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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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9
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
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@@ -3,10 +3,10 @@
#define _CONVEX_HULL_CONTACT_H
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "b3ConvexPolyhedronCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "Bullet3Common/shared/b3Int2.h"
@@ -26,6 +26,7 @@ struct GpuSatCollision
cl_device_id m_device;
cl_command_queue m_queue;
cl_kernel m_findSeparatingAxisKernel;
cl_kernel m_mprPenetrationKernel;
cl_kernel m_findSeparatingAxisVertexFaceKernel;
cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
@@ -77,12 +78,12 @@ struct GpuSatCollision
void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs,
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
const b3OpenCLArray<b3Contact4>* oldContacts,
int maxContactCapacity,
int compoundPairCapacity,
const b3OpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
const b3OpenCLArray<b3Vector3>& vertices,
const b3OpenCLArray<b3Vector3>& uniqueEdges,
const b3OpenCLArray<b3GpuFace>& faces,