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add support for BVH acceleration for concave trianglemesh collision against convex hulls

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bugfix/improvement in batching
This commit is contained in:
erwin coumans
2013-03-20 23:37:34 -07:00
parent 9a693fb850
commit b4f9416cdf
20 changed files with 760 additions and 690 deletions
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14
opencl/gpu_rigidbody/host/Solver.cpp
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@@ -818,9 +818,10 @@ void Solver::sortContacts( const btOpenCLArray<btRigidBodyCL>* bodyBuf,
*/
void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* nNative, btOpenCLArray<unsigned int>* offsetsNative, int staticIdx )
void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* nNative, btOpenCLArray<unsigned int>* offsetsNative, int staticIdx )
{
int numWorkItems = 64*N_SPLIT*N_SPLIT;
{
BT_PROFILE("batch generation");
@@ -829,7 +830,7 @@ void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts,
cdata.y = 0;
cdata.z = staticIdx;
int numWorkItems = 64*N_SPLIT*N_SPLIT;
#ifdef BATCH_DEBUG
SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
adl::btOpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device,numWorkItems);
@@ -837,12 +838,14 @@ void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts,
gpuDebugInfo.write(debugInfo,numWorkItems);
#endif
btBufferInfoCL bInfo[] = {
btBufferInfoCL( contacts->getBufferCL() ),
btBufferInfoCL( m_contactBuffer->getBufferCL() ),
btBufferInfoCL( nNative->getBufferCL() ),
btBufferInfoCL( offsetsNative->getBufferCL() )
btBufferInfoCL( offsetsNative->getBufferCL() ),
#ifdef BATCH_DEBUG
, btBufferInfoCL(&gpuDebugInfo)
#endif
@@ -899,7 +902,8 @@ void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts,
btAssert(m_contactBuffer->size()==nContacts);
//contacts->copyFromOpenCLArray( *m_contactBuffer);
//clFinish(m_queue);//needed?
}