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

2013-04-23 12:03:55 -07:00
parent dc1984713a
commit 66e5dcf65a
14 changed files with 919 additions and 79 deletions
--- a/opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.h
+++ b/opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.h
@@ -34,6 +34,8 @@ public:
 	//if you passed "writeInstanceToGpu" false in the registerPhysicsInstance method (for performance) you need to call writeAllInstancesToGpu after all instances are registered
 	void	writeAllInstancesToGpu();

+	void	addConstraint(class b3TypedConstraint* constraint);
+
 	cl_mem	getBodyBuffer();

 	int	getNumBodies() const;