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re-introduce Bullet 2.x solver, in Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.*

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move b3Contact and b3RigidBody
This commit is contained in:
erwin coumans
2013-04-18 23:28:13 -07:00
parent 626f0cf1e3
commit 9ecd898c34
20 changed files with 3228 additions and 24 deletions
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4
opencl/gpu_rigidbody/host/b3GpuBatchingPgsSolver.h
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@@ -4,8 +4,8 @@
#include "../../basic_initialize/b3OpenCLInclude.h"
#include "../../parallel_primitives/host/btOpenCLArray.h"
#include "../../gpu_narrowphase/host/b3RigidBodyCL.h"
#include "../../gpu_narrowphase/host/b3Contact4.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "b3GpuConstraint4.h"
class b3GpuBatchingPgsSolver

35
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.cpp
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@@ -9,14 +9,18 @@
#include "../../gpu_broadphase/host/b3SapAabb.h"
#include "../../gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
//#define TEST_OTHER_GPU_SOLVER
#ifdef TEST_OTHER_GPU_SOLVER
#include "btGpuJacobiSolver.h"
#include "btPgsJacobiSolver.h"
#include "b3PgsJacobiSolver.h"
#endif //TEST_OTHER_GPU_SOLVER
#include "../../gpu_narrowphase/host/b3RigidBodyCL.h"
#include "../../gpu_narrowphase/host/b3Contact4.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "b3GpuBatchingPgsSolver.h"
#include "b3Solver.h"
@@ -29,8 +33,11 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_context = ctx;
m_data->m_device = device;
m_data->m_queue = q;
m_data->m_solver = new b3PgsJacobiSolver();
#ifdef TEST_OTHER_GPU_SOLVER
m_data->m_solver = new btPgsJacobiSolver();
m_data->m_solver3 = new btGpuJacobiSolver(ctx,device,q,config.m_maxBroadphasePairs);
#endif // TEST_OTHER_GPU_SOLVER
b3Config config;
@@ -64,9 +71,10 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
{
clReleaseKernel(m_data->m_integrateTransformsKernel);
#ifdef TEST_OTHER_GPU_SOLVER
delete m_data->m_solver;
#ifdef TEST_OTHER_GPU_SOLVER
delete m_data->m_solver3;
#endif //TEST_OTHER_GPU_SOLVER
@@ -123,7 +131,20 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
btOpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
bool useJacobi = false;
bool useBullet2CpuSolver = false;
if (useBullet2CpuSolver)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
}
gpuBodies.copyFromHost(hostBodies);
} else
#ifdef TEST_OTHER_GPU_SOLVER
if (useJacobi)
{

2
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipelineInternalData.h
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@@ -18,7 +18,7 @@ struct b3GpuRigidBodyPipelineInternalData
cl_kernel m_integrateTransformsKernel;
cl_kernel m_updateAabbsKernel;
class btPgsJacobiSolver* m_solver;
class b3PgsJacobiSolver* m_solver;
class b3GpuBatchingPgsSolver* m_solver2;
class btGpuJacobiSolver* m_solver3;

4
opencl/gpu_rigidbody/host/b3Solver.h
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@@ -19,8 +19,8 @@ subject to the following restrictions:
#include "../../parallel_primitives/host/btOpenCLArray.h"
#include "../host/b3GpuConstraint4.h"
#include "../../gpu_narrowphase/host/b3RigidBodyCL.h"
#include "../../gpu_narrowphase/host/b3Contact4.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "../host/b3GpuConstraint4.h"
#include "../../parallel_primitives/host/btPrefixScanCL.h"