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share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL)

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integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)
This commit is contained in:
erwin coumans
2013-11-07 15:49:57 -08:00
parent e20cb22832
commit e85bae5fe3
19 changed files with 270 additions and 111 deletions
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44
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -40,6 +40,7 @@ subject to the following restrictions:
bool dumpContactStats = false;
bool calcWorldSpaceAabbOnCpu = true;
bool useCalculateOverlappingPairsHost = true;
bool integrateOnCpu = true;
#else
bool useDbvt = false;//true;
@@ -47,6 +48,8 @@ subject to the following restrictions:
bool dumpContactStats = false;
bool calcWorldSpaceAabbOnCpu = false;//true;
bool useCalculateOverlappingPairsHost = false;
bool integrateOnCpu = false;
#endif
#ifdef TEST_OTHER_GPU_SOLVER
@@ -63,7 +66,9 @@ subject to the following restrictions:
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
{
@@ -430,22 +435,39 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
}
void b3GpuRigidBodyPipeline::integrate(float timeStep)
{
//integrate
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
launcher.setConst(numBodies);
launcher.setConst(timeStep);
float angularDamp = 0.99f;
launcher.setConst(angularDamp);
launcher.setConst(m_data->m_gravity);
launcher.launch1D(numBodies);
if (integrateOnCpu)
{
if(numBodies)
{
b3GpuNarrowPhaseInternalData* npData = m_data->m_narrowphase->getInternalData();
npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU);
b3RigidBodyData_t* bodies = &npData->m_bodyBufferCPU->at(0);
for (int nodeID=0;nodeID<numBodies;nodeID++)
{
integrateSingleTransform( bodies,nodeID, timeStep, angularDamp, m_data->m_gravity);
}
npData->m_bodyBufferGPU->copyFromHost(*npData->m_bodyBufferCPU);
}
} else
{
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
launcher.setConst(numBodies);
launcher.setConst(timeStep);
launcher.setConst(angularDamp);
launcher.setConst(m_data->m_gravity);
launcher.launch1D(numBodies);
}
}