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change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines

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remove duplicate data in b3Contact4 (now in btContact4Data shared between CPU/C++ and OpenCL)
OpenCL kernels use #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
Increase number of batches back to 250 (from 50), need to fix this hard coded number (see https://github.com/erwincoumans/bullet3/issues/12)
Work towards GJK/EPA, in addition to SAT/clipping (early on)
This commit is contained in:
erwincoumans
2013-08-08 12:24:09 -07:00
parent 46a08e3282
commit 3bf003ace1
50 changed files with 920 additions and 2731 deletions
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22
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
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@@ -13,6 +13,7 @@ subject to the following restrictions:
*/
//Originally written by Takahiro Harada
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
#pragma OPENCL EXTENSION cl_amd_printf : enable
#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
@@ -64,22 +65,7 @@ typedef unsigned char u8;
typedef struct
{
float4 m_worldPos[4];
float4 m_worldNormal;
u32 m_coeffs;
int m_batchIdx;
int m_bodyA;//sign bit set for fixed objects
int m_bodyB;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
}Contact4;
typedef struct
{
@@ -133,7 +119,7 @@ u32 tryWrite(__local u32* buff, int idx)
}
// batching on the GPU
__kernel void CreateBatches( __global const Contact4* gConstraints, __global Contact4* gConstraintsOut,
__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,
__global const u32* gN, __global const u32* gStart,
int m_staticIdx )
{
@@ -186,8 +172,8 @@ __kernel void CreateBatches( __global const Contact4* gConstraints, __global Con
int dstIdx;
AtomInc1( ldsRingEnd, dstIdx );
int a = gConstraints[m_start+srcIdx].m_bodyA;
int b = gConstraints[m_start+srcIdx].m_bodyB;
int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;
int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;
ldsRingElem[dstIdx].m_a = (a>b)? b:a;
ldsRingElem[dstIdx].m_b = (a>b)? a:b;
ldsRingElem[dstIdx].m_idx = srcIdx;