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use int4 for broadphase pair, it allows to store persistent information in the future

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(contact cache, applied impulse/warm starting info etc)
This commit is contained in:
erwincoumans
2013-07-31 09:58:15 -07:00
parent 338118b3c6
commit 7992ff816b
19 changed files with 127 additions and 94 deletions
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4
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -1681,7 +1681,7 @@ void computeContactConvexConvex(
}
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int2>* pairs, int nPairs,
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int4>* pairs, int nPairs,
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
@@ -1719,7 +1719,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
#ifdef CHECK_ON_HOST
b3AlignedObjectArray<b3YetAnotherAabb> hostAabbs;
clAabbsWS.copyToHost(hostAabbs);
b3AlignedObjectArray<b3Int2> hostPairs;
b3AlignedObjectArray<b3Int4> hostPairs;
pairs->copyToHost(hostPairs);
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;