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Deterministic simulation for concave and compound collision shapes: added childShapeA/B to b3Contact4 + sort on them

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Use tetrahedra instead of barrel for convex demo (until performance for edge-edge is improved)
Increased #overlapping pair capacity from 12 to 16 / objec
This commit is contained in:
erwincoumans
2013-07-17 22:42:50 -07:00
parent ab125fbb6d
commit 733f9027fb
26 changed files with 358 additions and 70 deletions
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2
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
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@@ -359,12 +359,10 @@ static const char* solveConstraintRowsCL= \
" int numRows = numConstraintRows[cid];\n"
" if (numRows)\n"
" {\n"
" // printf(\"cid=%d, breakingThreshold =%f\n\",cid,breakingThreshold);\n"
" for (int i=0;i<numRows;i++)\n"
" {\n"
" int rowIndex = rowOffsets[cid]+i;\n"
" float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
" // printf(\"rows[%d].m_appliedImpulse=%f\n\",rowIndex,rows[rowIndex].m_appliedImpulse);\n"
" if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
" {\n"
" constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"