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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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6
src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#define B3_GPU_GENERIC_CONSTRAINT_H
#include "Bullet3Common/b3Quaternion.h"
struct b3RigidBodyCL;
struct b3RigidBodyData;
enum B3_CONSTRAINT_FLAGS
{
B3_CONSTRAINT_FLAG_ENABLED=1,
@@ -121,10 +121,10 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3GpuGenericConstraint
}
///internal method used by the constraint solver, don't use them directly
void getInfo1 (unsigned int* info,const b3RigidBodyCL* bodies);
void getInfo1 (unsigned int* info,const b3RigidBodyData* bodies);
///internal method used by the constraint solver, don't use them directly
void getInfo2 (b3GpuConstraintInfo2* info, const b3RigidBodyCL* bodies);
void getInfo2 (b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies);
};