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

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This commit is contained in:
erwin coumans
2013-04-23 12:03:55 -07:00
parent dc1984713a
commit 66e5dcf65a
14 changed files with 919 additions and 79 deletions
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22
demo/gpudemo/rigidbody/GpuConvexScene.cpp
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@@ -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++;
}
}