Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add gjk/epa (host only), possibly improve convex-convex with many edge-edge tests

Browse Source 
more preparation towards persistent/incremental contact cache
This commit is contained in:
erwincoumans
2013-07-31 23:22:43 -07:00
parent 7992ff816b
commit 34de49d8a4
24 changed files with 3020 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
View File

@@ -13,6 +13,7 @@ subject to the following restrictions:
*/
//Originally written by Erwin Coumans
#define NEW_PAIR_MARKER -1
typedef struct
{
@@ -87,6 +88,9 @@ __kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAa
myPair.x = xIndex;
myPair.y = yIndex;
myPair.z = NEW_PAIR_MARKER;
myPair.w = NEW_PAIR_MARKER;
int curPair = atomic_inc (pairCount);
if (curPair<maxPairs)
@@ -112,7 +116,9 @@ __kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, vola
int4 myPair;
myPair.x = aabbs[i].m_minIndices[3];
myPair.y = aabbs[j].m_minIndices[3];
myPair.z = NEW_PAIR_MARKER;
myPair.w = NEW_PAIR_MARKER;
int curPair = atomic_inc (pairCount);
if (curPair<maxPairs)
{
@@ -176,6 +182,9 @@ __kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volat
int4 myPair;
myPair.x = aabbs[i].m_minIndices[3];
myPair.y = aabbs[j].m_minIndices[3];
myPair.z = NEW_PAIR_MARKER;
myPair.w = NEW_PAIR_MARKER;
int curPair = atomic_inc (pairCount);
if (curPair<maxPairs)
{
@@ -251,6 +260,9 @@ __kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aa
int4 myPair;
myPair.x = myAabb.m_minIndices[3];
myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
myPair.z = NEW_PAIR_MARKER;
myPair.w = NEW_PAIR_MARKER;
int curPair = atomic_inc (pairCount);
if (curPair<maxPairs)
{