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

Synchronize changes from branches/GpuClothAMD to trunk

Browse Source 
Main improvements are: GPU cloth collision detection against a capsule shape
,OpenCL-OpenGL interoperability (keeping data buffers on GPU), and bug fixes
Thanks to Lee Howes
This commit is contained in:
erwin.coumans
2011-02-27 09:07:07 +00:00
parent ec1bd45f4f
commit d52f58edd8
37 changed files with 3267 additions and 2481 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -21,7 +21,7 @@ subject to the following restrictions:
//
btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m)
:m_worldInfo(worldInfo)
:m_worldInfo(worldInfo),m_softBodySolver(0)
{
/* Init */
initDefaults();
@@ -2903,59 +2903,42 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
//
void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
{
#if 0
// If we have a solver, skip this work.
// It will have been done within the solver.
// TODO: In the case of the collision handler we need to ensure that we're
// updating the data structures correctly and in here we generate the
// collision lists to deal with in the solver
if( this->m_acceleratedSoftBody )
switch(m_cfg.collisions&fCollision::RVSmask)
{
// We need to pass the collision data through to the solver collision engine
// Note that we only add the collision object here, we are not applying the collision or dealing with
// an impulse response.
m_acceleratedSoftBody->addCollisionObject(pco);
} else {
#endif
switch(m_cfg.collisions&fCollision::RVSmask)
case fCollision::SDF_RS:
{
case fCollision::SDF_RS:
{
btSoftColliders::CollideSDF_RS docollide;
btRigidBody* prb1=btRigidBody::upcast(pco);
//btTransform wtr=prb1 ? prb1->getWorldTransform() : pco->getWorldTransform();
btTransform wtr=pco->getWorldTransform();
btSoftColliders::CollideSDF_RS docollide;
btRigidBody* prb1=btRigidBody::upcast(pco);
btTransform wtr=pco->getWorldTransform();
const btTransform ctr=pco->getWorldTransform();
const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
const btScalar basemargin=getCollisionShape()->getMargin();
btVector3 mins;
btVector3 maxs;
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
pco->getCollisionShape()->getAabb( pco->getWorldTransform(),
mins,
maxs);
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(basemargin,basemargin,basemargin));
docollide.psb = this;
docollide.m_colObj1 = pco;
docollide.m_rigidBody = prb1;
const btTransform ctr=pco->getWorldTransform();
const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
const btScalar basemargin=getCollisionShape()->getMargin();
btVector3 mins;
btVector3 maxs;
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
pco->getCollisionShape()->getAabb( pco->getWorldTransform(),
mins,
maxs);
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(basemargin,basemargin,basemargin));
docollide.psb = this;
docollide.m_colObj1 = pco;
docollide.m_rigidBody = prb1;
docollide.dynmargin = basemargin+timemargin;
docollide.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);
}
break;
case fCollision::CL_RS:
{
btSoftColliders::CollideCL_RS collider;
collider.Process(this,pco);
}
break;
docollide.dynmargin = basemargin+timemargin;
docollide.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);
}
#if 0
break;
case fCollision::CL_RS:
{
btSoftColliders::CollideCL_RS collider;
collider.Process(this,pco);
}
break;
}
#endif
}
//