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CPU implementation of btCudaBroadphase added.

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It is called bt3DGridBroadphase and btCudaBroadphase is now derived from it rater than from btSimpleBroadphase
Test of bt3DGridBroadphase was added to CDTestFramework
This commit is contained in:
rponom
2008-11-25 03:16:11 +00:00
parent 7dda192bfc
commit 09aa2dbbe7
10 changed files with 1247 additions and 839 deletions
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21
Extras/CUDA/btCudaBroadphaseKernel.h
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@@ -54,7 +54,28 @@ struct btCuda3F1U
extern "C"
{
// CPU functions
void bt3DGrid_setParameters(btCudaBroadphaseParams* hostParams);
void bt3DGrid_calcHashAABB(btCuda3F1U* pAABB, unsigned int* hash, unsigned int numBodies);
void bt3DGrid_findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells);
void bt3DGrid_findOverlappingPairs( btCuda3F1U* pAABB, unsigned int* pHash,
unsigned int* pCellStart,
unsigned int* pPairBuff,
unsigned int* pPairBuffStartCurr,
unsigned int numBodies);
void bt3DGrid_findPairsLarge( btCuda3F1U* pAABB, unsigned int* pHash,
unsigned int* pCellStart,
unsigned int* pPairBuff,
unsigned int* pPairBuffStartCurr,
unsigned int numBodies,
unsigned int numLarge);
void bt3DGrid_computePairCacheChanges( unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr,
unsigned int* pPairScan, btCuda3F1U* pAABB, unsigned int numBodies);
void bt3DGrid_squeezeOverlappingPairBuff( unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan,
unsigned int* pPairOut, btCuda3F1U* pAABB, unsigned int numBodies);
// CUDA functions
void btCuda_allocateArray(void** devPtr, unsigned int size);
void btCuda_freeArray(void* devPtr);
void btCuda_copyArrayFromDevice(void* host, const void* device, unsigned int size);