1 files changed, 118 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
new file mode 100644
index 0000000000..e24c1579c6
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
@@ -0,0 +1,118 @@
+
+#ifndef _CONVEX_HULL_CONTACT_H
+#define _CONVEX_HULL_CONTACT_H
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
+#include "Bullet3Common/shared/b3Int2.h"
+#include "Bullet3Common/shared/b3Int4.h"
+#include "b3OptimizedBvh.h"
+#include "b3BvhInfo.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+
+//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
+
+
+
+
+struct GpuSatCollision
+{
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+	cl_kernel				m_findSeparatingAxisKernel;
+	cl_kernel				m_mprPenetrationKernel;
+	cl_kernel				m_findSeparatingAxisUnitSphereKernel;
+
+
+	cl_kernel m_findSeparatingAxisVertexFaceKernel;
+	cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
+	
+	cl_kernel				m_findConcaveSeparatingAxisKernel;
+    cl_kernel				m_findConcaveSeparatingAxisVertexFaceKernel;
+    cl_kernel				m_findConcaveSeparatingAxisEdgeEdgeKernel;
+ 
+    
+    
+    
+	cl_kernel				m_findCompoundPairsKernel;
+	cl_kernel				m_processCompoundPairsKernel;
+
+	cl_kernel				m_clipHullHullKernel;
+	cl_kernel				m_clipCompoundsHullHullKernel;
+    
+    cl_kernel               m_clipFacesAndFindContacts;
+    cl_kernel               m_findClippingFacesKernel;
+    
+	cl_kernel				m_clipHullHullConcaveConvexKernel;
+//	cl_kernel				m_extractManifoldAndAddContactKernel;
+    cl_kernel               m_newContactReductionKernel;
+
+	cl_kernel				m_bvhTraversalKernel;
+	cl_kernel				m_primitiveContactsKernel;
+	cl_kernel				m_findConcaveSphereContactsKernel;
+
+	cl_kernel				m_processCompoundPairsPrimitivesKernel;
+    
+	b3OpenCLArray<b3Vector3> m_unitSphereDirections;
+
+	b3OpenCLArray<int>		m_totalContactsOut;
+
+	b3OpenCLArray<b3Vector3> m_sepNormals;
+	b3OpenCLArray<float> m_dmins;
+
+	b3OpenCLArray<int>		m_hasSeparatingNormals;
+	b3OpenCLArray<b3Vector3> m_concaveSepNormals;
+	b3OpenCLArray<int>		m_concaveHasSeparatingNormals;
+	b3OpenCLArray<int>		m_numConcavePairsOut;
+	b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
+	b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
+	b3OpenCLArray<int>		m_gpuHasCompoundSepNormals;
+	b3OpenCLArray<int>		m_numCompoundPairsOut;
+	
+
+	GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	virtual ~GpuSatCollision();
+	
+
+	void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs, 
+			const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
+			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
+			const b3OpenCLArray<b3Contact4>* oldContacts,
+			int maxContactCapacity,
+			int compoundPairCapacity,
+			const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
+			const b3OpenCLArray<b3Vector3>& vertices,
+			const b3OpenCLArray<b3Vector3>& uniqueEdges,
+			const b3OpenCLArray<b3GpuFace>& faces,
+			const b3OpenCLArray<int>& indices,
+			const b3OpenCLArray<b3Collidable>& gpuCollidables,
+			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
+
+			const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
+			const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
+
+           b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
+           b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
+           b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
+           b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
+           b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
+		   b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
+		   b3OpenCLArray<b3QuantizedBvhNode>*	treeNodesGPU,
+			b3OpenCLArray<b3BvhSubtreeInfo>*	subTreesGPU,
+			b3OpenCLArray<b3BvhInfo>*	bvhInfo,
+			int numObjects,
+			int maxTriConvexPairCapacity,
+			b3OpenCLArray<b3Int4>& triangleConvexPairs,
+			int& numTriConvexPairsOut
+			);
+
+
+};
+
+#endif //_CONVEX_HULL_CONTACT_H