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

more work towards gpu split jacobi solver

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

10
opencl/gpu_rigidbody/host/btPgsJacobiSolver.cpp
View File

@@ -33,7 +33,7 @@ subject to the following restrictions:
//#include "../../dynamics/basic_demo/Stubs/AdlContact4.h"
#include "../../gpu_sat/host/btContact4.h"
bool usePgs = true;
bool usePgs = false;//true;
int gNumSplitImpulseRecoveries2 = 0;
#include "btRigidBody.h"
@@ -42,11 +42,9 @@ int gNumSplitImpulseRecoveries2 = 0;
btTransform getWorldTransform(btRigidBodyCL* rb)
{
btVector3 pos(rb->m_pos[0],rb->m_pos[1],rb->m_pos[2]);
btQuaternion orn(rb->m_quat[0],rb->m_quat[1],rb->m_quat[2],rb->m_quat[3]);
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
newTrans.setOrigin(rb->m_pos);
newTrans.setRotation(rb->m_quat);
return newTrans;
}
@@ -163,7 +161,7 @@ void btPgsJacobiSolver::solveContacts(int numBodies, btRigidBodyCL* bodies, btIn
btContactSolverInfo infoGlobal;
infoGlobal.m_splitImpulse = false;
infoGlobal.m_timeStep = 1.f/60.f;
infoGlobal.m_numIterations = 10;//4;
infoGlobal.m_numIterations = 4;//4;
// infoGlobal.m_solverMode|=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
//infoGlobal.m_solverMode|=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
infoGlobal.m_solverMode|=SOLVER_USE_2_FRICTION_DIRECTIONS;