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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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12
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
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@@ -887,7 +887,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void extractManifoldAndAddContactKernel(__global const int2* pairs, \n"
"__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const float4* closestPointsWorld,\n"
" __global const float4* separatingNormalsWorld,\n"
@@ -962,7 +962,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void clipHullHullKernel( __global const int2* pairs, \n"
"__kernel void clipHullHullKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"
@@ -1194,7 +1194,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void sphereSphereCollisionKernel( __global const int2* pairs, \n"
"__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const float4* separatingNormals,\n"
@@ -1679,7 +1679,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void findClippingFacesKernel( __global const int2* pairs,\n"
"__kernel void findClippingFacesKernel( __global const int4* pairs,\n"
" __global const BodyData* rigidBodies,\n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes,\n"
@@ -1742,7 +1742,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void clipFacesAndContactReductionKernel( __global const int2* pairs,\n"
"__kernel void clipFacesAndContactReductionKernel( __global const int4* pairs,\n"
" __global const BodyData* rigidBodies,\n"
" __global const float4* separatingNormals,\n"
" __global const int* hasSeparatingAxis,\n"
@@ -1855,7 +1855,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void newContactReductionKernel( __global const int2* pairs,\n"
"__kernel void newContactReductionKernel( __global const int4* pairs,\n"
" __global const BodyData* rigidBodies,\n"
" __global const float4* separatingNormals,\n"
" __global const int* hasSeparatingAxis,\n"