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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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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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23
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
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@@ -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
#ifndef B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
#define B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
@@ -14,6 +29,7 @@
#include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h"
#include "Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h"
struct b3GpuRigidBodyPipelineInternalData
{
@@ -26,6 +42,9 @@ struct b3GpuRigidBodyPipelineInternalData
cl_kernel m_updateAabbsKernel;
class b3PgsJacobiSolver* m_solver;
class b3GpuPgsJacobiSolver* m_gpuSolver;
class b3GpuBatchingPgsSolver* m_solver2;
class b3GpuJacobiSolver* m_solver3;
class b3GpuRaycast* m_raycaster;
@@ -37,7 +56,11 @@ struct b3GpuRigidBodyPipelineInternalData
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
b3OpenCLArray<b3BroadphasePair>* m_overlappingPairsGPU;
b3OpenCLArray<b3GpuGenericConstraint>* m_gpuConstraints;
b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
b3AlignedObjectArray<b3TypedConstraint*> m_joints;
class b3GpuNarrowPhase* m_narrowphase;
b3Vector3 m_gravity;