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fix GPU solver (need to clear .w component because "m_linear" contains friction coefficient

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added a mixed solver to find bugs like that
This commit is contained in:
erwin coumans
2013-04-02 14:53:30 -07:00
parent 1ebcc78280
commit e38c032280
13 changed files with 456 additions and 13 deletions
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8
opencl/gpu_rigidbody/kernels/solverUtils.cl
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@@ -462,7 +462,7 @@ __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*linear = make_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}
@@ -537,10 +537,12 @@ void solveContact(__global Constraint4* cs,
setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );
float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1,
*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
rambdaDt *= cs->m_jacCoeffInv[ic];
{
float prevSum = cs->m_appliedRambdaDt[ic];
float updated = prevSum;
@@ -550,12 +552,14 @@ void solveContact(__global Constraint4* cs,
rambdaDt = updated - prevSum;
cs->m_appliedRambdaDt[ic] = updated;
}
float4 linImp0 = invMassA*linear*rambdaDt;
float4 linImp1 = invMassB*(-linear)*rambdaDt;
float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
if (invMassA)
{
*dLinVelA += linImp0;