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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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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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10
opencl/gpu_rigidbody/kernels/integrateKernel.cl
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@@ -46,9 +46,9 @@ __kernel void
{
int nodeID = get_global_id(0);
float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
if( nodeID < numNodes )
if( nodeID < numNodes && (bodies[nodeID].m_invMass != 0.f))
{
if (1)
//angular velocity
{
float4 axis;
//add some hardcoded angular damping
@@ -82,8 +82,12 @@ __kernel void
bodies[nodeID].m_quat=predictedOrn;
}
//linear velocity
//linear velocity
bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;
//apply gravity
float4 gravityAcceleration = (float4)(0.f,-9.8f,0.f,0.f);
bodies[nodeID].m_linVel += gravityAcceleration * timeStep;
}
}