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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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58
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.cpp
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@@ -15,8 +15,8 @@
//#define TEST_OTHER_GPU_SOLVER
bool useDbvt = true;
bool useBullet2CpuSolver = false;
bool useDbvt = false;
bool useBullet2CpuSolver = true;//false;
bool dumpContactStats = false;
#ifdef TEST_OTHER_GPU_SOLVER
@@ -94,6 +94,11 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
delete m_data;
}
void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
{
m_data->m_joints.push_back(constraint);
}
void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
{
@@ -183,30 +188,37 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
//convert contact points to contact constraints
//solve constraints
btOpenCLArray<b3RigidBodyCL> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumBodiesGpu());
btOpenCLArray<btInertiaCL> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumBodiesGpu());
btOpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
if (useBullet2CpuSolver)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
int numJoints = m_data->m_joints.size();
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
// m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
}
gpuBodies.copyFromHost(hostBodies);
}
if (numContacts)
{
btOpenCLArray<b3RigidBodyCL> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumBodiesGpu());
btOpenCLArray<btInertiaCL> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumBodiesGpu());
btOpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
if (useBullet2CpuSolver)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
}
gpuBodies.copyFromHost(hostBodies);
} else
#ifdef TEST_OTHER_GPU_SOLVER
if (useJacobi)
{