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More stable parameters for solver (GpuDemo2d)

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Added a possibility to switch between GPU/Bullet narrowphase ('j' key)
This commit is contained in:
rponom
2009-05-12 01:54:41 +00:00
parent 34685cb631
commit fcf7bda3b0
4 changed files with 34 additions and 8 deletions
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17
Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h
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@@ -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);