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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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src/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
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@@ -12,7 +12,7 @@ struct b3GjkPairDetector;
inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const struct b3ConvexPolyhedronCL* hull,
const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
{
b3Vector3 supVec(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Vector3 supVec = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Scalar maxDot = b3Scalar(-B3_LARGE_FLOAT);
// Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically.