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more work towards gpu split jacobi solver

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This commit is contained in:
erwin coumans
2013-03-26 13:38:04 -07:00
parent 9c0ca25cf6
commit b8c32a99cb
9 changed files with 2101 additions and 83 deletions
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7
opencl/gpu_rigidbody/host/btGpuJacobiSolver.h
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@@ -5,6 +5,8 @@
#include "../../gpu_sat/host/btRigidBodyCL.h"
#include "../../gpu_sat/host/btContact4.h"
#include "../../parallel_primitives/host/btOpenCLArray.h"
class btTypedConstraint;
struct btJacobiSolverInfo
@@ -20,7 +22,7 @@ struct btJacobiSolverInfo
:m_fixedBodyIndex(0),
m_deltaTime(1./60.f),
m_positionDrift( 0.005f ),
m_positionConstraintCoeff( 0.2f )
m_positionConstraintCoeff( 0.99f )
{
}
};
@@ -41,7 +43,8 @@ public:
void solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
void solveGroupHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
void solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
};
#endif //BT_GPU_JACOBI_SOLVER_H