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Second attempt to commit appGpu2dDemo with Bullet narrowphase

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Previous version was with old btGpuDemoDynamicsWorld.cpp :-(
This commit is contained in:
rponom 2009-05-12 18:56:08 +00:00
parent fcf7bda3b0
commit 6ac6b3a257
1 changed files with 86 additions and 3 deletions
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89
Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
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@ -68,6 +68,79 @@ void btGpuDemoDynamicsWorld::grabNonContactConstraintData()
//--------------------------------------------------------------------------
void btGpuDemoDynamicsWorld::grabContactData()
{
int i;
btDispatcher* dispatcher = getDispatcher();
btPersistentManifold** manifoldPtr = dispatcher->getInternalManifoldPointer();
int numManifolds = dispatcher->getNumManifolds();
btPersistentManifold* manifold = 0;
m_totalNumConstraints = 0;
for(i = 0; i < numManifolds; i++)
{
manifold = manifoldPtr[i];
int numPoints = manifold->getNumContacts();
if(!numPoints)
{
continue;
}
int numActualPoints = 0;
for(int n = 0; n < numPoints; n++)
{
btManifoldPoint& cp = manifold->getContactPoint(n);
if (cp.m_distance1<=0)
{
numActualPoints++;
}
}
if (!numActualPoints)
continue;
btRigidBody *rbA, *rbB;
rbA = (btRigidBody*)manifold->getBody0();
rbB = (btRigidBody*)manifold->getBody1();
int idA = rbA->getCompanionId();
int idB = rbB->getCompanionId();
btVector3* pConstrData = (btVector3*)(m_hContact + m_totalNumConstraints * 2 * m_maxVtxPerObj);
if(idA < idB)
{
m_hIds[m_totalNumConstraints].x = idA;
m_hIds[m_totalNumConstraints].y = idB;
for(int n = 0; n < numPoints; n++)
{
btManifoldPoint& cp = manifold->getContactPoint(n);
btVector3 v = cp.getPositionWorldOnA();
pConstrData[0] = cp.getPositionWorldOnA();
float dist = cp.getDistance();
if(dist > 0.f)
{
pConstrData[0][3] = -1.f;
}
else
{
pConstrData[0][3] = -dist;
}
pConstrData[1] = cp.m_normalWorldOnB;
pConstrData[1][3] = 0.f;
pConstrData += 2;
}
}
else
{ // should never happen
btAssert(0);
}
for(int n = numPoints; n < m_maxVtxPerObj; n++)
{
pConstrData[0][3] = -1.f;
pConstrData += 2;
}
m_totalNumConstraints++;
}
} // btCudaDemoDynamicsWorld::grabContactData()
//--------------------------------------------------------------------------
void btGpuDemoDynamicsWorld::grabP2PConstraintData(btPoint2PointConstraint* ct)
{
btRigidBody& bodyA = ct->getRigidBodyA();
@ -132,6 +205,10 @@ void btGpuDemoDynamicsWorld::grabData()
v = rb->getAngularVelocity();
m_hAngVel[i+1] = v[2];
}
if(m_useBulletNarrowphase)
{
grabContactData();
}
grabNonContactConstraintData();
} // btGpuDemoDynamicsWorld::grabGata()
@ -265,8 +342,11 @@ void btGpuDemoDynamicsWorld::setConstraintData(btCudaPartProps& partProps)
partProps.m_restCoeff = 1.0f;
#ifdef BT_USE_CUDA
btCuda_clearAccumulationOfLambdaDt(m_dLambdaDtBox, m_totalNumConstraints, m_maxVtxPerObj * 2);
btCuda_setConstraintData(m_dIds, m_totalNumConstraints - m_numNonContactConstraints, m_numObj + 1, m_dcPos, m_dcRot, m_dShapeBuffer, m_dShapeIds,
partProps, m_dContact);
if(!m_useBulletNarrowphase)
{
btCuda_setConstraintData(m_dIds, m_totalNumConstraints - m_numNonContactConstraints, m_numObj + 1, m_dcPos, m_dcRot, m_dShapeBuffer, m_dShapeIds,
partProps, m_dContact);
}
#endif //BT_USE_CUDA
} // btGpuDemoDynamicsWorld::setConstraintData()
@ -363,8 +443,11 @@ void btGpuDemoDynamicsWorld::solveConstraintsCPU2(btContactSolverInfo& solverInf
btGpu_clearAccumulationOfLambdaDt(m_hLambdaDtBox, m_totalNumConstraints, m_maxVtxPerObj * 2);
btGpu_setConstraintData(m_hIds, m_totalNumConstraints - m_numNonContactConstraints, m_numObj + 1, m_hPos, m_hRot,m_hShapeBuffer, m_hShapeIds,
if(!m_useBulletNarrowphase)
{
btGpu_setConstraintData(m_hIds, m_totalNumConstraints - m_numNonContactConstraints, m_numObj + 1, m_hPos, m_hRot,m_hShapeBuffer, m_hShapeIds,
partProps, m_hContact);
}
}
btCudaBoxProps boxProps;