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fix bug in assignment of contact constraints to solver grid (always use dynamic body to determine constraint assignment, otherwise write conflicts can occur)

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implement CPU version of narrowphase convex collision, for comparison/debug purposes
start towards cpu/gpu sync, for adding/removing bodies (work in progress)
This commit is contained in:
erwin coumans
2013-05-02 09:49:16 -07:00
parent de17d6044c
commit 6ee9eb9bb5
15 changed files with 966 additions and 59 deletions
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54
Demos3/BasicGpuDemo/BasicGpuDemo.cpp
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@@ -164,6 +164,10 @@ void BasicGpuDemo::exitCL()
BasicGpuDemo::BasicGpuDemo()
{
m_clData = new btInternalData;
setCameraDistance(btScalar(SCALING*20.));
this->setAzi(45);
this->setEle(45);
}
BasicGpuDemo::~BasicGpuDemo()
@@ -179,8 +183,7 @@ void BasicGpuDemo::initPhysics()
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = 0;
//m_collisionConfiguration->setConvexConvexMultipointIterations();
@@ -224,12 +227,37 @@ void BasicGpuDemo::initPhysics()
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
if (0)
{
btTransform tr;
tr.setIdentity();
btVector3 faraway(-1e30,-1e30,-1e30);
tr.setOrigin(faraway);
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(tr);
btSphereShape* dummyShape = new btSphereShape(0.f);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,dummyShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
@@ -241,15 +269,16 @@ void BasicGpuDemo::initPhysics()
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
//btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setWorldTransform(groundTransform);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
@@ -282,9 +311,9 @@ void BasicGpuDemo::initPhysics()
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(20+2.0*k + start_y),
btScalar(2.0*j + start_z)));
btScalar(2.*i + start_x),
btScalar(6+2.0*k + start_y),
btScalar(2.*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -300,6 +329,9 @@ void BasicGpuDemo::initPhysics()
}
}
np->writeAllBodiesToGpu();
bp->writeAabbsToGpu();
rbp->writeAllInstancesToGpu();