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add preparation for btGpuJacobiSolver

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erwin coumans
2013-03-25 17:13:53 -07:00
parent 68062bdfbd
commit 9c0ca25cf6
9 changed files with 563 additions and 34 deletions
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19
opencl/gpu_rigidbody/host/Solver.h
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@@ -37,25 +37,6 @@ class SolverBase
public:
struct ConstraintData
{
ConstraintData(): m_b(0.f), m_appliedRambdaDt(0.f) {}
btVector3 m_linear; // have to be normalized
btVector3 m_angular0;
btVector3 m_angular1;
float m_jacCoeffInv;
float m_b;
float m_appliedRambdaDt;
unsigned int m_bodyAPtr;
unsigned int m_bodyBPtr;
bool isInvalid() const { return ((unsigned int)m_bodyAPtr+(unsigned int)m_bodyBPtr) == 0; }
float getFrictionCoeff() const { return m_linear[3]; }
void setFrictionCoeff(float coeff) { m_linear[3] = coeff; }
};
struct ConstraintCfg
{
ConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(-1) {}