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implement GPU breakable constraints

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add GPU fixed constraint
fix performance issue with concave meshes (didn't clear the number of concave-convex pairs, so it increased every frame)
This commit is contained in:
erwincoumans
2013-07-17 16:11:54 -07:00
parent 6d7d2531b5
commit ab125fbb6d
11 changed files with 477 additions and 240 deletions
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4
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -1881,6 +1881,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
int concaveCapacity=maxTriConvexPairCapacity;
m_concaveSepNormals.resize(concaveCapacity);
m_numConcavePairsOut.resize(0);
m_numConcavePairsOut.push_back(0);
int compoundPairCapacity=65536*10;
@@ -1939,7 +1940,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
if (treeNodesGPU->size() && treeNodesGPU->size())
{
B3_PROFILE("m_bvhTraversalKernel");
numConcavePairs = m_numConcavePairsOut.at(0);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());