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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)

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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
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11
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
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@@ -36,7 +36,7 @@ subject to the following restrictions:
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
b3Transform getWorldTransform(b3RigidBodyCL* rb)
static b3Transform getWorldTransform(b3RigidBodyCL* rb)
{
b3Transform newTrans;
newTrans.setOrigin(rb->m_pos);
@@ -44,24 +44,24 @@ b3Transform getWorldTransform(b3RigidBodyCL* rb)
return newTrans;
}
const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaCL* inertia)
static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaCL* inertia)
{
return inertia->m_invInertiaWorld;
}
const b3Vector3& getLinearVelocity(b3RigidBodyCL* rb)
static const b3Vector3& getLinearVelocity(b3RigidBodyCL* rb)
{
return rb->m_linVel;
}
const b3Vector3& getAngularVelocity(b3RigidBodyCL* rb)
static const b3Vector3& getAngularVelocity(b3RigidBodyCL* rb)
{
return rb->m_angVel;
}
b3Vector3 getVelocityInLocalPoint(b3RigidBodyCL* rb, const b3Vector3& rel_pos)
static b3Vector3 getVelocityInLocalPoint(b3RigidBodyCL* rb, const b3Vector3& rel_pos)
{
//we also calculate lin/ang velocity for kinematic objects
return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
@@ -1704,6 +1704,7 @@ void b3PgsJacobiSolver::averageVelocities()
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyCL* bodies,b3InertiaCL* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal)
{
B3_PROFILE("solveGroupCacheFriendlyFinish");
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
int i,j;