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Added a possibility to build appGpu2dDemo with CUDA solver.

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It is disabled by default, see Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h for instructions how to enable it

Cleaned up Extras/CUDA folder and libbulletcuda project
This commit is contained in:
rponom
2009-05-14 20:20:56 +00:00
parent 42ece54556
commit a95b2a33bd
35 changed files with 528 additions and 5845 deletions
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69
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -97,7 +97,7 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if 1
#if 0
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
@@ -135,7 +135,7 @@ void ConstraintDemo::initPhysics()
}
#endif
#if 1
#if 0
//create a slider, using the generic D6 constraint
{
mass = 1.f;
@@ -179,7 +179,7 @@ void ConstraintDemo::initPhysics()
}
#endif
#if 1
#if 0
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
@@ -201,7 +201,7 @@ void ConstraintDemo::initPhysics()
//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
}
#endif
#if 1
#if 0
{ // create a generic 6DOF constraint
btTransform tr;
@@ -262,7 +262,7 @@ void ConstraintDemo::initPhysics()
pGen6DOF->setDbgDrawSize(btScalar(5.f));
}
#endif
#if 1
#if 0
{ // create a ConeTwist constraint
btTransform tr;
@@ -294,7 +294,7 @@ void ConstraintDemo::initPhysics()
pCT->setDbgDrawSize(btScalar(5.f));
}
#endif
#if 1
#if 0
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
@@ -311,6 +311,63 @@ void ConstraintDemo::initPhysics()
pHinge->setDbgDrawSize(btScalar(5.f));
}
#endif
#if 1
{
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
btVector3 parentAxis(1.f, 0.f, 0.f);
btVector3 childAxis(0.f, 0.f, 1.f);
btVector3 anchor(0.f, 2.f, 0.f);
// build frame basis
// 6DOF constraint uses Euler angles and to define limits
// it is assumed that rotational order is :
// Z - first, allowed limits are (-PI,PI);
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
// used to prevent constraint from instability on poles;
// new position of X, allowed limits are (-PI,PI);
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
// Build the frame in world coordinate system first
btVector3 zAxis = parentAxis.normalize();
btVector3 yAxis = childAxis.normalize();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
frameInW.setOrigin(anchor);
// now get constraint frame in local coordinate systems
btTransform frameInA = pBodyA->getCenterOfMassTransform().inverse() * frameInW;
btTransform frameInB = pBodyB->getCenterOfMassTransform().inverse() * frameInW;
// now create the constraint
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// linear limits in our case are allowed offset of origin of frameInB in frameInA, so set them to zero
pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// set limits for parent (axis z) and child (axis Y)
pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f));
pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f));
// add constraint to world
m_dynamicsWorld->addConstraint(pGen6DOF, true);
// draw constraint frames and limits for debugging
pGen6DOF->setDbgDrawSize(btScalar(10.f));
}
#endif
}
ConstraintDemo::~ConstraintDemo()