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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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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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4
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipelineInternalData.h
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@@ -8,7 +8,7 @@
#include "../../gpu_narrowphase/host/b3Collidable.h"
#include "gpu_broadphase/host/b3SapAabb.h"
#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
@@ -35,7 +35,7 @@ struct b3GpuRigidBodyPipelineInternalData
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
btOpenCLArray<btBroadphasePair>* m_overlappingPairsGPU;
b3AlignedObjectArray<b3TypedConstraint*> m_joints;
class b3GpuNarrowPhase* m_narrowphase;
};