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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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6
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -276,6 +276,12 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
numContacts = m_data->m_narrowphase->getNumContactsGpu();
if (useDbvt)
{
///store the cached information (contact locations in the 'z' component)
B3_PROFILE("m_overlappingPairsGPU->copyToHost");
m_data->m_overlappingPairsGPU->copyToHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
}
if (dumpContactStats && numContacts)
{
m_data->m_narrowphase->getContactsGpu();