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add re-usable createGraphicsSphere method in GpuDemo.

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introduce and use maxContactCapacity (needs to be fixed in various other contact kernels)
implement sphere versus trimesh
disable new/sequential GPU batching (only uses 1 thread in a warp, slow but works on NVIDIA/Apple OpenCL)
This commit is contained in:
erwin coumans
2013-04-04 17:54:45 -07:00
parent 733572e625
commit 358f4f97a2
15 changed files with 1008 additions and 139 deletions
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7
opencl/gpu_sat/kernels/bvhTraversal.cl
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@@ -5,6 +5,7 @@
#define SHAPE_CONCAVE_TRIMESH 5
#define TRIANGLE_NUM_CONVEX_FACES 5
#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6
#define SHAPE_SPHERE 7
typedef unsigned int u32;
@@ -211,9 +212,13 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)
return;
if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL)
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
if (shapeTypeB!=SHAPE_CONVEX_HULL &&
shapeTypeB!=SHAPE_SPHERE )
return;
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);