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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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29
opencl/gpu_sat/kernels/bvhTraversal.h
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@@ -217,7 +217,9 @@ static const char* bvhTraversalKernelCL= \
" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
" \n"
" if (shapeTypeB!=SHAPE_CONVEX_HULL &&\n"
" shapeTypeB!=SHAPE_SPHERE )\n"
" shapeTypeB!=SHAPE_SPHERE &&\n"
" shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
" )\n"
" return;\n"
"\n"
" \n"
@@ -249,12 +251,27 @@ static const char* bvhTraversalKernelCL= \
" if (isLeafNode)\n"
" {\n"
" int triangleIndex = getTriangleIndex(&rootNode);\n"
" \n"
" int pairIdx = atomic_inc(numConcavePairsOut);\n"
" if (pairIdx<maxNumConcavePairsCapacity)\n"
" if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
" {\n"
" int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,3);\n"
" concavePairsOut[pairIdx] = newPair;\n"
" int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
" int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);\n"
" for (int b=0;b<numChildrenB;b++)\n"
" {\n"
" if ((pairIdx+b)<maxNumConcavePairsCapacity)\n"
" {\n"
" int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
" int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);\n"
" concavePairsOut[pairIdx+b] = newPair;\n"
" }\n"
" }\n"
" } else\n"
" {\n"
" int pairIdx = atomic_inc(numConcavePairsOut);\n"
" if (pairIdx<maxNumConcavePairsCapacity)\n"
" {\n"
" int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);\n"
" concavePairsOut[pairIdx] = newPair;\n"
" }\n"
" }\n"
" } \n"
" curIndex++;\n"