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add support for compound hulls against concave triangle mesh

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This commit is contained in:
erwin coumans
2013-04-05 18:29:58 -07:00
parent 358f4f97a2
commit c8fcf779bb
12 changed files with 361 additions and 82 deletions
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17
opencl/gpu_sat/host/ConvexHullContact.cpp
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@@ -58,7 +58,7 @@ m_totalContactsOut(m_context, m_queue)
if (1)
{
const char* src = satKernelsCL;
cl_program satProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,"","opencl/gpu_sat/kernels/sat.cl");
cl_program satProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,"","opencl/gpu_sat/kernels/sat.cl",true);
btAssert(errNum==CL_SUCCESS);
m_findSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisKernel",&errNum,satProg );
@@ -80,7 +80,7 @@ m_totalContactsOut(m_context, m_queue)
if (1)
{
const char* srcClip = satClipKernelsCL;
cl_program satClipContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,"","opencl/gpu_sat/kernels/satClipHullContacts.cl");
cl_program satClipContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,"","opencl/gpu_sat/kernels/satClipHullContacts.cl",true);
btAssert(errNum==CL_SUCCESS);
m_clipHullHullKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullKernel",&errNum,satClipContactsProg);
@@ -120,7 +120,7 @@ m_totalContactsOut(m_context, m_queue)
if (1)
{
const char* srcBvh = bvhTraversalKernelCL;
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl");
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl",true);
//cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl", true);
btAssert(errNum==CL_SUCCESS);
@@ -706,9 +706,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( concaveSepNormals.getBufferCL())
};
@@ -725,7 +724,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
}
}
numCompoundPairs = numCompoundPairsOut.at(0);
if (1)
{
BT_PROFILE("findCompoundPairsKernel");
btBufferInfoCL bInfo[] =
@@ -896,6 +897,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (numConcavePairs)
{
// printf("numConcavePairs = %d\n", numConcavePairs);
// nContacts = m_totalContactsOut.at(0);
// printf("nContacts before = %d\n", nContacts);
BT_PROFILE("clipHullHullConcaveConvexKernel");
nContacts = m_totalContactsOut.at(0);
btBufferInfoCL bInfo[] = {
@@ -907,6 +912,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( concaveSepNormals.getBufferCL()),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
@@ -918,6 +924,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
//printf("nContacts after = %d\n", nContacts);
}