Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add support for b3Generic6DofConstraint in Bullet, CPU only for now. Also the b3GpuDynamicsWorld supports conversion of this constraint.

Browse Source 
This means, picking works both with and without holding SHIFT (rayTest is only implemented for spheres)
This commit is contained in:
erwin coumans
2013-06-19 12:28:51 -07:00
parent f10eb86f55
commit aa1c2db35a
8 changed files with 1615 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

82
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
View File

@@ -10,12 +10,14 @@
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "LinearMath/btQuickprof.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
#include "Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Common/b3Logging.h"
@@ -68,6 +70,8 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
BT_PROFILE("stepSimulation");
{
BT_PROFILE("sync constraints CPU");
//todo: determine what data has changed, or perform copy on GPU?
for (int i=0;i<m_constraints.size();i++)
{
btTypedConstraint* constraint = m_constraints[i];
@@ -88,6 +92,19 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
break;
};
case D6_CONSTRAINT_TYPE:
{
btGeneric6DofConstraint* dof2 = (btGeneric6DofConstraint*) constraint;
b3Generic6DofConstraint* dof3 = (b3Generic6DofConstraint*) c;
const b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
b3Transform frameInA = (b3Transform&) dof2->getFrameOffsetA();
b3Transform frameInB = (b3Transform&) dof2->getFrameOffsetB();
dof3->setFrames(frameInA,frameInB,bodiesCL);
break;
}
default:
{
}
@@ -572,19 +589,14 @@ void b3GpuDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disab
case POINT2POINT_CONSTRAINT_TYPE:
{
btPoint2PointConstraint* p = (btPoint2PointConstraint*) constraint;
int rbA = p->getRigidBodyA().getUserIndex();
int rbB = p->getRigidBodyB().getUserIndex();
btVector3 pivotInB = p->getPivotInB();
if (rbB<=0)
{
pivotInB = p->getRigidBodyA().getWorldTransform()*p->getPivotInA();
rbB = m_staticBody->getUserIndex();
}
if (rbA>=0 && rbB>=0)
{
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)pivotInB);
@@ -593,11 +605,67 @@ void b3GpuDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disab
m_rigidBodyPipeline->addConstraint(p2p);
} else
{
b3Error("invalid body index in addConstraint.\n");
b3Error("invalid body index in addConstraint,b3Point2PointConstraint\n");
}
break;
}
case D6_CONSTRAINT_TYPE:
{
btGeneric6DofConstraint* dof2 = (btGeneric6DofConstraint*) constraint;
const b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
int rbA = dof2->getRigidBodyA().getUserIndex();
int rbB = dof2->getRigidBodyB().getUserIndex();
btTransform frameInA = dof2->getFrameOffsetB();
btTransform frameInB = dof2->getFrameOffsetB();
if (rbA<=0)
{
frameInA = dof2->getRigidBodyB().getWorldTransform()*dof2->getFrameOffsetB();
rbA = m_staticBody->getUserIndex();
}
if (rbB<=0)
{
frameInB = dof2->getRigidBodyA().getWorldTransform()*dof2->getFrameOffsetA();
rbB = m_staticBody->getUserIndex();
}
if (rbA>=0 && rbB>=0)
{
b3Generic6DofConstraint* dof3 = new b3Generic6DofConstraint(rbA,rbB,(b3Transform&)frameInA,(b3Transform&)frameInB,false,bodiesCL);//(();//(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)pivotInB);
{
btVector3 limit(0,0,0);
dof2->getLinearLowerLimit(limit);
dof3->setLinearLowerLimit((const b3Vector3&)limit);
dof2->setLinearUpperLimit(limit);
dof3->setLinearUpperLimit((const b3Vector3&)limit);
dof2->setAngularLowerLimit(limit);
dof3->setAngularLowerLimit((const b3Vector3&)limit);
dof2->setAngularUpperLimit(limit);
dof3->setAngularUpperLimit((const b3Vector3&)limit);
/* for (int i=0;i<6;i++)
{
dof3->setParam(BT_CONSTRAINT_STOP_CFM,dof2->getParam(BT_CONSTRAINT_STOP_CFM,i),i);
dof3->setParam(BT_CONSTRAINT_STOP_ERP,dof2->getParam(BT_CONSTRAINT_STOP_ERP,i),i);
}
*/
dof3->setBreakingImpulseThreshold(dof2->getBreakingImpulseThreshold());
}
// p2p->setBreakingImpulseThreshold(p->getBreakingImpulseThreshold());
constraint->setUserConstraintPtr(dof3);
m_rigidBodyPipeline->addConstraint(dof3);
} else
{
b3Error("invalid body index in addConstraint, btGeneric6DofConstraint.\n");
}
// b3Generic6DofConstraint
break;
}
default:
b3Warning("Warning: b3GpuDynamicsWorld::addConstraint with unsupported constraint type\n");
};