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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h | 118 |
1 files changed, 0 insertions, 118 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h b/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h deleted file mode 100644 index e24c1579c6..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h +++ /dev/null @@ -1,118 +0,0 @@ - -#ifndef _CONVEX_HULL_CONTACT_H -#define _CONVEX_HULL_CONTACT_H - -#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Common/b3AlignedObjectArray.h" - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h" -#include "Bullet3Common/shared/b3Int2.h" -#include "Bullet3Common/shared/b3Int4.h" -#include "b3OptimizedBvh.h" -#include "b3BvhInfo.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" - -//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h" - - - - -struct GpuSatCollision -{ - cl_context m_context; - cl_device_id m_device; - cl_command_queue m_queue; - cl_kernel m_findSeparatingAxisKernel; - cl_kernel m_mprPenetrationKernel; - cl_kernel m_findSeparatingAxisUnitSphereKernel; - - - cl_kernel m_findSeparatingAxisVertexFaceKernel; - cl_kernel m_findSeparatingAxisEdgeEdgeKernel; - - cl_kernel m_findConcaveSeparatingAxisKernel; - cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel; - cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel; - - - - - cl_kernel m_findCompoundPairsKernel; - cl_kernel m_processCompoundPairsKernel; - - cl_kernel m_clipHullHullKernel; - cl_kernel m_clipCompoundsHullHullKernel; - - cl_kernel m_clipFacesAndFindContacts; - cl_kernel m_findClippingFacesKernel; - - cl_kernel m_clipHullHullConcaveConvexKernel; -// cl_kernel m_extractManifoldAndAddContactKernel; - cl_kernel m_newContactReductionKernel; - - cl_kernel m_bvhTraversalKernel; - cl_kernel m_primitiveContactsKernel; - cl_kernel m_findConcaveSphereContactsKernel; - - cl_kernel m_processCompoundPairsPrimitivesKernel; - - b3OpenCLArray<b3Vector3> m_unitSphereDirections; - - b3OpenCLArray<int> m_totalContactsOut; - - b3OpenCLArray<b3Vector3> m_sepNormals; - b3OpenCLArray<float> m_dmins; - - b3OpenCLArray<int> m_hasSeparatingNormals; - b3OpenCLArray<b3Vector3> m_concaveSepNormals; - b3OpenCLArray<int> m_concaveHasSeparatingNormals; - b3OpenCLArray<int> m_numConcavePairsOut; - b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs; - b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals; - b3OpenCLArray<int> m_gpuHasCompoundSepNormals; - b3OpenCLArray<int> m_numCompoundPairsOut; - - - GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q ); - virtual ~GpuSatCollision(); - - - void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs, - const b3OpenCLArray<b3RigidBodyData>* bodyBuf, - b3OpenCLArray<b3Contact4>* contactOut, int& nContacts, - const b3OpenCLArray<b3Contact4>* oldContacts, - int maxContactCapacity, - int compoundPairCapacity, - const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData, - const b3OpenCLArray<b3Vector3>& vertices, - const b3OpenCLArray<b3Vector3>& uniqueEdges, - const b3OpenCLArray<b3GpuFace>& faces, - const b3OpenCLArray<int>& indices, - const b3OpenCLArray<b3Collidable>& gpuCollidables, - const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes, - - const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace, - const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace, - - b3OpenCLArray<b3Vector3>& worldVertsB1GPU, - b3OpenCLArray<b3Int4>& clippingFacesOutGPU, - b3OpenCLArray<b3Vector3>& worldNormalsAGPU, - b3OpenCLArray<b3Vector3>& worldVertsA1GPU, - b3OpenCLArray<b3Vector3>& worldVertsB2GPU, - b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData, - b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU, - b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU, - b3OpenCLArray<b3BvhInfo>* bvhInfo, - int numObjects, - int maxTriConvexPairCapacity, - b3OpenCLArray<b3Int4>& triangleConvexPairs, - int& numTriConvexPairsOut - ); - - -}; - -#endif //_CONVEX_HULL_CONTACT_H |