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support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree.

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Remove constructor from b3Vector3,  to make it a POD type, so it can go into a union (and more compatible with OpenCL float4)
Use b3MakeVector3 instead of constructor
Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
Improve PairBench a bit, show timings and #overlapping pairs.
Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
This commit is contained in:
erwincoumans
2013-08-20 03:19:59 -07:00
parent 41ba48b10d
commit 677722bba3
62 changed files with 1827 additions and 564 deletions
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4
src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
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@@ -36,9 +36,9 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
//float& getNPoints() { return m_worldNormal[3]; }
int getNPoints() const { return (int) m_worldNormalOnB[3]; }
int getNPoints() const { return (int) m_worldNormalOnB.w; }
float getPenetration(int idx) const { return m_worldPosB[idx][3]; }
float getPenetration(int idx) const { return m_worldPosB[idx].w; }
bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
};