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add option to terminate PGS constraint solvers based on a least square residual threshold

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(for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations
disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins)
tweak some gpu demo settings
This commit is contained in:
Erwin Coumans
2016-12-16 18:09:52 -08:00
parent 38b10137c9
commit dcd02a1e15
11 changed files with 111 additions and 37 deletions
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11
examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
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@@ -80,7 +80,18 @@ m_window(0)
m_window = helper->getAppInterface()->m_window;
m_data = new GpuRigidBodyDemoInternalData;
m_data->m_guiHelper = helper;
}
void GpuRigidBodyDemo::resetCamera()
{
float dist = 114;
float pitch = 52;
float yaw = 35;
float targetPos[3]={0,0,0};
m_data->m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
GpuRigidBodyDemo::~GpuRigidBodyDemo()
{

3
examples/OpenCL/rigidbody/GpuRigidBodyDemo.h
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@@ -31,7 +31,8 @@ public:
virtual void renderScene();
void resetCamera();
virtual void stepSimulation(float deltaTime);
//for picking

4
examples/OpenCL/rigidbody/GpuRigidBodyDemoInternalData.h
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@@ -32,6 +32,7 @@ struct GpuRigidBodyDemoInternalData
int m_pickGraphicsShapeIndex;
int m_pickGraphicsShapeInstance;
b3Config m_config;
GUIHelperInterface* m_guiHelper;
GpuRigidBodyDemoInternalData()
:m_instancePosOrnColor(0),
@@ -45,7 +46,8 @@ struct GpuRigidBodyDemoInternalData
m_pickGraphicsShapeInstance(-1),
m_pickBody(-1),
m_altPressed(0),
m_controlPressed(0)
m_controlPressed(0),
m_guiHelper(0)
{
}