Coder Corner

I recently posted an article from last year, about the “sweep and prune” algorithm. I previously posted it on the Bullet forums but couldn’t upload it on CoderCorner for technical reasons.

Today, I finally found some time to put the source code together, extract it from ICE, and upload it as well. So, here it is. It’s an efficient implementation of an array-based sweep-and-prune. It should be fast. In my tests I found it faster than my previous version from OPCODE 1.3, and also slightly faster than the PhysX implementation. For technical details about this new version, please refer to the document above.

The library doesn’t support “multi-SAP” yet, I will need to find more time to seat and re-implement that in a releasable form. Oh well, later.

Click here to download

So apparently they do want to port it to CUDA. I admit I’m curious and slightly skeptical. I don’t know if they are porting the software part of the SDK to CUDA, or the hardware part. I see problems for both of them. In particular, the convex-vs-mesh algorithm in software was quite painful to write, and I would be amazed if a direct conversion actually works on a GPU.

But if it does, wow.