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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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42
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
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@@ -365,6 +365,10 @@ cl_mem btGpuNarrowPhase::getCollidablesGpu()
return m_data->m_collidablesGPU->getBufferCL();
}
cl_mem btGpuNarrowPhase::getAabbBufferGpu()
{
return m_data->m_localShapeAABBGPU->getBufferCL();
}
int btGpuNarrowPhase::getNumCollidablesGpu() const
{
return m_data->m_collidablesGPU->size();
@@ -386,6 +390,41 @@ cl_mem btGpuNarrowPhase::getContactsGpu()
void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbs, int numObjects)
{
int nContactOut = 0;
int maxTriConvexPairCapacity = 8192;
btOpenCLArray<btInt4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
int numTriConvexPairsOut=0;
btOpenCLArray<btInt2> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
btOpenCLArray<btYetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
clAabbArray.setFromOpenCLBuffer(aabbs,numObjects);
m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
&broadphasePairsGPU, numBroadphasePairs,
m_data->m_bodyBufferGPU,
m_data->m_pBufContactOutGPU,
nContactOut,
*m_data->m_convexPolyhedraGPU,
*m_data->m_convexVerticesGPU,
*m_data->m_uniqueEdgesGPU,
*m_data->m_convexFacesGPU,
*m_data->m_convexIndicesGPU,
*m_data->m_collidablesGPU,
*m_data->m_gpuChildShapes,
clAabbArray,
*m_data->m_worldVertsB1GPU,
*m_data->m_clippingFacesOutGPU,
*m_data->m_worldNormalsAGPU,
*m_data->m_worldVertsA1GPU,
*m_data->m_worldVertsB2GPU,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,
numTriConvexPairsOut
);
}
@@ -415,7 +454,7 @@ int btGpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
body.m_frictionCoeff = friction;
body.m_restituitionCoeff = restitution;
body.m_angVel.setZero();
body.m_linVel.setValue(0,-1,0);//.setZero();
body.m_linVel.setValue(0,0,0);//.setZero();
body.m_pos.setValue(position[0],position[1],position[2]);
body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
body.m_collidableIdx = collidableIndex;
@@ -500,5 +539,6 @@ void btGpuNarrowPhase::writeAllBodiesToGpu()
m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
}