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added pgs/jacobi cpu solver making the gpu rigid body pipeline work again (aside from running the solver on CPU)

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This commit is contained in:
erwin coumans
2013-03-15 18:44:55 -07:00
parent d49e9fd44d
commit d91d18b5f5
24 changed files with 5154 additions and 95 deletions
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24
demo/gpudemo/rigidbody/GpuRigidBodyDemo.cpp
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@@ -129,13 +129,15 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
int colIndex = np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
float mass = 1.f;
for (int i=0;i<ci.arraySizeX;i++)
{
for (int j=0;j<ci.arraySizeY;j++)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = i==0? 0.f : 1.f;
btVector3 position(k*3,i*3,j*3);
btQuaternion orn(1,0,0,0);
@@ -149,6 +151,7 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
}
}
np->writeAllBodiesToGpu();
bp->writeAabbsToGpu();
}
@@ -223,29 +226,13 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
{
int ciErrNum = 0;
ciErrNum = 0;//clSetKernelArg(fpio.m_copyTransformsToVBOKernel, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
btLauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
launch.setBuffer(bodies);
launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
launch.setConst(numObjects);
launch.launch1D(numObjects);
//ciErrNum = clSetKernelArg(fpio.m_copyTransformsToVBOKernel, 3, sizeof(cl_mem), (void*)&bodies);
//ciErrNum = clSetKernelArg(fpio.m_copyTransformsToVBOKernel, 1, sizeof(int), &fpio.m_numObjects);
if (numObjects)
{
size_t workGroupSize = 64;
size_t numWorkItems = workGroupSize*((numObjects+ (workGroupSize)) / workGroupSize);
//ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_copyTransformsToVBOKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
if (animate)
@@ -254,7 +241,6 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
assert(err==GL_NO_ERROR);
m_data->m_instancePosOrnColor->copyToHostPointer(positions,3*numObjects,0);
glUnmapBuffer( GL_ARRAY_BUFFER);
err = glGetError();
assert(err==GL_NO_ERROR);
}