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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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src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
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@@ -75,9 +75,10 @@ struct GpuSatCollision
virtual ~GpuSatCollision();
void computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int4>* pairs, int nPairs,
void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs,
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
const b3OpenCLArray<b3Contact4>* oldContacts,
int maxContactCapacity,
int compoundPairCapacity,
const b3OpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,