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

allow multiple concave meshes, each with their own bvh

Browse Source
This commit is contained in:
erwin coumans
2013-04-19 23:30:29 -07:00
parent dd315d164d
commit fbd192f360
10 changed files with 161 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
opencl/gpu_narrowphase/host/b3ConvexHullContact.cpp
View File

@@ -38,6 +38,7 @@ typedef b3AlignedObjectArray<b3Vector3> btVertexArray;
#include "../kernels/bvhTraversal.h"
#include "../kernels/primitiveContacts.h"
#include "Bullet3Geometry/b3AabbUtil.h"
@@ -853,6 +854,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
btOpenCLArray<b3BvhInfo>* bvhInfo,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairsOut,
@@ -1077,13 +1080,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
//now perform the tree query on GPU
{
int numNodes = bvhData.size()? bvhData[0]->getQuantizedNodeArray().size() : 0;
if (numNodes)
{
int numSubTrees = subTreesGPU->size();
b3Vector3 bvhAabbMin = bvhData[0]->m_bvhAabbMin;
b3Vector3 bvhAabbMax = bvhData[0]->m_bvhAabbMax;
b3Vector3 bvhQuantization = bvhData[0]->m_bvhQuantization;
{
BT_PROFILE("m_bvhTraversalKernel");
numConcavePairs = numConcavePairsOut.at(0);
@@ -1096,10 +1097,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setBuffer( subTreesGPU->getBufferCL());
launcher.setBuffer( treeNodesGPU->getBufferCL());
launcher.setConst( bvhAabbMin);
launcher.setConst( bvhAabbMax);
launcher.setConst( bvhQuantization);
launcher.setConst(numSubTrees);
launcher.setBuffer( bvhInfo->getBufferCL());
launcher.setConst( nPairs );
launcher.setConst( maxTriConvexPairCapacity);
int num = nPairs;