Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

21
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
View File

@@ -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
{
}