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add support for compound hull against plane

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This commit is contained in:
erwin coumans
2013-04-08 18:42:32 -07:00
parent ce5652c26a
commit e1a4400037
6 changed files with 573 additions and 123 deletions
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43
opencl/gpu_sat/kernels/primitiveContacts.cl
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@@ -507,18 +507,17 @@ void computeContactPlaneConvex(int pairIndex,
__global const btGpuFace* faces,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
int maxContactCapacity)
int maxContactCapacity,
float4 posB,
Quaternion ornB
)
{
int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];
float4 posB;
posB = rigidBodies[bodyIndexB].m_pos;
Quaternion ornB;
ornB = rigidBodies[bodyIndexB].m_quat;
float4 posA;
posA = rigidBodies[bodyIndexA].m_pos;
posA = rigidBodies[bodyIndexA].m_pos;
Quaternion ornA;
ornA = rigidBodies[bodyIndexA].m_quat;
@@ -736,9 +735,14 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
float4 posB;
posB = rigidBodies[bodyIndexB].m_pos;
Quaternion ornB;
ornB = rigidBodies[bodyIndexB].m_quat;
computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB,
rigidBodies,collidables,convexShapes,vertices,indices,
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);
return;
}
@@ -747,10 +751,15 @@ __kernel void primitiveContactsKernel( __global const int2* pairs,
collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
{
float4 posA;
posA = rigidBodies[bodyIndexA].m_pos;
Quaternion ornA;
ornA = rigidBodies[bodyIndexA].m_quat;
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
rigidBodies,collidables,convexShapes,vertices,indices,
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity);
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
return;
}
@@ -936,6 +945,24 @@ __kernel void processCompoundPairsPrimitivesKernel( __global const int4* gpuCo
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
int pairIndex = i;
if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))
{
computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB, collidableIndexA,collidableIndexB,
rigidBodies,collidables,convexShapes,vertices,indices,
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);
return;
}
if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))
{
computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA, collidableIndexB,collidableIndexA,
rigidBodies,collidables,convexShapes,vertices,indices,
faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);
return;
}
if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))
{
float4 spherePos = rigidBodies[bodyIndexB].m_pos;