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resolve some naming conflicts between Bullet 3.x and Bullet 2.x

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add BasicGpuDemo that bridges Bullet 2.x and Bullet 3.x (still preliminary/crashing/instable)
This commit is contained in:
erwincoumans
2013-04-30 18:17:44 -07:00
parent bf7a779562
commit e999903c15
27 changed files with 1581 additions and 51 deletions
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18
src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
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@@ -346,7 +346,7 @@ void b3QuantizedBvh::reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallb
}
int maxIterations = 0;
static int b3s_maxIterations = 0;
void b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
@@ -387,8 +387,8 @@ void b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const
curIndex += escapeIndex;
}
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
if (b3s_maxIterations < walkIterations)
b3s_maxIterations = walkIterations;
}
@@ -530,8 +530,8 @@ void b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCall
curIndex += escapeIndex;
}
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
if (b3s_maxIterations < walkIterations)
b3s_maxIterations = walkIterations;
}
@@ -658,8 +658,8 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
curIndex += escapeIndex;
}
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
if (b3s_maxIterations < walkIterations)
b3s_maxIterations = walkIterations;
}
@@ -723,8 +723,8 @@ void b3QuantizedBvh::walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallb
curIndex += escapeIndex;
}
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
if (b3s_maxIterations < walkIterations)
b3s_maxIterations = walkIterations;
}

17
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -899,3 +899,20 @@ void b3GpuNarrowPhase::writeAllBodiesToGpu()
}
void b3GpuNarrowPhase::readbackAllBodiesToCpu()
{
m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
}
void b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const
{
position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x;
position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y;
position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z;
position[3] = 1.f;//or 1
orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x;
orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y;
orientation[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.z;
orientation[3] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.w;
}

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -37,7 +37,7 @@ bool dumpContactStats = false;
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , class b3DynamicBvhBroadphase* broadphaseDbvt)
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt)
{
m_data = new b3GpuRigidBodyPipelineInternalData;
m_data->m_context = ctx;

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
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@@ -13,7 +13,7 @@ protected:
public:
b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q , class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap, class b3DynamicBvhBroadphase* broadphaseDbvt);
b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q , class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt);
virtual ~b3GpuRigidBodyPipeline();
void stepSimulation(float deltaTime);

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
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@@ -30,7 +30,7 @@ struct b3GpuRigidBodyPipelineInternalData
class b3GpuSapBroadphase* m_broadphaseSap;
class b3DynamicBvhBroadphase* m_broadphaseDbvt;
struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
b3OpenCLArray<b3SapAabb>* m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
b3OpenCLArray<b3BroadphasePair>* m_overlappingPairsGPU;