diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h | 61 |
1 files changed, 24 insertions, 37 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h index 528be3346d..f02353c265 100644 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h @@ -12,66 +12,55 @@ class b3CpuNarrowPhase { protected: - - struct b3CpuNarrowPhaseInternalData* m_data; + struct b3CpuNarrowPhaseInternalData* m_data; int m_acceleratedCompanionShapeIndex; int m_planeBodyIndex; - int m_static0Index; + int m_static0Index; - int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr,b3Collidable& col); + int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col); int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling); public: - - - - b3CpuNarrowPhase(const struct b3Config& config); virtual ~b3CpuNarrowPhase(void); - int registerSphereShape(float radius); - int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant); + int registerSphereShape(float radius); + int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant); int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes); int registerFace(const b3Vector3& faceNormal, float faceConstant); - - int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling); - + + int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling); + //do they need to be merged? - - int registerConvexHullShape(b3ConvexUtility* utilPtr); - int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling); + + int registerConvexHullShape(b3ConvexUtility* utilPtr); + int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling); //int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu); - void setObjectTransform(const float* position, const float* orientation , int bodyIndex); + void setObjectTransform(const float* position, const float* orientation, int bodyIndex); - void writeAllBodiesToGpu(); - void reset(); - void readbackAllBodiesToCpu(); - bool getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const; + void writeAllBodiesToGpu(); + void reset(); + void readbackAllBodiesToCpu(); + bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const; - void setObjectTransformCpu(float* position, float* orientation , int bodyIndex); + void setObjectTransformCpu(float* position, float* orientation, int bodyIndex); void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex); - //virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects); virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies); - - const struct b3RigidBodyData* getBodiesCpu() const; //struct b3RigidBodyData* getBodiesCpu(); - int getNumBodiesGpu() const; + int getNumBodiesGpu() const; - - int getNumBodyInertiasGpu() const; + int getNumBodyInertiasGpu() const; - const struct b3Collidable* getCollidablesCpu() const; - int getNumCollidablesGpu() const; - + int getNumCollidablesGpu() const; /*const struct b3Contact4* getContactsCPU() const; @@ -80,8 +69,7 @@ public: */ const b3AlignedObjectArray<b3Contact4Data>& getContacts() const; - - + int getNumRigidBodies() const; int allocateCollidable(); @@ -93,13 +81,12 @@ public: b3Collidable& getCollidableCpu(int collidableIndex); const b3Collidable& getCollidableCpu(int collidableIndex) const; - const b3CpuNarrowPhaseInternalData* getInternalData() const + const b3CpuNarrowPhaseInternalData* getInternalData() const { - return m_data; + return m_data; } const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const; }; -#endif //B3_CPU_NARROWPHASE_H - +#endif //B3_CPU_NARROWPHASE_H |