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more work towards GPU Jacobi solver.

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Not fully working yet, GPU version shows explosion at high iteration count.
This commit is contained in:
erwin coumans
2013-03-27 21:40:26 -07:00
parent 2133712207
commit a1aa281622
7 changed files with 441 additions and 661 deletions
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6
opencl/gpu_rigidbody/host/btGpuJacobiSolver.h
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@@ -16,13 +16,14 @@ struct btJacobiSolverInfo
float m_deltaTime;
float m_positionDrift;
float m_positionConstraintCoeff;
int m_numIterations;
btJacobiSolverInfo()
:m_fixedBodyIndex(0),
m_deltaTime(1./60.f),
m_positionDrift( 0.005f ),
m_positionConstraintCoeff( 0.99f )
m_positionConstraintCoeff( 0.99f ),
m_numIterations(14)
{
}
};
@@ -45,7 +46,6 @@ public:
void solveGroupHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
void solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
void solveGroupMixedHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
};
#endif //BT_GPU_JACOBI_SOLVER_H