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3 new constraints added : btGeneric6DofSpringConstraint, btUniversalConstraint, btHinge2Constraint

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Motors for btConeTwistConstraint added (for obsolete solver only)
appConstraintDemo changed to test new constraints
Several coding-style fixes
This commit is contained in:
rponom
2009-05-21 22:10:13 +00:00
parent 8d9c445b73
commit c680791ce9
38 changed files with 989 additions and 412 deletions
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74
Extras/CUDA/btCudaBroadphase.cpp
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@@ -13,7 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//--------------------------------------------------------------------------
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btQuickprof.h"
@@ -22,7 +22,7 @@ subject to the following restrictions:
#include "btCudaBroadphase.h"
#include "radixsort.cuh"
//--------------------------------------------------------------------------
#define BT_GPU_PREF(func) btCuda_##func
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
@@ -31,12 +31,12 @@ subject to the following restrictions:
extern "C" void btCuda_setParameters(bt3DGridBroadphaseParams* hostParams);
//--------------------------------------------------------------------------
#include <stdio.h>
//--------------------------------------------------------------------------
btCudaBroadphase::btCudaBroadphase( btOverlappingPairCache* overlappingPairCache,
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
@@ -46,18 +46,18 @@ btCudaBroadphase::btCudaBroadphase( btOverlappingPairCache* overlappingPairCache
btGpu3DGridBroadphase(overlappingPairCache, worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, maxSmallProxies, maxLargeProxies, maxPairsPerSmallProxy, maxSmallProxiesPerCell)
{
_initialize();
} // btCudaBroadphase::btCudaBroadphase()
}
//--------------------------------------------------------------------------
btCudaBroadphase::~btCudaBroadphase()
{
//btSimpleBroadphase will free memory of btSortedOverlappingPairCache, because m_ownsPairCache
assert(m_bInitialized);
_finalize();
} // btCudaBroadphase::~btCudaBroadphase()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::_initialize()
{
@@ -79,9 +79,9 @@ void btCudaBroadphase::_initialize()
btCuda_allocateArray((void**)&m_dPairScan, (m_maxHandles + 1) * sizeof(unsigned int));
btCuda_allocateArray((void**)&m_dPairOut, m_maxHandles * m_maxPairsPerBody * sizeof(unsigned int));
} // btCudaBroadphase::_initialize()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::_finalize()
{
@@ -94,32 +94,32 @@ void btCudaBroadphase::_finalize()
btCuda_freeArray(m_dPairBuff);
btCuda_freeArray(m_dPairScan);
btCuda_freeArray(m_dPairOut);
} // btCudaBroadphase::_finalize()
}
//--------------------------------------------------------------------------
//--------------------------------------------------------------------------
//
// overrides for CUDA version
//
//--------------------------------------------------------------------------
//--------------------------------------------------------------------------
void btCudaBroadphase::prepareAABB()
{
btGpu3DGridBroadphase::prepareAABB();
btCuda_copyArrayToDevice(m_dAABB, m_hAABB, sizeof(bt3DGrid3F1U) * 2 * (m_numHandles + m_numLargeHandles));
return;
} // btCudaBroadphase::prepareAABB()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::setParameters(bt3DGridBroadphaseParams* hostParams)
{
btCuda_setParameters(hostParams);
return;
} // btCudaBroadphase::setParameters()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::calcHashAABB()
{
@@ -127,18 +127,18 @@ void btCudaBroadphase::calcHashAABB()
btCuda_calcHashAABB(m_dAABB, m_dBodiesHash[0], m_numHandles);
// btCuda_copyArrayFromDevice((void*)m_hBodiesHash, (void*)m_dBodiesHash[0], sizeof(unsigned int) * 2 * m_numHandles);
return;
} // btCudaBroadphase::calcHashAABB()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::sortHash()
{
BT_PROFILE("RadixSort-- CUDA");
RadixSort((KeyValuePair*)m_dBodiesHash[0], (KeyValuePair*)m_dBodiesHash[1], m_numHandles, 32);
return;
} // btCudaBroadphase::sortHash()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::findCellStart()
{
@@ -147,36 +147,36 @@ void btCudaBroadphase::findCellStart()
// btCuda_copyArrayFromDevice((void*)m_hBodiesHash, (void*)m_dBodiesHash[0], sizeof(unsigned int) * 2 * m_numHandles);
// btCuda_copyArrayFromDevice((void*)m_hCellStart, (void*)m_dCellStart, sizeof(unsigned int) * m_params.m_numCells);
return;
} // btCudaBroadphase::findCellStart()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::findOverlappingPairs()
{
BT_PROFILE("btCuda_findOverlappingPairs");
btCuda_findOverlappingPairs(m_dAABB, m_dBodiesHash[0], m_dCellStart, m_dPairBuff, m_dPairBuffStartCurr, m_numHandles);
return;
} // btCudaBroadphase::findOverlappingPairs()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::findPairsLarge()
{
BT_PROFILE("btCuda_findPairsLarge");
btCuda_findPairsLarge(m_dAABB, m_dBodiesHash[0], m_dCellStart, m_dPairBuff, m_dPairBuffStartCurr, m_numHandles, m_numLargeHandles);
return;
} // btCudaBroadphase::findPairsLarge()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::computePairCacheChanges()
{
BT_PROFILE("btCuda_computePairCacheChanges");
btCuda_computePairCacheChanges(m_dPairBuff, m_dPairBuffStartCurr, m_dPairScan, m_dAABB, m_numHandles);
return;
} // btCudaBroadphase::computePairCacheChanges()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::scanOverlappingPairBuff()
{
@@ -184,9 +184,9 @@ void btCudaBroadphase::scanOverlappingPairBuff()
btGpu3DGridBroadphase::scanOverlappingPairBuff();
btCuda_copyArrayToDevice(m_dPairScan, m_hPairScan, sizeof(unsigned int)*(m_numHandles + 1));
return;
} // btCudaBroadphase::scanOverlappingPairBuff()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::squeezeOverlappingPairBuff()
{
@@ -194,14 +194,14 @@ void btCudaBroadphase::squeezeOverlappingPairBuff()
btCuda_squeezeOverlappingPairBuff(m_dPairBuff, m_dPairBuffStartCurr, m_dPairScan, m_dPairOut, m_dAABB, m_numHandles);
btCuda_copyArrayFromDevice(m_hPairOut, m_dPairOut, sizeof(unsigned int) * m_hPairScan[m_numHandles]);
return;
} // btCudaBroadphase::squeezeOverlappingPairBuff()
}
//--------------------------------------------------------------------------
void btCudaBroadphase::resetPool(btDispatcher* dispatcher)
{
btGpu3DGridBroadphase::resetPool(dispatcher);
btCuda_copyArrayToDevice(m_dPairBuffStartCurr, m_hPairBuffStartCurr, (m_maxHandles * 2 + 1) * sizeof(unsigned int));
} // btCudaBroadphase::resetPool()
}
//--------------------------------------------------------------------------

25
Extras/CUDA/btCudaBroadphase.cu
View File

@@ -23,55 +23,52 @@ subject to the following restrictions:
#include <vector_types.h>
//----------------------------------------------------------------------------------------
#include "btCudaDefines.h"
//----------------------------------------------------------------------------------------
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h"
//----------------------------------------------------------------------------------------
__device__ inline bt3DGrid3F1U tex_fetch3F1U(float4 a) { return *((bt3DGrid3F1U*)(&a)); }
//----------------------------------------------------------------------------------------
void btCuda_exit(int val);
//----------------------------------------------------------------------------------------
texture<uint2, 1, cudaReadModeElementType> particleHashTex;
texture<uint, 1, cudaReadModeElementType> cellStartTex;
texture<float4, 1, cudaReadModeElementType> pAABBTex;
//----------------------------------------------------------------------------------------
__constant__ bt3DGridBroadphaseParams params;
//----------------------------------------------------------------------------------------
extern "C"
{
//----------------------------------------------------------------------------------------
void btCuda_setParameters(bt3DGridBroadphaseParams* hostParams)
{
// copy parameters to constant memory
BT_GPU_SAFE_CALL(cudaMemcpyToSymbol(params, hostParams, sizeof(bt3DGridBroadphaseParams)));
} // btCuda_setParameters()
}
//----------------------------------------------------------------------------------------
} // extern "C"
//----------------------------------------------------------------------------------------
#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h"
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------

6
Extras/CUDA/btCudaBroadphase.h
View File

@@ -13,19 +13,19 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//----------------------------------------------------------------------------------------
#ifndef CUDA_BROADPHASE_H
#define CUDA_BROADPHASE_H
//----------------------------------------------------------------------------------------
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h"
#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphase.h"
//----------------------------------------------------------------------------------------
///The btCudaBroadphase uses CUDA-capable GPU to compute overlapping pairs

22
Extras/CUDA/btCudaDefines.h
View File

@@ -13,16 +13,16 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//----------------------------------------------------------------------------------------
// Common preprocessor definitions for CUDA compiler
//----------------------------------------------------------------------------------------
#ifndef BTCUDADEFINES_H
#define BTCUDADEFINES_H
//----------------------------------------------------------------------------------------
#ifdef __DEVICE_EMULATION__
#define B_CUDA_USE_TEX 0
@@ -39,7 +39,7 @@ subject to the following restrictions:
#define BT_GPU_FETCH4(t, i) t[i]
#endif
//----------------------------------------------------------------------------------------
#define BT_GPU___device__ __device__
#define BT_GPU___devdata__ __device__
@@ -71,7 +71,7 @@ subject to the following restrictions:
#define BT_GPU_UnbindTexture(a) cudaUnbindTexture(a)
#define BT_GPU_EXECKERNEL(numb, numt, kfunc, args) kfunc<<<numb, numt>>>args
//----------------------------------------------------------------------------------------
//! Check for CUDA error
#define BT_GPU_CHECK_ERROR(errorMessage) \
@@ -94,7 +94,7 @@ subject to the following restrictions:
} \
while(0)
//----------------------------------------------------------------------------------------
#define BT_GPU_SAFE_CALL_NO_SYNC(call) \
do \
@@ -109,7 +109,7 @@ subject to the following restrictions:
} \
while(0)
//----------------------------------------------------------------------------------------
#define BT_GPU_SAFE_CALL(call) \
do \
@@ -124,15 +124,15 @@ subject to the following restrictions:
} \
} while (0)
//----------------------------------------------------------------------------------------
extern "C" void btCuda_exit(int val);
//----------------------------------------------------------------------------------------
#endif // BTCUDADEFINES_H
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------

11
Extras/CUDA/btCudaUtils.cu
View File

@@ -25,17 +25,12 @@ subject to the following restrictions:
#include <vector_types.h>
//----------------------------------------------------------------------------------------
#include "btCudaDefines.h"
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
void btCuda_exit(int val)
{
@@ -82,10 +77,8 @@ void btCuda_unmapGLBufferObject(unsigned int vbo)
BT_GPU_SAFE_CALL(cudaGLUnmapBufferObject(vbo));
}
//----------------------------------------------------------------------------------------
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedCode.h"
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------

12
Extras/CUDA/btGpuDemo2dCudaFunc.cu
View File

@@ -22,25 +22,21 @@ subject to the following restrictions:
#include <vector_types.h>
//----------------------------------------------------------------------------------------
#include "btCudaDefines.h"
//----------------------------------------------------------------------------------------
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
#include "../../Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h"
#include "../../Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h"
//----------------------------------------------------------------------------------------
texture<float4, 1, cudaReadModeElementType> posTex;
//----------------------------------------------------------------------------------------
#include "../../Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h"
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------