From fcf7bda3b0e77983dff32aa3d65198e8f47baba7 Mon Sep 17 00:00:00 2001
From: rponom <rponom@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Tue, 12 May 2009 01:54:41 +0000
Subject: [PATCH] More stable parameters for solver (GpuDemo2d) Added a
 possibility to switch between GPU/Bullet narrowphase ('j' key)

---
 Demos/Gpu2dDemo/BasicDemo.cpp              | 18 ++++++++++++++++++
 Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h    | 17 +++++++++++------
 Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp |  4 ++--
 Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h   |  3 +++
 4 files changed, 34 insertions(+), 8 deletions(-)

diff --git a/Demos/Gpu2dDemo/BasicDemo.cpp b/Demos/Gpu2dDemo/BasicDemo.cpp
index 2833f360f..01acc198d 100644
--- a/Demos/Gpu2dDemo/BasicDemo.cpp
+++ b/Demos/Gpu2dDemo/BasicDemo.cpp
@@ -97,6 +97,7 @@ bool gUseCPUSolver = false;
 bool gUseCPUSolver = true;
 #endif //BT_USE_CUDA
 
+bool gUseBulletNarrowphase = false;
 
 #include "oecakeLoader.h"
 
@@ -303,6 +304,8 @@ void	BasicDemo::initPhysics()
 	pDdw->setWorldMax(gWorldMax);
 //	gUseCPUSolver = true;
 	pDdw->setUseCPUSolver(gUseCPUSolver);
+	gUseBulletNarrowphase = false;
+	pDdw->setUseBulletNarrowphase(gUseBulletNarrowphase);
 
 //	m_dynamicsWorld->setGravity(btVector3(0,0,0));
 	m_dynamicsWorld->setGravity(btVector3(0,-10.,0));
@@ -586,6 +589,21 @@ void BasicDemo::keyboardCallback(unsigned char key, int x, int y)
 				pDdw->setUseCPUSolver(gUseCPUSolver);
 				break;
 			}
+		case 'j' :
+			{
+				btGpuDemoDynamicsWorld* pDdw = (btGpuDemoDynamicsWorld*)m_dynamicsWorld;
+				gUseBulletNarrowphase = !gUseBulletNarrowphase;
+				pDdw->setUseBulletNarrowphase(gUseBulletNarrowphase);
+				if(gUseBulletNarrowphase)
+				{
+					m_dispatcher->setNearCallback(btCollisionDispatcher::defaultNearCallback);
+				}
+				else
+				{
+					m_dispatcher->setNearCallback(cudaDemoNearCallback);
+				}
+				break;
+			}
 		default : 
 			{
 				DemoApplication::keyboardCallback(key, x, y);
diff --git a/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h b/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
index 270db1376..0d0e44ca7 100644
--- a/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
+++ b/Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
@@ -174,8 +174,11 @@ BT_GPU___device__ float computeImpulse1(float3 rVel,
 								 float3 cNormal,
 								 float dt)
 {
-	const float collisionConstant	=	0.1f;
-	const float baumgarteConstant	=	0.5f;
+//	const float collisionConstant	=	0.1f;
+//	const float baumgarteConstant	=	0.5f;
+//	const float penetrationError	=	0.02f;
+	const float collisionConstant	=	-0.1f;
+	const float baumgarteConstant	=	0.3f;
 	const float penetrationError	=	0.02f;
 
 	float lambdaDt=0;
@@ -231,12 +234,14 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
 			float3 vPos = aPos + rerVertex;
 			float rad = shape[iVtx].w;
 			float3 vVel	=aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),rerVertex);
-			float restitution=1.0;
+//			float restitution=1.0;
+			float restitution=0.3f;
 			{
 				positionConstraint	=vPos.y - rad - gProp.minY;
 				impulse				=BT_GPU_make_float31(0.0f);
 
-				if(positionConstraint < 0){
+				if(positionConstraint < 0)
+				{
 					float3 groundNormal;
 					groundNormal = BT_GPU_make_float3(0.0f,1.0f,0.0f);
 					impulse	=groundNormal*
@@ -266,7 +271,7 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
 				impulse				=BT_GPU_make_float31(0.0f);
 
 				if(positionConstraint < 0){
-					impulse	=BT_GPU_make_float3(1.0f,0.0f,0.0f)*
+					impulse	=BT_GPU_make_float3(1.0f,0.0f,0.0f)* restitution * 
 						computeImpulse1(vVel,positionConstraint,
 						BT_GPU_make_float3(1.0f,0.0f,0.0f),
 						dt);
@@ -282,7 +287,7 @@ BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
 				impulse				=BT_GPU_make_float31(0.0f);
 
 				if(positionConstraint < 0){
-					impulse	=BT_GPU_make_float3(-1.0f,0.0f,0.0f)*
+					impulse	=BT_GPU_make_float3(-1.0f,0.0f,0.0f)* restitution * 
 						computeImpulse1(vVel,positionConstraint,
 						BT_GPU_make_float3(-1.0f,0.0f,0.0f),
 						dt);
diff --git a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
index bfead15e6..966442355 100644
--- a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
+++ b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
@@ -431,8 +431,8 @@ void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float
 		for(int i = 0; i < numConstraints; i++)
 		{
 			int indx = pBatchIds[i];
-			int idA = m_hIds[indx].x-1;
-			int idB = m_hIds[indx].y-1;
+			int idA = m_hIds[indx].x - 1;
+			int idB = m_hIds[indx].y - 1;
 			if((idA > 0) && (idB > 0))
 			{
 				btCollisionObject* colObjA = m_collisionObjects[idA];
diff --git a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
index ea7811009..a6c6fc9db 100644
--- a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
+++ b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
@@ -66,6 +66,7 @@ protected:
 	int						m_numObj;
 	int						m_numSimStep;
 	bool					m_useCPUSolver;
+	bool					m_useBulletNarrowphase;
 
 	float4*					m_hPos;
 	float*					m_hRot;
@@ -254,11 +255,13 @@ public:
 	void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
 
 	void grabData();
+	void grabContactData();
 	void copyDataToGPU();
 	void setConstraintData(btCudaPartProps& partProps);
 	void copyDataFromGPU();
 	void writebackData();
 	void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
+	void setUseBulletNarrowphase(bool useBulletNarrowphase) {m_useBulletNarrowphase = useBulletNarrowphase; } 
 
 	void createBatches2();