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

bugfix/improvement in batching
2013-03-20 23:37:34 -07:00
parent 9a693fb850
commit b4f9416cdf
20 changed files with 760 additions and 690 deletions
--- a/opencl/gpu_sat/kernels/satClipHullContacts.cl
+++ b/opencl/gpu_sat/kernels/satClipHullContacts.cl
@@ -1413,6 +1413,9 @@ __kernel void   clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,

 	if (i<numConcavePairs)
 	{
+		//magic value to detect that pair is invalid
+		if (concavePairsIn[i].w!=3)
+			return;

 		int bodyIndexA = concavePairsIn[i].x;
 		int bodyIndexB = concavePairsIn[i].y;