diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h | 50 |
1 files changed, 24 insertions, 26 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h index ec0e3f73d6..00bc544f02 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h @@ -19,7 +19,6 @@ subject to the following restrictions: struct b3Contact4; struct b3ContactPoint; - class b3Dispatcher; #include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h" @@ -38,41 +37,40 @@ class b3GpuPgsConstraintSolver protected: int m_staticIdx; struct b3GpuPgsJacobiSolverInternalData* m_gpuData; - protected: - b3AlignedObjectArray<b3GpuSolverBody> m_tmpSolverBodyPool; - b3GpuConstraintArray m_tmpSolverContactConstraintPool; - b3GpuConstraintArray m_tmpSolverNonContactConstraintPool; - b3GpuConstraintArray m_tmpSolverContactFrictionConstraintPool; - b3GpuConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; + +protected: + b3AlignedObjectArray<b3GpuSolverBody> m_tmpSolverBodyPool; + b3GpuConstraintArray m_tmpSolverContactConstraintPool; + b3GpuConstraintArray m_tmpSolverNonContactConstraintPool; + b3GpuConstraintArray m_tmpSolverContactFrictionConstraintPool; + b3GpuConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; b3AlignedObjectArray<unsigned int> m_tmpConstraintSizesPool; - - bool m_usePgs; - void averageVelocities(); + bool m_usePgs; + void averageVelocities(); - int m_maxOverrideNumSolverIterations; + int m_maxOverrideNumSolverIterations; - int m_numSplitImpulseRecoveries; + int m_numSplitImpulseRecoveries; -// int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias); - void initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb); + // int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias); + void initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb); public: - b3GpuPgsConstraintSolver (cl_context ctx, cl_device_id device, cl_command_queue queue,bool usePgs); - virtual~b3GpuPgsConstraintSolver (); - - virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1,int numConstraints,const b3ContactSolverInfo& infoGlobal); - virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); + b3GpuPgsConstraintSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, bool usePgs); + virtual ~b3GpuPgsConstraintSolver(); + virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1, int numConstraints, const b3ContactSolverInfo& infoGlobal); + virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal); + b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal); - b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - void solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, - int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints); + b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal); + void solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, + int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints); - int sortConstraintByBatch3( struct b3BatchConstraint* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies); - void recomputeBatches(); + int sortConstraintByBatch3(struct b3BatchConstraint* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies); + void recomputeBatches(); }; -#endif //B3_GPU_PGS_CONSTRAINT_SOLVER_H +#endif //B3_GPU_PGS_CONSTRAINT_SOLVER_H |