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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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21
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -10,8 +10,11 @@
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "LinearMath/btQuickprof.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#ifdef _WIN32
@@ -23,7 +26,7 @@
b3GpuDynamicsWorld::b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline)
:btDynamicsWorld(0,0,0),
m_gravity(0,-10,0),
m_once(true),
m_cpuGpuSync(true),
m_bp(bp),
m_np(np),
m_rigidBodyPipeline(rigidBodyPipeline)
@@ -50,9 +53,12 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
//convert all shapes now, and if any change, reset all (todo)
if (m_once)
if (m_cpuGpuSync)
{
m_once = false;
m_cpuGpuSync = false;
m_np->writeAllBodiesToGpu();
m_bp->writeAabbsToGpu();
m_rigidBodyPipeline->writeAllInstancesToGpu();
}
@@ -271,7 +277,7 @@ int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
{
m_cpuGpuSync = true;
body->setMotionState(0);
@@ -293,7 +299,12 @@ void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
{
m_cpuGpuSync = true;
btDynamicsWorld::removeCollisionObject(colObj);
}
void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
}

4
demos3/BasicGpuDemo/b3GpuDynamicsWorld.h
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@@ -26,7 +26,7 @@ class b3GpuDynamicsWorld : public btDynamicsWorld
btVector3 m_gravity;
bool m_once;
bool m_cpuGpuSync;
int findOrRegisterCollisionShape(const btCollisionShape* colShape);
@@ -52,7 +52,7 @@ public:
void removeCollisionObject(btCollisionObject* colObj);
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();