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

10
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
View File

@@ -1,7 +1,7 @@
#include "b3GpuRaycast.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
@@ -75,7 +75,7 @@ bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vect
return false;
}
bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronCL& poly,
bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly,
const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal)
{
float exitFraction = hitFraction;
@@ -125,7 +125,7 @@ bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const
}
void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
int numBodies,const struct b3RigidBodyData* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
// return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
@@ -173,7 +173,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
const b3ConvexPolyhedronCL& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData->m_convexFaces, hitFraction, hitNormal))
{
hitBodyIndex = b;
@@ -206,7 +206,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
}
///todo: add some acceleration structure (AABBs, tree etc)
void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{
//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);