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fix compound-compound tree/tree collision on the host side (still need to implement it for all cases, and on GPU/OpenCL)

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erwincoumans
2013-08-16 10:33:38 -07:00
parent 58eaa609e0
commit 41ba48b10d
1 changed files with 9 additions and 4 deletions
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13
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -1531,13 +1531,13 @@ __kernel void findCompoundPairsKernel(
{ {
int nodeAleftChild = node.x+1; int nodeAleftChild = node.x+1;
bool isNodeALeftChildLeaf = treeNodesCPU[node.x+1].isLeafNode(); bool isNodeALeftChildLeaf = treeNodesCPU[node.x+1].isLeafNode();
int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x + treeNodesCPU[node.x+1].getEscapeIndex(); int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + treeNodesCPU[node.x+1].getEscapeIndex();
if(isInternalB) if(isInternalB)
{ {
int nodeBleftChild = node.y+1; int nodeBleftChild = node.y+1;
bool isNodeBLeftChildLeaf = treeNodesCPU[node.y+1].isLeafNode(); bool isNodeBLeftChildLeaf = treeNodesCPU[node.y+1].isLeafNode();
int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y + treeNodesCPU[node.y+1].getEscapeIndex(); int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + treeNodesCPU[node.y+1].getEscapeIndex();
nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild); nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);
nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild); nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);
@@ -1556,7 +1556,7 @@ __kernel void findCompoundPairsKernel(
{ {
int nodeBleftChild = node.y+1; int nodeBleftChild = node.y+1;
bool isNodeBLeftChildLeaf = treeNodesCPU[node.y+1].isLeafNode(); bool isNodeBLeftChildLeaf = treeNodesCPU[node.y+1].isLeafNode();
int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y + treeNodesCPU[node.y+1].getEscapeIndex(); int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + treeNodesCPU[node.y+1].getEscapeIndex();
nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild); nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);
nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild); nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);
} }
@@ -2060,7 +2060,7 @@ void computeContactCompoundCompound(int pairIndex,
b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut; b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
int numCompoundPairsOut=0; int numCompoundPairsOut=0;
int maxNumCompoundPairsCapacity = 1024; int maxNumCompoundPairsCapacity = 8192;//1024;
cpuCompoundPairsOut.resize(maxNumCompoundPairsCapacity); cpuCompoundPairsOut.resize(maxNumCompoundPairsCapacity);
// work-in-progress // work-in-progress
@@ -2083,6 +2083,11 @@ void computeContactCompoundCompound(int pairIndex,
bvhInfoCPU bvhInfoCPU
); );
if (numCompoundPairsOut>maxNumCompoundPairsCapacity)
{
b3Error("numCompoundPairsOut exceeded maxNumCompoundPairsCapacity (%d)\n",maxNumCompoundPairsCapacity);
numCompoundPairsOut=maxNumCompoundPairsCapacity;
}
b3AlignedObjectArray<b3Float4> cpuCompoundSepNormalsOut; b3AlignedObjectArray<b3Float4> cpuCompoundSepNormalsOut;
b3AlignedObjectArray<int> cpuHasCompoundSepNormalsOut; b3AlignedObjectArray<int> cpuHasCompoundSepNormalsOut;
cpuCompoundSepNormalsOut.resize(numCompoundPairsOut); cpuCompoundSepNormalsOut.resize(numCompoundPairsOut);