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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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15
opencl/gpu_rigidbody/kernels/batchingKernels.cl
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@@ -224,17 +224,20 @@ __kernel void CreateBatches( __global const Contact4* gConstraints, __global Con
aAvailable = tryWrite( ldsCheckBuffer, ea );
bAvailable = tryWrite( ldsCheckBuffer, eb );
aAvailable = (e.m_a<0)? 1: aAvailable;
bAvailable = (e.m_b<0)? 1: bAvailable;
bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);
bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);
aAvailable = (e.m_a==m_staticIdx)? 1: aAvailable;
bAvailable = (e.m_b==m_staticIdx)? 1: bAvailable;
aAvailable = aStatic? 1: aAvailable;
bAvailable = bStatic? 1: bAvailable;
bool success = (aAvailable && bAvailable);
if(success)
{
writeBuf( ldsFixedBuffer, ea );
writeBuf( ldsFixedBuffer, eb );
if (!aStatic)
writeBuf( ldsFixedBuffer, ea );
if (!bStatic)
writeBuf( ldsFixedBuffer, eb );
}
done = success;
}