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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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18
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
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@@ -599,7 +599,7 @@ static const char* primitiveContactsKernelsCL= \
"\n"
"#define MAX_PLANE_CONVEX_POINTS 64\n"
"\n"
"void computeContactPlaneConvex(int pairIndex,\n"
"int computeContactPlaneConvex(int pairIndex,\n"
" int bodyIndexA, int bodyIndexB, \n"
" int collidableIndexA, int collidableIndexB, \n"
" __global const BodyData* rigidBodies, \n"
@@ -615,6 +615,7 @@ static const char* primitiveContactsKernelsCL= \
" Quaternion ornB\n"
" )\n"
"{\n"
" int resultIndex=-1;\n"
"\n"
" int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
" __global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];\n"
@@ -708,6 +709,7 @@ static const char* primitiveContactsKernelsCL= \
"\n"
" if (dstIdx < maxContactCapacity)\n"
" {\n"
" resultIndex = dstIdx;\n"
" __global Contact4* c = &globalContactsOut[dstIdx];\n"
" c->m_worldNormal = planeNormalWorld;\n"
" //c->setFrictionCoeff(0.7);\n"
@@ -737,6 +739,8 @@ static const char* primitiveContactsKernelsCL= \
" GET_NPOINTS(*c) = numReducedPoints;\n"
" }//if (dstIdx < numPairs)\n"
" } \n"
"\n"
" return resultIndex;\n"
"}\n"
"\n"
"\n"
@@ -804,7 +808,7 @@ static const char* primitiveContactsKernelsCL= \
"}\n"
"\n"
"\n"
"__kernel void primitiveContactsKernel( __global const int4* pairs, \n"
"__kernel void primitiveContactsKernel( __global int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"
@@ -847,9 +851,12 @@ static const char* primitiveContactsKernelsCL= \
" posB = rigidBodies[bodyIndexB].m_pos;\n"
" Quaternion ornB;\n"
" ornB = rigidBodies[bodyIndexB].m_quat;\n"
" computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
" int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
" rigidBodies,collidables,convexShapes,vertices,indices,\n"
" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);\n"
" if (contactIndex>=0)\n"
" pairs[pairIndex].z = contactIndex;\n"
"\n"
" return;\n"
" }\n"
"\n"
@@ -864,10 +871,13 @@ static const char* primitiveContactsKernelsCL= \
" ornA = rigidBodies[bodyIndexA].m_quat;\n"
"\n"
"\n"
" computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n"
" int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA, \n"
" rigidBodies,collidables,convexShapes,vertices,indices,\n"
" faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
"\n"
" if (contactIndex>=0)\n"
" pairs[pairIndex].z = contactIndex;\n"
"\n"
" return;\n"
" }\n"
"\n"