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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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7
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -276,7 +276,9 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
#endif //TEST_OTHER_GPU_SOLVER
{
b3Config config;
m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),config);
int static0Index = m_data->m_narrowphase->getStatic0Index();
m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),config, static0Index);
//m_data->m_solver4->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(), gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL());
@@ -366,10 +368,11 @@ void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
{
b3Vector3 aabbMin(0,0,0),aabbMax(0,0,0);
int bodyIndex = m_data->m_narrowphase->getNumRigidBodies();
if (collidableIndex>=0)
{