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allow multiple concave meshes, each with their own bvh

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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
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31
opencl/gpu_narrowphase/kernels/bvhTraversal.cl
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@@ -21,6 +21,19 @@ typedef struct
//4 bytes
int m_escapeIndexOrTriangleIndex;
} btQuantizedBvhNode;
typedef struct
{
float4 m_aabbMin;
float4 m_aabbMax;
float4 m_quantization;
int m_numNodes;
int m_numSubTrees;
int m_nodeOffset;
int m_subTreeOffset;
} b3BvhInfo;
/*
bool isLeafNode() const
{
@@ -185,12 +198,9 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
__global btAabbCL* aabbs,
__global int4* concavePairsOut,
__global volatile int* numConcavePairsOut,
__global const btBvhSubtreeInfo* subtreeHeaders,
__global const btQuantizedBvhNode* quantizedNodes,
float4 bvhAabbMin,
float4 bvhAabbMax,
float4 bvhQuantization,
int numSubtreeHeaders,
__global const btBvhSubtreeInfo* subtreeHeadersRoot,
__global const btQuantizedBvhNode* quantizedNodesRoot,
__global const b3BvhInfo* bvhInfos,
int numPairs,
int maxNumConcavePairsCapacity)
{
@@ -220,7 +230,16 @@ __kernel void bvhTraversalKernel( __global const int2* pairs,
)
return;
b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
float4 bvhAabbMin = bvhInfo.m_aabbMin;
float4 bvhAabbMax = bvhInfo.m_aabbMax;
float4 bvhQuantization = bvhInfo.m_quantization;
int numSubtreeHeaders = bvhInfo.m_numSubTrees;
__global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
__global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);