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Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

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Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
2014-01-04 20:54:27 -08:00
parent 999c5ff766
commit 271f458837
52 changed files with 3368 additions and 727 deletions
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6
Demos3/GpuDemos/GpuDemo.h
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@@ -48,9 +48,9 @@ public:
arraySizeZ(10),
#else
arraySizeX(10),
arraySizeY(10),
arraySizeZ(10),
arraySizeX(30),
arraySizeY(30),
arraySizeZ(30),
#endif
m_useConcaveMesh(false),
gapX(16.3),

3
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
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@@ -16,7 +16,7 @@
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
@@ -439,6 +439,7 @@ bool GpuRigidBodyDemo::mouseButtonCallback(int button, int state, float x, float
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
m_data->m_pickGraphicsShapeIndex = m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
float color[4] ={1,0,0,1};
float scaling[4]={1,1,1,1};