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x() -> x or getX() or [0]

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y() -> y or getY() or [1]
z() -> z or getZ() or [2]
w() -> w or getW() or [3]

make sphere-convex and sphere-compound collision work (still issues remaining)
This commit is contained in:
erwin coumans
2013-04-03 18:27:36 -07:00
parent 8cee2e9b23
commit 4a93c2e704
23 changed files with 692 additions and 315 deletions
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12
opencl/gpu_rigidbody/host/btGpuNarrowPhase.cpp
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@@ -103,9 +103,8 @@ m_queue(queue)
m_data->m_inertiaBufferCPU = new btAlignedObjectArray<btInertiaCL>();
m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_pBufContactOutGPU = new btOpenCLArray<btContact4>(ctx,queue, config.m_maxBroadphasePairs,true);
btContact4 test = m_data->m_pBufContactOutGPU->forcedAt(0);
m_data->m_pBufContactOutGPU = new btOpenCLArray<btContact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_inertiaBufferGPU = new btOpenCLArray<btInertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new btOpenCLArray<btCollidable>(ctx,queue,config.m_maxConvexShapes);
@@ -601,9 +600,9 @@ int btGpuNarrowPhase::registerConcaveMeshShape(btAlignedObjectArray<btVector3>*
btVector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
btScalar c = -(normal.dot(vert0));
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.x();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.y();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.z();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[0] = normal.getX();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[1] = normal.getY();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[2] = normal.getZ();
m_data->m_convexFaces[convex.m_faceOffset+i].m_plane[3] = c;
int indexOffset = m_data->m_convexIndices.size();
int numIndices = 3;
@@ -718,6 +717,7 @@ void btGpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_bodyBufferGPU,
m_data->m_pBufContactOutGPU,
nContactOut,
m_data->m_config.m_maxContactCapacity,
*m_data->m_convexPolyhedraGPU,
*m_data->m_convexVerticesGPU,
*m_data->m_uniqueEdgesGPU,