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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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10
Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
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@@ -19,7 +19,7 @@ subject to the following restrictions:
#define FRICTION_BOX_GROUND_FACT 0.05f
#define FRICTION_BOX_BOX_FACT 0.05f
#define USE_CENTERS 1
#include "LinearMath/btMinMax.h"
//#include "LinearMath/btMinMax.h"
//------------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------------
@@ -187,7 +187,8 @@ BT_GPU___device__ float computeImpulse1(float3 rVel,
if(positionConstraint > 0)
return lambdaDt;
positionConstraint = btMin(0.0f,positionConstraint+penetrationError);
// positionConstraint = btMin(0.0f,positionConstraint+penetrationError);
positionConstraint = (positionConstraint+penetrationError) < 0.f ? (positionConstraint+penetrationError) : 0.0f;
lambdaDt = -(BT_GPU_dot(cNormal,rVel)*(1+collisionConstant));
lambdaDt -= (baumgarteConstant/dt*positionConstraint);
@@ -328,8 +329,6 @@ BT_GPU___device__ void collisionResolutionBox( int constrId,
int bId=constraints[constrId].y;
float3 aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
float3 bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
float aRot=rotation[aId];
float bRot=rotation[bId];
float3 aVel=BT_GPU_make_float34(vel[aId]);
float3 bVel=BT_GPU_make_float34(vel[bId]);
float aAngVel=angularVel[aId];
@@ -354,7 +353,8 @@ BT_GPU___device__ void collisionResolutionBox( int constrId,
{
float rLambdaDt=lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx];
float pLambdaDt=rLambdaDt;
rLambdaDt=btMax(pLambdaDt+lambdaDt,0.0f);
// rLambdaDt=btMax(pLambdaDt+lambdaDt,0.0f);
rLambdaDt=(pLambdaDt+lambdaDt) > 0.0f ? (pLambdaDt+lambdaDt) : 0.0f;
lambdaDt=rLambdaDt-pLambdaDt;
lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx]=rLambdaDt;
}