp,m_data->m_np,m_data->m_rigidBodyPipeline);
+
+	btVector3 halfExtents(100,1,100);
+	btBoxShape* boxShape = new btBoxShape(halfExtents);
+	btVector3 localInertia;
+	btScalar mass=1.f;
+	boxShape->calculateLocalInertia(mass,localInertia);
+	btRigidBody* body = new btRigidBody(mass,0,boxShape,localInertia);
+	m_gpuDynamicsWorld->addRigidBody(body);
+}
+
+void	Bullet2GpuDemo::destroyScene()
+{
+	delete m_gpuDynamicsWorld;
+	m_gpuDynamicsWorld = 0;
+}

demo/gpudemo/rigidbody/Bullet2GpuDemo.h

@@ -0,0 +1,31 @@
+#ifndef BULLET2_GPU_DEMO_H
+#define BULLET2_GPU_DEMO_H
+
+#include "GpuRigidBodyDemo.h"
+
+class Bullet2GpuDemo : public GpuRigidBodyDemo
+{
+protected:
+
+	class btGpuDynamicsWorld* m_gpuDynamicsWorld;
+
+public:
+
+	Bullet2GpuDemo(){}
+	virtual ~Bullet2GpuDemo(){}
+	virtual const char* getName()
+	{
+		return "Bullet2Gpu";
+	}
+
+	static GpuDemo* MyCreateFunc()
+	{
+		GpuDemo* demo = new Bullet2GpuDemo;
+		return demo;
+	}
+
+	virtual void setupScene(const ConstructionInfo& ci);
+	virtual void	destroyScene();
+};
+#endif //BULLET2_GPU_DEMO_H
+

demo/gpudemo/rigidbody/GpuConvexScene.cpp

@@ -17,7 +17,7 @@
 #include "gpu_rigidbody/host/b3Config.h"
 #include "GpuRigidBodyDemoInternalData.h"
 #include "../gwenUserInterface.h"
-
+#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
 
 void GpuConvexScene::setupScene(const ConstructionInfo& ci)
 {
@@ -83,6 +83,9 @@ int	GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
 		
 		int curColor = 0;
 		float scaling[4] = {1,1,1,1};
+		int prevBody = -1;
+		int insta = 0;
+
 		int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
 		//int colIndex = m_data->m_np->registerSphereShape(1);
 		for (int i=0;i<ci.arraySizeX;i++)
@@ -92,9 +95,12 @@ int	GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
 				for (int k=0;k<ci.arraySizeZ;k++)
 				{
 					float mass = 1.f;
-
-					b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
-					//b3Vector3 position(i*2.2,1+j*2.,k*2.2);
+					if (j==0)//ci.arraySizeY-1)
+					{
+						//mass=0.f;
+					}
+					//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
+					b3Vector3 position(i*2.2,10+j*2.2,k*2.2);
 					
 					b3Quaternion orn(0,0,0,1);
 				
@@ -105,6 +111,14 @@ int	GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
 					int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
 				
+
+					if (prevBody>=0)
+					{
+						b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
+//						 m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
+					}
+					prevBody = pid;
+
 					index++;
 				}
 			}