diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h | 72 |
1 files changed, 32 insertions, 40 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h index 05ff3fd09e..21a68de343 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h @@ -9,11 +9,10 @@ class b3GpuNarrowPhase { protected: - - struct b3GpuNarrowPhaseInternalData* m_data; + struct b3GpuNarrowPhaseInternalData* m_data; int m_acceleratedCompanionShapeIndex; int m_planeBodyIndex; - int m_static0Index; + int m_static0Index; cl_context m_context; cl_device_id m_device; @@ -23,64 +22,58 @@ protected: 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 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 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); + 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 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); - - cl_mem getBodiesGpu(); + cl_mem getBodiesGpu(); const struct b3RigidBodyData* getBodiesCpu() const; //struct b3RigidBodyData* getBodiesCpu(); - int getNumBodiesGpu() const; + int getNumBodiesGpu() const; - cl_mem getBodyInertiasGpu(); - int getNumBodyInertiasGpu() const; + cl_mem getBodyInertiasGpu(); + int getNumBodyInertiasGpu() const; - cl_mem getCollidablesGpu(); + cl_mem getCollidablesGpu(); const struct b3Collidable* getCollidablesCpu() const; - int getNumCollidablesGpu() const; + int getNumCollidablesGpu() const; const struct b3SapAabb* getLocalSpaceAabbsCpu() const; const struct b3Contact4* getContactsCPU() const; - cl_mem getContactsGpu(); - int getNumContactsGpu() const; + cl_mem getContactsGpu(); + int getNumContactsGpu() const; + + cl_mem getAabbLocalSpaceBufferGpu(); - cl_mem getAabbLocalSpaceBufferGpu(); - int getNumRigidBodies() const; int allocateCollidable(); @@ -92,18 +85,17 @@ public: b3Collidable& getCollidableCpu(int collidableIndex); const b3Collidable& getCollidableCpu(int collidableIndex) const; - const b3GpuNarrowPhaseInternalData* getInternalData() const + const b3GpuNarrowPhaseInternalData* getInternalData() const { - return m_data; + return m_data; } - b3GpuNarrowPhaseInternalData* getInternalData() + b3GpuNarrowPhaseInternalData* getInternalData() { - return m_data; + return m_data; } const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const; }; -#endif //B3_GPU_NARROWPHASE_H - +#endif //B3_GPU_NARROWPHASE_H |