Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 95 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
new file mode 100644
index 0000000000..8a7f1ea859
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
@@ -0,0 +1,95 @@
+
+#ifndef B3_GPU_NARROWPHASE_INTERNAL_DATA_H
+#define B3_GPU_NARROWPHASE_INTERNAL_DATA_H
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+
+#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Common/b3Vector3.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
+#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
+
+#include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
+#include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
+#include "Bullet3Common/shared/b3Int4.h"
+#include "Bullet3Common/shared/b3Int2.h"
+
+
+class b3ConvexUtility;
+
+struct b3GpuNarrowPhaseInternalData
+{
+	b3AlignedObjectArray<b3ConvexUtility*>* m_convexData;
+    
+	b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
+	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
+	b3AlignedObjectArray<b3Vector3> m_convexVertices;
+	b3AlignedObjectArray<int> m_convexIndices;
+    
+	b3OpenCLArray<b3ConvexPolyhedronData>* m_convexPolyhedraGPU;
+	b3OpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
+	b3OpenCLArray<b3Vector3>* m_convexVerticesGPU;
+	b3OpenCLArray<int>* m_convexIndicesGPU;
+    
+    b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
+    b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
+    b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
+    b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
+    b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
+    
+	b3AlignedObjectArray<b3GpuChildShape> m_cpuChildShapes;
+	b3OpenCLArray<b3GpuChildShape>*	m_gpuChildShapes;
+    
+	b3AlignedObjectArray<b3GpuFace> m_convexFaces;
+	b3OpenCLArray<b3GpuFace>* m_convexFacesGPU;
+    
+	struct GpuSatCollision*	m_gpuSatCollision;
+	    
+	
+	b3OpenCLArray<b3Int4>*			m_triangleConvexPairs;
+    
+	
+	b3OpenCLArray<b3Contact4>* m_pBufContactBuffersGPU[2];
+	int	m_currentContactBuffer;
+	b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
+	
+    
+	b3AlignedObjectArray<b3RigidBodyData>* m_bodyBufferCPU;
+	b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
+    
+	b3AlignedObjectArray<b3InertiaData>*	m_inertiaBufferCPU;
+	b3OpenCLArray<b3InertiaData>*	m_inertiaBufferGPU;
+    
+	int m_numAcceleratedShapes;
+	int m_numAcceleratedRigidBodies;
+    
+	b3AlignedObjectArray<b3Collidable>	m_collidablesCPU;
+	b3OpenCLArray<b3Collidable>*	m_collidablesGPU;
+
+	b3OpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
+	b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
+
+	b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
+	b3AlignedObjectArray<class b3TriangleIndexVertexArray*> m_meshInterfaces;
+
+	b3AlignedObjectArray<b3QuantizedBvhNode>	m_treeNodesCPU;
+	b3AlignedObjectArray<b3BvhSubtreeInfo>	m_subTreesCPU;
+
+	b3AlignedObjectArray<b3BvhInfo>	m_bvhInfoCPU;
+	b3OpenCLArray<b3BvhInfo>*			m_bvhInfoGPU;
+	
+	b3OpenCLArray<b3QuantizedBvhNode>*	m_treeNodesGPU;
+	b3OpenCLArray<b3BvhSubtreeInfo>*	m_subTreesGPU;
+	
+
+	b3Config	m_config;
+    
+};
+
+#endif //B3_GPU_NARROWPHASE_INTERNAL_DATA_H