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implement GPU breakable constraints

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add GPU fixed constraint
fix performance issue with concave meshes (didn't clear the number of concave-convex pairs, so it increased every frame)
This commit is contained in:
erwincoumans
2013-07-17 16:11:54 -07:00
parent 6d7d2531b5
commit ab125fbb6d
11 changed files with 477 additions and 240 deletions
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14
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@@ -144,7 +144,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
int constraintType=0;
for (int i=0;i<ci.arraySizeZ;i++)
{
//constraintType=(constraintType+1)&0x11;
constraintType=(constraintType+1)&0x01;
for (int k=0;k<ci.arraySizeX;k++)
{
@@ -167,7 +167,9 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
}
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
//b3Vector3 position((-ci.arraySizeX/2*ci.gapX)+i*ci.gapX,1+j*2.,(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
b3Vector3 position(1+j*2.,10+i*ci.gapX,(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
b3Vector3 position(-ci.arraySizeY/2*2+1+j*2.,
10+i*ci.gapX,
(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
b3Quaternion orn(0,0,0,1);
@@ -189,10 +191,11 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
{
///enable next line to force CPU constraint solving
//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
// c->setBreakingImpulseThreshold(14);
float breakingThreshold=14;
// c->setBreakingImpulseThreshold(breakingThreshold);
b3Vector3 pivotInA(-1.1,0,0);
b3Vector3 pivotInB (1.1,0,0);
int cid = m_data->m_rigidBodyPipeline->createPoint2PointConstraint(pid,prevBody,pivotInA,pivotInB);
int cid = m_data->m_rigidBodyPipeline->createPoint2PointConstraint(pid,prevBody,pivotInA,pivotInB,breakingThreshold);
break;
}
case 1:
@@ -209,8 +212,9 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
float breakingThreshold = 15;//37.f;
//c->setBreakingImpulseThreshold(37.1);
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(pid,prevBody,pivotInA,pivotInB,relTargetAB);
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(pid,prevBody,pivotInA,pivotInB,relTargetAB,breakingThreshold);