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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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14
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
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@@ -30,6 +30,20 @@ static const char* solverUtilsCL= \
"#ifdef __cplusplus\n"
"#else\n"
" typedef float4 b3Float4;\n"
" #define b3Float4ConstArg const b3Float4\n"
" #define b3MakeFloat4 (float4)\n"
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return dot(a1, b1);\n"
" }\n"
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
" {\n"
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"