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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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opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.h
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@@ -15,7 +15,7 @@ protected:
struct btGpuBatchingPgsSolverInternalData* m_data;
void batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* n, btOpenCLArray<unsigned int>* offsets, int staticIdx );
inline int sortConstraintByBatch( btContact4* cs, int n, int simdWidth , int staticIdx);
inline int sortConstraintByBatch( btContact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
void solveContactConstraint( const btOpenCLArray<btRigidBodyCL>* bodyBuf, const btOpenCLArray<btInertiaCL>* shapeBuf,
btOpenCLArray<btGpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations);