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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/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
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@@ -6,10 +6,12 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "b3VectorFloat4.h"
struct b3ConvexPolyhedronCL;
struct b3GjkPairDetector;
inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const struct b3ConvexPolyhedronCL* hull,
inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const struct b3ConvexPolyhedronData* hull,
const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
{
b3Vector3 supVec = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
@@ -27,7 +29,7 @@ inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const
}
inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec,const struct b3ConvexPolyhedronCL* hull,
inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec,const struct b3ConvexPolyhedronData* hull,
const b3AlignedObjectArray<b3Vector3>& verticesA)
{
return localGetSupportVertexWithMargin(supportVec,hull,verticesA,0.f);