compute best axis on host and OpenCL for 1-axis SAP, based on best variance

2013-07-12 20:46:43 -07:00
parent 74aa499ab6
commit 061f7173b8
11 changed files with 600 additions and 12 deletions
--- a/src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
+++ b/src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
@@ -318,3 +318,16 @@ __kernel void   scatterKernel( __global const btAabbCL* aabbs, volatile __global

 		sortedAabbs[i] = aabbs[sortData[i].y];
 }
+
+
+
+__kernel void   prepareSumVarianceKernel( __global const btAabbCL* aabbs, __global float4* sum, __global float4* sum2,int numAabbs)
+{
+	int i = get_global_id(0);
+	if (i>numAabbs)
+		return;
+	float4 s;
+	s = (aabbs[i].m_max+aabbs[i].m_min)*0.5f;
+	sum[i]=s;
+	sum2[i]=s*s;	
+}