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b3GpuDynamicsWorld improvements:

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apply forces
copy linear/angular velocity every frame at the CPU side, initial velocity works now
hook up setGravity
Note: the 'stepSimulation' for GPU only simulates a single simulation frame.
This commit is contained in:
erwincoumans
2013-06-06 22:01:06 -07:00
parent 74bdccc2cf
commit 9fe48d887d
12 changed files with 243 additions and 57 deletions
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30
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -683,6 +683,12 @@ const struct b3RigidBodyCL* b3GpuNarrowPhase::getBodiesCpu() const
return &m_data->m_bodyBufferCPU->at(0);
};
struct b3RigidBodyCL* b3GpuNarrowPhase::getBodiesCpu()
{
return &m_data->m_bodyBufferCPU->at(0);
};
int b3GpuNarrowPhase::getNumBodiesGpu() const
{
return m_data->m_bodyBufferGPU->size();
@@ -852,7 +858,7 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
} else
{
assert(body.m_collidableIdx>=0);
b3Assert(body.m_collidableIdx>=0);
//approximate using the aabb of the shape
@@ -917,6 +923,28 @@ void b3GpuNarrowPhase::writeAllBodiesToGpu()
}
void b3GpuNarrowPhase::reset()
{
m_data->m_numAcceleratedShapes = 0;
m_data->m_numAcceleratedRigidBodies = 0;
this->m_static0Index = -1;
m_data->m_uniqueEdges.resize(0);
m_data->m_convexVertices.resize(0);
m_data->m_convexPolyhedra.resize(0);
m_data->m_convexIndices.resize(0);
m_data->m_cpuChildShapes.resize(0);
m_data->m_convexFaces.resize(0);
m_data->m_collidablesCPU.resize(0);
m_data->m_localShapeAABBCPU->resize(0);
m_data->m_bvhData.resize(0);
m_data->m_treeNodesCPU.resize(0);
m_data->m_subTreesCPU.resize(0);
m_data->m_bvhInfoCPU.resize(0);
}
void b3GpuNarrowPhase::readbackAllBodiesToCpu()
{
m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);