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fix bug in assignment of contact constraints to solver grid (always use dynamic body to determine constraint assignment, otherwise write conflicts can occur)

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implement CPU version of narrowphase convex collision, for comparison/debug purposes
start towards cpu/gpu sync, for adding/removing bodies (work in progress)
This commit is contained in:
erwin coumans
2013-05-02 09:49:16 -07:00
parent de17d6044c
commit 6ee9eb9bb5
15 changed files with 966 additions and 59 deletions
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13
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
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@@ -454,20 +454,21 @@ static const char* solverSetup2CL= \
"__kernel\n"
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetSortDataKernel(__global Contact4* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n"
"int nContacts,\n"
"float scale,\n"
"int N_SPLIT\n"
")\n"
"int nContacts,float scale,int N_SPLIT, int staticIdx)\n"
"\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
" \n"
" if( gIdx < nContacts )\n"
" {\n"
" int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
" int aPtrAndSignBit = gContact[gIdx].m_bodyAPtrAndSignBit;\n"
"\n"
" int aIdx = abs(aPtrAndSignBit );\n"
" int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
"\n"
" int idx = (gContact[gIdx].m_bodyAPtrAndSignBit<0)? bIdx: aIdx;\n"
" bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n"
" \n"
" int idx = (aStatic)? bIdx: aIdx;\n"
" float4 p = gBodies[idx].m_pos;\n"
" int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (N_SPLIT-1);\n"
" int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (N_SPLIT-1);\n"