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add ray-convex CPU implementation, make CPU raytest default for now

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tweak/increase the b3Config values again, so it works better on the Macbook Retina GPU.
This commit is contained in:
erwin coumans
2013-06-20 00:29:09 -07:00
parent a69ba48de4
commit 531af1b394
10 changed files with 194 additions and 80 deletions
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68
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -12,73 +12,7 @@
#include "Bullet3Geometry/b3AabbUtil.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
struct b3GpuNarrowPhaseInternalData
{
b3AlignedObjectArray<b3ConvexUtility*>* m_convexData;
b3AlignedObjectArray<b3ConvexPolyhedronCL> m_convexPolyhedra;
b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
b3AlignedObjectArray<b3Vector3> m_convexVertices;
b3AlignedObjectArray<int> m_convexIndices;
b3OpenCLArray<b3ConvexPolyhedronCL>* m_convexPolyhedraGPU;
b3OpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
b3OpenCLArray<b3Vector3>* m_convexVerticesGPU;
b3OpenCLArray<int>* m_convexIndicesGPU;
b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
b3AlignedObjectArray<b3GpuChildShape> m_cpuChildShapes;
b3OpenCLArray<b3GpuChildShape>* m_gpuChildShapes;
b3AlignedObjectArray<b3GpuFace> m_convexFaces;
b3OpenCLArray<b3GpuFace>* m_convexFacesGPU;
GpuSatCollision* m_gpuSatCollision;
b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU;
//b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
//b3OpenCLArray<b3Int2>* m_planePairs;
b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU;
b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
b3AlignedObjectArray<b3RigidBodyCL>* m_bodyBufferCPU;
b3OpenCLArray<b3RigidBodyCL>* m_bodyBufferGPU;
b3AlignedObjectArray<b3InertiaCL>* m_inertiaBufferCPU;
b3OpenCLArray<b3InertiaCL>* m_inertiaBufferGPU;
int m_numAcceleratedShapes;
int m_numAcceleratedRigidBodies;
b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
b3OpenCLArray<b3Collidable>* m_collidablesGPU;
b3OpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
b3AlignedObjectArray<b3QuantizedBvhNode> m_treeNodesCPU;
b3AlignedObjectArray<b3BvhSubtreeInfo> m_subTreesCPU;
b3AlignedObjectArray<b3BvhInfo> m_bvhInfoCPU;
b3OpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
b3OpenCLArray<b3QuantizedBvhNode>* m_treeNodesGPU;
b3OpenCLArray<b3BvhSubtreeInfo>* m_subTreesGPU;
b3Config m_config;
};
#include "b3GpuNarrowPhaseInternalData.h"