1 files changed, 109 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
new file mode 100644
index 0000000000..05ff3fd09e
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
@@ -0,0 +1,109 @@
+#ifndef B3_GPU_NARROWPHASE_H
+#define B3_GPU_NARROWPHASE_H
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Common/b3Vector3.h"
+
+class b3GpuNarrowPhase
+{
+protected:
+
+	struct b3GpuNarrowPhaseInternalData*	m_data;
+	int m_acceleratedCompanionShapeIndex;
+	int m_planeBodyIndex;
+	int	m_static0Index;
+
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
+
+	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
+	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
+
+public:
+
+	
+
+
+	b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);
+
+	virtual ~b3GpuNarrowPhase(void);
+
+	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);
+	
+	//do they need to be merged?
+	
+	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	writeAllBodiesToGpu();
+	void  reset();
+	void	readbackAllBodiesToCpu();
+	bool	getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
+
+	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);
+	
+
+	cl_mem	getBodiesGpu();
+	const struct b3RigidBodyData* getBodiesCpu() const;
+	//struct b3RigidBodyData* getBodiesCpu();
+
+	int	getNumBodiesGpu() const;
+
+	cl_mem	getBodyInertiasGpu();
+	int	getNumBodyInertiasGpu() const;
+
+	cl_mem	getCollidablesGpu();
+	const struct b3Collidable* getCollidablesCpu() const;
+	int		getNumCollidablesGpu() const;
+
+	const struct b3SapAabb* getLocalSpaceAabbsCpu() const;
+
+	const struct b3Contact4* getContactsCPU() const;
+
+	cl_mem	getContactsGpu();
+	int	getNumContactsGpu() const;
+
+	cl_mem	getAabbLocalSpaceBufferGpu();
+	
+	int getNumRigidBodies() const;
+
+	int allocateCollidable();
+
+	int getStatic0Index() const
+	{
+		return m_static0Index;
+	}
+	b3Collidable& getCollidableCpu(int collidableIndex);
+	const b3Collidable& getCollidableCpu(int collidableIndex) const;
+
+	const b3GpuNarrowPhaseInternalData*	getInternalData() const
+	{
+			return m_data;
+	}
+
+	b3GpuNarrowPhaseInternalData*	getInternalData()
+	{
+			return m_data;
+	}
+
+	const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
+};
+
+#endif //B3_GPU_NARROWPHASE_H
+