Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add support for compound hulls against concave triangle mesh

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

29
opencl/gpu_sat/kernels/bvhTraversal.cl
View File

@@ -215,7 +215,9 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
if (shapeTypeB!=SHAPE_CONVEX_HULL &&
shapeTypeB!=SHAPE_SPHERE )
shapeTypeB!=SHAPE_SPHERE &&
shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS
)
return;
@@ -247,12 +249,27 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
if (isLeafNode)
{
int triangleIndex = getTriangleIndex(&rootNode);
int pairIdx = atomic_inc(numConcavePairsOut);
if (pairIdx<maxNumConcavePairsCapacity)
if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,3);
concavePairsOut[pairIdx] = newPair;
int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);
for (int b=0;b<numChildrenB;b++)
{
if ((pairIdx+b)<maxNumConcavePairsCapacity)
{
int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);
concavePairsOut[pairIdx+b] = newPair;
}
}
} else
{
int pairIdx = atomic_inc(numConcavePairsOut);
if (pairIdx<maxNumConcavePairsCapacity)
{
int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);
concavePairsOut[pairIdx] = newPair;
}
}
}
curIndex++;