diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h | 148 |
1 files changed, 68 insertions, 80 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h index e24c1579c6..53e8c4ed4d 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h @@ -17,102 +17,90 @@ //#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_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; - + + 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<int> m_totalContactsOut; b3OpenCLArray<b3Vector3> m_sepNormals; b3OpenCLArray<float> m_dmins; - b3OpenCLArray<int> m_hasSeparatingNormals; + b3OpenCLArray<int> m_hasSeparatingNormals; b3OpenCLArray<b3Vector3> m_concaveSepNormals; - b3OpenCLArray<int> m_concaveHasSeparatingNormals; - b3OpenCLArray<int> m_numConcavePairsOut; + b3OpenCLArray<int> m_concaveHasSeparatingNormals; + b3OpenCLArray<int> m_numConcavePairsOut; b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs; b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals; - b3OpenCLArray<int> m_gpuHasCompoundSepNormals; - b3OpenCLArray<int> m_numCompoundPairsOut; - + b3OpenCLArray<int> m_gpuHasCompoundSepNormals; + b3OpenCLArray<int> m_numCompoundPairsOut; - GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q ); + 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 - ); - + 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 +#endif //_CONVEX_HULL_CONTACT_H |