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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.h
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@@ -226,17 +226,20 @@ static const char* batchingKernelsCL= \
" aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
" bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
"\n"
" aAvailable = (e.m_a<0)? 1: aAvailable;\n"
" bAvailable = (e.m_b<0)? 1: bAvailable;\n"
" bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
" bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
" \n"
" aAvailable = (e.m_a==m_staticIdx)? 1: aAvailable;\n"
" bAvailable = (e.m_b==m_staticIdx)? 1: bAvailable;\n"
" aAvailable = aStatic? 1: aAvailable;\n"
" bAvailable = bStatic? 1: bAvailable;\n"
"\n"
" bool success = (aAvailable && bAvailable);\n"
" if(success)\n"
" {\n"
" writeBuf( ldsFixedBuffer, ea );\n"
" writeBuf( ldsFixedBuffer, eb );\n"
" \n"
" if (!aStatic)\n"
" writeBuf( ldsFixedBuffer, ea );\n"
" if (!bStatic)\n"
" writeBuf( ldsFixedBuffer, eb );\n"
" }\n"
" done = success;\n"
" }\n"