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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/satClipHullContacts.cl
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@@ -1404,13 +1404,9 @@ __kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
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;
float4 sepAxis = separatingNormals[i];
@@ -1419,16 +1415,17 @@ __kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
{
///////////////////
///compound shape support
int compoundChild = concavePairsIn[pairIndex].w;
int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+compoundChild;
int childShapeIndexB = concavePairsIn[pairIndex].w;
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
float4 newPosB = transform(&childPosB,&posB,&ornB);
float4 newOrnB = qtMul(ornB,childOrnB);
posB = newPosB;
ornB = newOrnB;
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
}
////////////////////////////////////////