diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h | 30 |
1 files changed, 12 insertions, 18 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h index 98e2a5b8c4..6ab7502af3 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h @@ -11,33 +11,27 @@ class b3GpuPgsContactSolver { protected: - int m_debugOutput; - struct b3GpuBatchingPgsSolverInternalData* m_data; + struct b3GpuBatchingPgsSolverInternalData* m_data; + + void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx); - void batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx ); - - inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies); - inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies); - inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies, int* batchSizes); - + inline int sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies); + inline int sortConstraintByBatch2(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies); + inline int sortConstraintByBatch3(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies, int* batchSizes); - - void solveContactConstraintBatchSizes( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, - b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes); + void solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, + b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes); //const b3OpenCLArray<int>* gpuBatchSizes); - void solveContactConstraint( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, - b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes); + void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, + b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes); //const b3OpenCLArray<int>* gpuBatchSizes); public: - - b3GpuPgsContactSolver(cl_context ctx,cl_device_id device, cl_command_queue q,int pairCapacity); + b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity); virtual ~b3GpuPgsContactSolver(); void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index); - }; -#endif //B3_GPU_BATCHING_PGS_SOLVER_H - +#endif //B3_GPU_BATCHING_PGS_SOLVER_H |