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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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21
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
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@@ -27,7 +27,8 @@ GJK-EPA collision solver by Nathanael Presson, 2008
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Common/b3Transform.h"
#include "b3ConvexPolyhedronCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
///btGjkEpaSolver contributed under zlib by Nathanael Presson
struct b3GjkEpaSolver2
@@ -49,14 +50,14 @@ struct sResults
static int StackSizeRequirement();
static bool Distance( const b3Transform& transA, const b3Transform& transB,
const b3ConvexPolyhedronCL* hullA, const b3ConvexPolyhedronCL* hullB,
const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
const b3AlignedObjectArray<b3Vector3>& verticesA,
const b3AlignedObjectArray<b3Vector3>& verticesB,
const b3Vector3& guess,
sResults& results);
static bool Penetration( const b3Transform& transA, const b3Transform& transB,
const b3ConvexPolyhedronCL* hullA, const b3ConvexPolyhedronCL* hullB,
const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
const b3AlignedObjectArray<b3Vector3>& verticesA,
const b3AlignedObjectArray<b3Vector3>& verticesB,
const b3Vector3& guess,
@@ -65,19 +66,15 @@ static bool Penetration( const b3Transform& transA, const b3Transform& transB,
#if 0
static b3Scalar SignedDistance( const b3Vector3& position,
b3Scalar margin,
const b3Transform& transA,
const b3ConvexPolyhedronCL& hullA,
const b3AlignedObjectArray<b3Vector3>& verticesA,
const btConvexShape* shape,
const btTransform& wtrs,
sResults& results);
static bool SignedDistance( const b3Transform& transA, const b3Transform& transB,
const b3ConvexPolyhedronCL& hullA, const b3ConvexPolyhedronCL& hullB,
const b3AlignedObjectArray<b3Vector3>& verticesA,
const b3AlignedObjectArray<b3Vector3>& verticesB,
static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
const btConvexShape* shape1,const btTransform& wtrs1,
const b3Vector3& guess,
sResults& results);
#endif //0
#endif
};