Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

35
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h
View File

@@ -6,39 +6,4 @@
B3_ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL : public b3ConvexPolyhedronData
{
inline void project(const b3Transform& trans, const b3Vector3& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = m_numVertices;
const b3Vector3 localDir = trans.getBasis().transpose()*dir;
const b3Vector3 localDi2 = b3QuatRotate(trans.getRotation().inverse(),dir);
b3Scalar offset = trans.getOrigin().dot(dir);
for(int i=0;i<numVerts;i++)
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Scalar dp = vertices[m_vertexOffset+i].dot(localDir);
//b3Assert(dp==dpL);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
b3Scalar tmp = min;
min = max;
max = tmp;
}
min += offset;
max += offset;
}
};
#endif //CONVEX_POLYHEDRON_CL