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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h | 105 |
1 files changed, 0 insertions, 105 deletions
diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h deleted file mode 100644 index 528be3346d..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h +++ /dev/null @@ -1,105 +0,0 @@ -#ifndef B3_CPU_NARROWPHASE_H -#define B3_CPU_NARROWPHASE_H - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Common/b3AlignedObjectArray.h" -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Common/shared/b3Int4.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" - -class b3CpuNarrowPhase -{ -protected: - - struct b3CpuNarrowPhaseInternalData* m_data; - int m_acceleratedCompanionShapeIndex; - int m_planeBodyIndex; - int m_static0Index; - - int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr,b3Collidable& col); - int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling); - -public: - - - - - b3CpuNarrowPhase(const struct b3Config& config); - - virtual ~b3CpuNarrowPhase(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); - virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies); - - - - const struct b3RigidBodyData* getBodiesCpu() const; - //struct b3RigidBodyData* getBodiesCpu(); - - int getNumBodiesGpu() const; - - - int getNumBodyInertiasGpu() const; - - - const struct b3Collidable* getCollidablesCpu() const; - int getNumCollidablesGpu() const; - - - /*const struct b3Contact4* getContactsCPU() const; - - - int getNumContactsGpu() const; - */ - - const b3AlignedObjectArray<b3Contact4Data>& getContacts() const; - - - int getNumRigidBodies() const; - - int allocateCollidable(); - - int getStatic0Index() const - { - return m_static0Index; - } - b3Collidable& getCollidableCpu(int collidableIndex); - const b3Collidable& getCollidableCpu(int collidableIndex) const; - - const b3CpuNarrowPhaseInternalData* getInternalData() const - { - return m_data; - } - - const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const; -}; - -#endif //B3_CPU_NARROWPHASE_H - |