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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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29
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -59,6 +59,7 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_broadphaseDbvt = broadphaseDbvt;
m_data->m_broadphaseSap = broadphaseSap;
m_data->m_narrowphase = narrowphase;
m_data->m_gravity.setValue(0.f,-9.8f,0.f);
cl_int errNum=0;
@@ -98,6 +99,12 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
delete m_data;
}
void b3GpuRigidBodyPipeline::reset()
{
m_data->m_allAabbsGPU->resize(0);
m_data->m_allAabbsCPU.resize(0);
m_data->m_joints.resize(0);
}
void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
{
@@ -148,7 +155,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
int numContacts = 0;
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
if (numPairs)
{
@@ -194,9 +201,9 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
//solve constraints
b3OpenCLArray<b3RigidBodyCL> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumBodiesGpu());
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumRigidBodies());
b3OpenCLArray<b3InertiaCL> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumBodiesGpu());
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumRigidBodies());
b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
@@ -214,7 +221,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
// m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
}
gpuBodies.copyFromHost(hostBodies);
@@ -302,14 +309,14 @@ void b3GpuRigidBodyPipeline::integrate(float timeStep)
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
launcher.setConst(numBodies);
launcher.setConst(timeStep);
float angularDamp = 0.99f;
launcher.setConst(angularDamp);
b3Vector3 gravity(0.f,-9.8f,0.f);
launcher.setConst(gravity);
launcher.setConst(m_data->m_gravity);
launcher.launch1D(numBodies);
}
@@ -320,7 +327,7 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
{
cl_int ciErrNum=0;
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
if (!numBodies)
return;
@@ -356,9 +363,13 @@ cl_mem b3GpuRigidBodyPipeline::getBodyBuffer()
int b3GpuRigidBodyPipeline::getNumBodies() const
{
return m_data->m_narrowphase->getNumBodiesGpu();
return m_data->m_narrowphase->getNumRigidBodies();
}
void b3GpuRigidBodyPipeline::setGravity(const float* grav)
{
m_data->m_gravity.setValue(grav[0],grav[1],grav[2]);
}
void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
{