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add convex versus plane contact generation

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This commit is contained in:
erwin coumans
2013-04-08 15:14:39 -07:00
parent 0a721ce5a3
commit ce5652c26a
5 changed files with 347 additions and 73 deletions
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5
opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.cpp
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@@ -672,10 +672,11 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (1)
{
BT_PROFILE("GPU solveContactConstraint");
m_data->m_solverGPU->m_nIterations = 4;//10
if (gpuSolveConstraint)
{
BT_PROFILE("GPU solveContactConstraint");
m_data->m_solverGPU->solveContactConstraint(
m_data->m_bodyBufferGPU,
m_data->m_inertiaBufferGPU,
@@ -685,6 +686,8 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
else
{
BT_PROFILE("Host solveContactConstraint");
m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU,0, nContactOut ,maxNumBatches);
}