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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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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();