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

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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
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20
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl
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@@ -13,6 +13,8 @@ subject to the following restrictions:
*/
//Originally written by Erwin Coumans
#define NEW_PAIR_MARKER -1
#define REMOVED_PAIR_MARKER -2
typedef struct
{
@@ -177,9 +179,11 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
int curPair = atomic_inc(addedHostPairsCount);
if (curPair<maxCapacity)
{
addedHostPairsGPU[curPair].x = newPair.x;
addedHostPairsGPU[curPair].y = newPair.y;
addedHostPairsGPU[curPair].z = NEW_PAIR_MARKER;
addedHostPairsGPU[curPair].w = NEW_PAIR_MARKER;
}
}
@@ -208,6 +212,8 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
removedHostPairsGPU[curPair].x = removedPair.x;
removedHostPairsGPU[curPair].y = removedPair.y;
removedHostPairsGPU[curPair].z = REMOVED_PAIR_MARKER;
removedHostPairsGPU[curPair].w = REMOVED_PAIR_MARKER;
}
}
@@ -273,6 +279,9 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
addedHostPairsGPU[curPair].x = newPair.x;
addedHostPairsGPU[curPair].y = newPair.y;
addedHostPairsGPU[curPair].z = NEW_PAIR_MARKER;
addedHostPairsGPU[curPair].w = NEW_PAIR_MARKER;
}
}
@@ -301,6 +310,8 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
removedHostPairsGPU[curPair].x = removedPair.x;
removedHostPairsGPU[curPair].y = removedPair.y;
removedHostPairsGPU[curPair].z = REMOVED_PAIR_MARKER;
removedHostPairsGPU[curPair].w = REMOVED_PAIR_MARKER;
}
}
@@ -396,7 +407,9 @@ __kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __g
int4 tmpPair;
tmpPair.x = myPairs[p].x;
tmpPair.y = myPairs[p].y;
tmpPair.z = NEW_PAIR_MARKER;
tmpPair.w = NEW_PAIR_MARKER;
pairsOut[curPair+p] = tmpPair; //flush to main memory
}
}
@@ -430,7 +443,8 @@ __kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __g
int4 tmpPair;
tmpPair.x = myPairs[p].x;
tmpPair.y = myPairs[p].y;
tmpPair.z = NEW_PAIR_MARKER;
tmpPair.w = NEW_PAIR_MARKER;
pairsOut[curPair+p] = tmpPair; //flush to main memory
}
}