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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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8
src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "b3Point2PointConstraint.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include <new>
@@ -41,12 +41,12 @@ m_useSolveConstraintObsolete(false)
*/
void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
{
getInfo1NonVirtual(info,bodies);
}
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
{
info->m_numConstraintRows = 3;
info->nub = 3;
@@ -55,7 +55,7 @@ void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const
void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyCL* bodies)
void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
{
b3Transform trA;
trA.setIdentity();