2.83
Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes) Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL, Same for b3InertiaCL -> b3InertiaData
support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree. Remove constructor from b3Vector3, to make it a POD type, so it can go into a union (and more compatible with OpenCL float4) Use b3MakeVector3 instead of constructor Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h Improve PairBench a bit, show timings and #overlapping pairs. Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
move parts of collision pipeline to shared header files (work-in-progress)
share more data structures and code between OpenCL and C/C++ on CPU: move the setConstraint4/b3ConvertConstraint4 to shared code.