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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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16
opencl/gpu_sat/kernels/satKernels.h
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@@ -708,6 +708,15 @@ static const char* satKernelsCL= \
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
" \n"
" int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
" \n"
"\n"
" if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))\n"
" {\n"
" return;\n"
" }\n"
"\n"
" int hasSeparatingAxis = 5;\n"
" \n"
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
@@ -1074,6 +1083,13 @@ static const char* satKernelsCL= \
" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
"\n"
" if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL)\n"
" {\n"
" concavePairs[pairIdx].w = 0;\n"
" return;\n"
" }\n"
"\n"
"\n"
"\n"
" int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
" int numActualConcaveConvexTests = 0;\n"