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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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14
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
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@@ -15,6 +15,7 @@ static const char* sapCL= \
"*/\n"
"//Originally written by Erwin Coumans\n"
"\n"
"#define NEW_PAIR_MARKER -1\n"
"\n"
"typedef struct \n"
"{\n"
@@ -89,6 +90,9 @@ static const char* sapCL= \
" \n"
" myPair.x = xIndex;\n"
" myPair.y = yIndex;\n"
" myPair.z = NEW_PAIR_MARKER;\n"
" myPair.w = NEW_PAIR_MARKER;\n"
"\n"
"\n"
" int curPair = atomic_inc (pairCount);\n"
" if (curPair<maxPairs)\n"
@@ -114,7 +118,9 @@ static const char* sapCL= \
" int4 myPair;\n"
" myPair.x = aabbs[i].m_minIndices[3];\n"
" myPair.y = aabbs[j].m_minIndices[3];\n"
" \n"
" myPair.z = NEW_PAIR_MARKER;\n"
" myPair.w = NEW_PAIR_MARKER;\n"
"\n"
" int curPair = atomic_inc (pairCount);\n"
" if (curPair<maxPairs)\n"
" {\n"
@@ -178,6 +184,9 @@ static const char* sapCL= \
" int4 myPair;\n"
" myPair.x = aabbs[i].m_minIndices[3];\n"
" myPair.y = aabbs[j].m_minIndices[3];\n"
" myPair.z = NEW_PAIR_MARKER;\n"
" myPair.w = NEW_PAIR_MARKER;\n"
"\n"
" int curPair = atomic_inc (pairCount);\n"
" if (curPair<maxPairs)\n"
" {\n"
@@ -253,6 +262,9 @@ static const char* sapCL= \
" int4 myPair;\n"
" myPair.x = myAabb.m_minIndices[3];\n"
" myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];\n"
" myPair.z = NEW_PAIR_MARKER;\n"
" myPair.w = NEW_PAIR_MARKER;\n"
"\n"
" int curPair = atomic_inc (pairCount);\n"
" if (curPair<maxPairs)\n"
" {\n"