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bugfix for compound versus concave: compute the DeltaC2 after computing the (child) transforms for proper center

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erwin coumans
2013-04-12 13:02:35 -07:00
parent ec0d2ed523
commit 07b89beb39
9 changed files with 75 additions and 56 deletions
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13
opencl/gpu_sat/kernels/sat.cl
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@@ -1222,13 +1222,10 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
posA.w = 0.f;
float4 posB = rigidBodies[bodyIndexB].m_pos;
posB.w = 0.f;
float4 c0local = convexPolyhedronA.m_localCenter;
float4 ornA = rigidBodies[bodyIndexA].m_quat;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
float4 ornB =rigidBodies[bodyIndexB].m_quat;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
@@ -1250,6 +1247,12 @@ __kernel void findConcaveSeparatingAxisKernel( __global int4* concavePairs,
}
//////////////////
float4 c0local = convexPolyhedronA.m_localCenter;
float4 c0 = transform(&c0local, &posA, &ornA);
float4 c1local = convexShapes[shapeIndexB].m_localCenter;
float4 c1 = transform(&c1local,&posB,&ornB);
const float4 DeltaC2 = c0 - c1;
bool sepA = findSeparatingAxisLocalA( &convexPolyhedronA, &convexShapes[shapeIndexB],
posA,ornA,