Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

8
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
View File

@@ -33,7 +33,7 @@ int gEpaSeparatingAxis=0;
b3GjkPairDetector::b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2* penetrationDepthSolver)
:m_cachedSeparatingAxis(b3Scalar(0.),b3Scalar(-1.),b3Scalar(0.)),
:m_cachedSeparatingAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(-1.),b3Scalar(0.))),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_ignoreMargin(false),
@@ -159,13 +159,13 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA,
gjkDetector->m_cachedSeparatingDistance = 0.f;
b3Scalar distance=b3Scalar(0.);
b3Vector3 normalInB(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 normalInB= b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 pointOnA,pointOnB;
b3Transform localTransA = transA;
b3Transform localTransB = transB;
b3Vector3 positionOffset(0,0,0);// = (localTransA.getOrigin() + localTransB.getOrigin()) * b3Scalar(0.5);
b3Vector3 positionOffset = b3MakeVector3(0,0,0);// = (localTransA.getOrigin() + localTransB.getOrigin()) * b3Scalar(0.5);
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
@@ -202,7 +202,7 @@ bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA,
b3Scalar margin = marginA + marginB;
b3Scalar bestDeltaN = -1e30f;
b3Vector3 bestSepAxis(0,0,0);
b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
b3Vector3 bestPointOnA;
b3Vector3 bestPointOnB;