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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
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -170,7 +170,7 @@ void b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
}
}
int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB)
int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold)
{
m_data->m_gpuSolver->recomputeBatches();
b3GpuGenericConstraint c;
@@ -181,12 +181,12 @@ int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, co
c.m_rbB = bodyB;
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
c.m_breakingImpulseThreshold = 1e30f;
c.m_breakingImpulseThreshold = breakingThreshold;
c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE;
m_data->m_cpuConstraints.push_back(c);
return c.m_uid;
}
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB)
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB,float breakingThreshold)
{
m_data->m_gpuSolver->recomputeBatches();
b3GpuGenericConstraint c;
@@ -198,8 +198,9 @@ int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const fl
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
c.m_relTargetAB.setValue(relTargetAB[0],relTargetAB[1],relTargetAB[2],relTargetAB[3]);
c.m_breakingImpulseThreshold = 1e30f;
c.m_breakingImpulseThreshold = breakingThreshold;
c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE;
m_data->m_cpuConstraints.push_back(c);
return c.m_uid;
}
@@ -476,6 +477,11 @@ void b3GpuRigidBodyPipeline::setGravity(const float* grav)
m_data->m_gravity.setValue(grav[0],grav[1],grav[2]);
}
void b3GpuRigidBodyPipeline::copyConstraintsToHost()
{
m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
}
void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
{
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);