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/RigidBody/b3Solver.h
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "b3GpuConstraint4.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
@@ -103,15 +103,15 @@ class b3Solver : public b3SolverBase
virtual ~b3Solver();
void solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* inertiaBuf,
void solveContactConstraint( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* inertiaBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches);
void solveContactConstraintHost( b3OpenCLArray<b3RigidBodyCL>* bodyBuf, b3OpenCLArray<b3InertiaCL>* shapeBuf,
void solveContactConstraintHost( b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, b3AlignedObjectArray<int>* batchSizes);
void convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
const b3OpenCLArray<b3InertiaCL>* shapeBuf,
void convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
const b3OpenCLArray<b3InertiaData>* shapeBuf,
b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
int nContacts, const ConstraintCfg& cfg );