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updated quickstep solver (for comparison), enabled GPU physics again (but WIN32 doesn't have the VertexTextureSupport enabled)

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This commit is contained in:
ejcoumans
2006-10-13 23:58:52 +00:00
parent 2c66be25fc
commit d878885db4
18 changed files with 890 additions and 83 deletions
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5
Extras/GPUphysics/GPU_physics_demo.cpp
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@@ -907,7 +907,12 @@ void help ()
int main ( int argc, char **argv )
{
#ifdef WIN32
//until there is a first GPU that works under VertexTextureSupport under WIN32, disable it
bool disableVertexTextureSupport = true;
#else
bool disableVertexTextureSupport = false ;
#endif
debugOpt = DRAW_ALL ;
for ( int i = 1 ; i < argc ; i++ )

22
Extras/quickstep/OdeConstraintSolver.cpp
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@@ -54,8 +54,12 @@ class BU_Joint;
//see below
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island, stored in an array of size MAX_RIGIDBODIES
#define MAX_QUICKSTEP_RIGIDBODIES 8192
//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island
#define ODE_MAX_SOLVER_BODIES 16384
#define ODE_MAX_SOLVER_JOINTS 65535
static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES];
static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS];
OdeConstraintSolver::OdeConstraintSolver():
m_cfm(0.f),//1e-5f),
@@ -65,10 +69,6 @@ m_erp(0.4f)
//iterative lcp and penalty method
float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
@@ -76,9 +76,9 @@ float OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int nu
m_CurJoint = 0;
int numBodies = 0;
OdeSolverBody* odeBodies [MAX_QUICKSTEP_RIGIDBODIES];
OdeSolverBody* odeBodies [ODE_MAX_SOLVER_BODIES];
int numJoints = 0;
BU_Joint* joints [MAX_QUICKSTEP_RIGIDBODIES*4];
BU_Joint* joints [ODE_MAX_SOLVER_JOINTS];
for (int j=0;j<numManifolds;j++)
{
@@ -138,8 +138,6 @@ void dRfromQ1 (dMatrix3 R, const dQuaternion q)
}
#define ODE_MAX_SOLVER_BODIES 16384
static OdeSolverBody gSolverBodyArray[ODE_MAX_SOLVER_BODIES];
int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies,int& numBodies)
@@ -208,8 +206,8 @@ int OdeConstraintSolver::ConvertBody(btRigidBody* orgBody,OdeSolverBody** bodies
#define ODE_MAX_SOLVER_JOINTS 65535
static ContactJoint gJointArray[ODE_MAX_SOLVER_JOINTS];
void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,

2
Extras/quickstep/OdeContactJoint.cpp
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@@ -186,7 +186,7 @@ void ContactJoint::GetInfo2(Info2 *info)
c2[2] = relativePositionB[2];
//combined friction is available in the contact point
float friction = FRICTION_CONSTANT ;//* m_body0->m_friction * m_body1->m_friction;
float friction = 0.25;//FRICTION_CONSTANT ;//* m_body0->m_friction * m_body1->m_friction;
// first friction direction
if (m_numRows >= 2)

9
Extras/quickstep/SorLcp.cpp
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@@ -25,10 +25,7 @@
#ifdef USE_SOR_SOLVER
// SOR LCP taken from ode quickstep,
// todo: write own successive overrelaxation gauss-seidel, or jacobi iterative solver
// SOR LCP taken from ode quickstep, for comparisons to Bullet sequential impulse solver.
#include "LinearMath/btScalar.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -648,8 +645,8 @@ void SolveInternal1 (float global_cfm,
dMULTIPLY2_333 (tmp,body[i]->m_invI,body[i]->m_R);
dMULTIPLY0_333 (invI+i*12,body[i]->m_R,tmp);
// compute rotational force
dMULTIPLY0_331 (tmp,I+i*12,body[i]->m_angularVelocity);
dCROSS (body[i]->m_tacc,-=,body[i]->m_angularVelocity,tmp);
// dMULTIPLY0_331 (tmp,I+i*12,body[i]->m_angularVelocity);
// dCROSS (body[i]->m_tacc,-=,body[i]->m_angularVelocity,tmp);
}