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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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4
opencl/gpu_sat/host/ConvexHullContact.h
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@@ -11,6 +11,7 @@
#include "btContact4.h"
#include "parallel_primitives/host/btInt2.h"
#include "parallel_primitives/host/btInt4.h"
#include "btOptimizedBvh.h"
//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
@@ -36,6 +37,7 @@ struct GpuSatCollision
cl_device_id m_device;
cl_command_queue m_queue;
cl_kernel m_findSeparatingAxisKernel;
cl_kernel m_findConcaveSeparatingAxisKernel;
cl_kernel m_findCompoundPairsKernel;
cl_kernel m_processCompoundPairsKernel;
@@ -76,6 +78,8 @@ struct GpuSatCollision
btOpenCLArray<btVector3>& worldVertsA1GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btAlignedObjectArray<class btOptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairs,