fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,291 +1,291 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
|
||||
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
// #include "btCudaDemoPairCache.h"
|
||||
// #include <vector_types.h>
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#include "btGpuDemo2dSharedTypes.h"
|
||||
|
||||
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS 1024
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS 24
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ 8
|
||||
|
||||
class btGpuDemoDynamicsWorld;
|
||||
|
||||
extern btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld; // to access world members from pair cache
|
||||
|
||||
class btGpuDemoDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObjs;
|
||||
int m_maxNeighbors;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useBulletNarrowphase;
|
||||
|
||||
float4* m_hPos;
|
||||
float* m_hRot;
|
||||
float4* m_hVel;
|
||||
float* m_hAngVel;
|
||||
|
||||
float* m_hInvMass;
|
||||
float* m_dInvMass;
|
||||
bool m_copyMassDataToGPU;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dPos;
|
||||
float* m_dRot;
|
||||
float4* m_dVel;
|
||||
float* m_dAngVel;
|
||||
float4* m_dpPos;
|
||||
float* m_dpRot;
|
||||
float4* m_dpVel;
|
||||
float* m_dpAngVel;
|
||||
|
||||
float4* m_dcPos;
|
||||
float* m_dcRot;
|
||||
float4* m_dcVel;
|
||||
float* m_dcAngVel;
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
btOverlappingPairCache* m_pairCache;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_totalNumConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
|
||||
float* m_dLambdaDtBox;
|
||||
float4* m_dContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float4* m_hContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
|
||||
// shape buffer
|
||||
int m_maxShapeBufferSize;
|
||||
int m_firstFreeShapeBufferOffset;
|
||||
char* m_hShapeBuffer; // (pos.x, pos.y, pos.z, radius)
|
||||
char* m_dShapeBuffer;//pointer in device memory
|
||||
int2* m_hShapeIds;
|
||||
int2* m_dShapeIds;
|
||||
bool m_copyShapeDataToGPU;
|
||||
void initShapeBuffer(int maxShapeBufferSize);
|
||||
void freeShapeBuffer();
|
||||
void sendShapeDataToGpu();
|
||||
|
||||
|
||||
int m_numNonContactConstraints;
|
||||
void grabNonContactConstraintData();
|
||||
void grabP2PConstraintData(btPoint2PointConstraint* ct);
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES];
|
||||
void addSphere(btVector3& pos, btScalar rad);
|
||||
void addMultiShereObject(int numSpheres, int objIndex);
|
||||
|
||||
|
||||
btGpuDemoDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
|
||||
int maxObjs = CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS, int maxNeighbors = CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_maxObjs = maxObjs;
|
||||
m_maxNeighbors = maxNeighbors;
|
||||
m_useCPUSolver = false;
|
||||
m_pairCache = pairCache->getOverlappingPairCache();
|
||||
int sz = m_maxObjs * m_maxNeighbors;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObjs];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hPos = new float4[m_maxObjs];
|
||||
m_hVel = new float4[m_maxObjs];
|
||||
m_hRot = new float[m_maxObjs];
|
||||
m_hAngVel = new float[m_maxObjs];
|
||||
|
||||
m_hInvMass = new float[m_maxObjs];
|
||||
|
||||
m_maxVtxPerObj = 8;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpAngVel, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dInvMass, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxVtxPerObj);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float) * sz * m_maxVtxPerObj * 8);
|
||||
// btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxVtxPerObj * 2);
|
||||
// btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxVtxPerObj * 2);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxVtxPerObj];
|
||||
m_hContact = new float4[sz * m_maxVtxPerObj * 2];
|
||||
// m_hPositionConstraint = new float[sz * m_maxVtxPerObj * 2];
|
||||
// m_hNormal = new float3[sz * m_maxVtxPerObj * 2];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
|
||||
gpCudaDemoDynamicsWorld = this;
|
||||
m_totalNumConstraints = 0;
|
||||
|
||||
initShapeBuffer(m_maxObjs * CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ * sizeof(float) * 4);
|
||||
|
||||
m_copyMassDataToGPU = true;
|
||||
|
||||
}
|
||||
virtual ~btGpuDemoDynamicsWorld()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hPos;
|
||||
delete [] m_hRot;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
delete [] m_hInvMass;
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dPos);
|
||||
btCuda_freeArray(m_dRot);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
btCuda_freeArray(m_dpPos);
|
||||
btCuda_freeArray(m_dpRot);
|
||||
btCuda_freeArray(m_dpVel);
|
||||
btCuda_freeArray(m_dpAngVel);
|
||||
btCuda_freeArray(m_dInvMass);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dContact);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
gpCudaDemoDynamicsWorld = NULL;
|
||||
|
||||
freeShapeBuffer();
|
||||
}
|
||||
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
void solveConstraints2(btContactSolverInfo& solverInfo);
|
||||
void solveConstraintsCPU2(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabContactData();
|
||||
void copyDataToGPU();
|
||||
void setConstraintData(btCudaPartProps& partProps);
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseBulletNarrowphase(bool useBulletNarrowphase) {m_useBulletNarrowphase = useBulletNarrowphase; }
|
||||
|
||||
void createBatches2();
|
||||
|
||||
int2* getIdsPtr() { return m_hIds; }
|
||||
void setTotalNumConstraints(int totalNumConstraints) { m_totalNumConstraints = totalNumConstraints; }
|
||||
int getTotalNumConstraints() { return m_totalNumConstraints; }
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
|
||||
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
// #include "btCudaDemoPairCache.h"
|
||||
// #include <vector_types.h>
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#include "btGpuDemo2dSharedTypes.h"
|
||||
|
||||
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS 1024
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS 24
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ 8
|
||||
|
||||
class btGpuDemoDynamicsWorld;
|
||||
|
||||
extern btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld; // to access world members from pair cache
|
||||
|
||||
class btGpuDemoDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObjs;
|
||||
int m_maxNeighbors;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useBulletNarrowphase;
|
||||
|
||||
float4* m_hPos;
|
||||
float* m_hRot;
|
||||
float4* m_hVel;
|
||||
float* m_hAngVel;
|
||||
|
||||
float* m_hInvMass;
|
||||
float* m_dInvMass;
|
||||
bool m_copyMassDataToGPU;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dPos;
|
||||
float* m_dRot;
|
||||
float4* m_dVel;
|
||||
float* m_dAngVel;
|
||||
float4* m_dpPos;
|
||||
float* m_dpRot;
|
||||
float4* m_dpVel;
|
||||
float* m_dpAngVel;
|
||||
|
||||
float4* m_dcPos;
|
||||
float* m_dcRot;
|
||||
float4* m_dcVel;
|
||||
float* m_dcAngVel;
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
btOverlappingPairCache* m_pairCache;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_totalNumConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
|
||||
float* m_dLambdaDtBox;
|
||||
float4* m_dContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float4* m_hContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
|
||||
// shape buffer
|
||||
int m_maxShapeBufferSize;
|
||||
int m_firstFreeShapeBufferOffset;
|
||||
char* m_hShapeBuffer; // (pos.x, pos.y, pos.z, radius)
|
||||
char* m_dShapeBuffer;//pointer in device memory
|
||||
int2* m_hShapeIds;
|
||||
int2* m_dShapeIds;
|
||||
bool m_copyShapeDataToGPU;
|
||||
void initShapeBuffer(int maxShapeBufferSize);
|
||||
void freeShapeBuffer();
|
||||
void sendShapeDataToGpu();
|
||||
|
||||
|
||||
int m_numNonContactConstraints;
|
||||
void grabNonContactConstraintData();
|
||||
void grabP2PConstraintData(btPoint2PointConstraint* ct);
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES];
|
||||
void addSphere(btVector3& pos, btScalar rad);
|
||||
void addMultiShereObject(int numSpheres, int objIndex);
|
||||
|
||||
|
||||
btGpuDemoDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
|
||||
int maxObjs = CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS, int maxNeighbors = CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_maxObjs = maxObjs;
|
||||
m_maxNeighbors = maxNeighbors;
|
||||
m_useCPUSolver = false;
|
||||
m_pairCache = pairCache->getOverlappingPairCache();
|
||||
int sz = m_maxObjs * m_maxNeighbors;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObjs];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hPos = new float4[m_maxObjs];
|
||||
m_hVel = new float4[m_maxObjs];
|
||||
m_hRot = new float[m_maxObjs];
|
||||
m_hAngVel = new float[m_maxObjs];
|
||||
|
||||
m_hInvMass = new float[m_maxObjs];
|
||||
|
||||
m_maxVtxPerObj = 8;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpAngVel, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dInvMass, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxVtxPerObj);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float) * sz * m_maxVtxPerObj * 8);
|
||||
// btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxVtxPerObj * 2);
|
||||
// btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxVtxPerObj * 2);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxVtxPerObj];
|
||||
m_hContact = new float4[sz * m_maxVtxPerObj * 2];
|
||||
// m_hPositionConstraint = new float[sz * m_maxVtxPerObj * 2];
|
||||
// m_hNormal = new float3[sz * m_maxVtxPerObj * 2];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
|
||||
gpCudaDemoDynamicsWorld = this;
|
||||
m_totalNumConstraints = 0;
|
||||
|
||||
initShapeBuffer(m_maxObjs * CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ * sizeof(float) * 4);
|
||||
|
||||
m_copyMassDataToGPU = true;
|
||||
|
||||
}
|
||||
virtual ~btGpuDemoDynamicsWorld()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hPos;
|
||||
delete [] m_hRot;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
delete [] m_hInvMass;
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dPos);
|
||||
btCuda_freeArray(m_dRot);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
btCuda_freeArray(m_dpPos);
|
||||
btCuda_freeArray(m_dpRot);
|
||||
btCuda_freeArray(m_dpVel);
|
||||
btCuda_freeArray(m_dpAngVel);
|
||||
btCuda_freeArray(m_dInvMass);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dContact);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
gpCudaDemoDynamicsWorld = NULL;
|
||||
|
||||
freeShapeBuffer();
|
||||
}
|
||||
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
void solveConstraints2(btContactSolverInfo& solverInfo);
|
||||
void solveConstraintsCPU2(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabContactData();
|
||||
void copyDataToGPU();
|
||||
void setConstraintData(btCudaPartProps& partProps);
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseBulletNarrowphase(bool useBulletNarrowphase) {m_useBulletNarrowphase = useBulletNarrowphase; }
|
||||
|
||||
void createBatches2();
|
||||
|
||||
int2* getIdsPtr() { return m_hIds; }
|
||||
void setTotalNumConstraints(int totalNumConstraints) { m_totalNumConstraints = totalNumConstraints; }
|
||||
int getTotalNumConstraints() { return m_totalNumConstraints; }
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
|
||||
Reference in New Issue
Block a user