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

added GPU joint solver for non-contact constraints. Only point 2 point version for now, will add some other constraints soon (changes are very local)

Browse Source
This commit is contained in:
erwin coumans
2013-07-09 10:46:47 -07:00
parent b8d5cecfe3
commit c4375a09e4
18 changed files with 2502 additions and 364 deletions
Download Patch File Download Diff File Expand all files Collapse all files

47
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
View File

@@ -1,3 +1,18 @@
/*
Copyright (c) 2013 Advanced Micro Devices, Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//Originally written by Erwin Coumans
#include "ConstraintsDemo.h"
#include "OpenGLWindow/ShapeData.h"
@@ -37,12 +52,12 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
index+=createDynamicsObjects(ci);
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
// m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(100);
m_instancingRenderer->setCameraDistance(30);
m_instancingRenderer->updateCamera();
@@ -129,7 +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)&0x11;
for (int k=0;k<ci.arraySizeX;k++)
{
@@ -146,12 +161,13 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
float mass = 1.f;
if (j==0)//ci.arraySizeY-1)
if (j==0 || j==ci.arraySizeY-1)
{
//mass=0.f;
mass=0.f;
}
//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((-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);
b3Quaternion orn(0,0,0,1);
@@ -162,7 +178,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
bool useGpu = false;
b3TypedConstraint* c = 0;
if (prevBody>=0)
@@ -170,10 +186,18 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
switch (constraintType)
{
case 0:
c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
{
//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
// c->setBreakingImpulseThreshold(14);
b3Vector3 pivotInA(-1.1,0,0);
b3Vector3 pivotInB (1.1,0,0);
int cid = m_data->m_rigidBodyPipeline->createPoint2PointConstraint(pid,prevBody,pivotInA,pivotInB);
break;
}
case 1:
{
/*
b3Transform frameInA,frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
@@ -182,11 +206,13 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
//c->setBreakingImpulseThreshold(37.1);
*/
break;
}
case 2:
{
/*
b3Transform frameInA,frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
@@ -197,6 +223,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
for (int i=0;i<6;i++)
dof6->setLimit(i,0,0);
c=dof6;
*/
break;
}
default:
@@ -207,9 +234,9 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
};
if (c)
{
m_data->m_rigidBodyPipeline->addConstraint(c);//,false);
m_data->m_rigidBodyPipeline->addConstraint(c);
}
}

2
Demos3/GpuDemos/main_opengl3core.cpp
View File

@@ -89,6 +89,8 @@ GpuDemo::CreateFunc* allDemos[]=
// ConcaveSphereScene::MyCreateFunc,
GpuBoxPlaneScene::MyCreateFunc,
GpuConvexPlaneScene::MyCreateFunc,