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.h
+++ b/opencl/gpu_sat/kernels/satClipHullContacts.h
@@ -1415,6 +1415,9 @@ static const char* satClipKernelsCL= \
 "\n"
 "	if (i<numConcavePairs)\n"
 "	{\n"
+"		//magic value to detect that pair is invalid\n"
+"		if (concavePairsIn[i].w!=3)\n"
+"			return;\n"
 "\n"
 "		int bodyIndexA = concavePairsIn[i].x;\n"
 "		int bodyIndexB = concavePairsIn[i].y;\n"