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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h | 78 |
1 files changed, 0 insertions, 78 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h deleted file mode 100644 index ec0e3f73d6..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h +++ /dev/null @@ -1,78 +0,0 @@ -/* -Copyright (c) 2013 Advanced Micro Devices, Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Originally written by Erwin Coumans - -#ifndef B3_GPU_PGS_CONSTRAINT_SOLVER_H -#define B3_GPU_PGS_CONSTRAINT_SOLVER_H - -struct b3Contact4; -struct b3ContactPoint; - - -class b3Dispatcher; - -#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h" -#include "Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h" -#include "b3GpuSolverBody.h" -#include "b3GpuSolverConstraint.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" -struct b3RigidBodyData; -struct b3InertiaData; - -#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h" -#include "b3GpuGenericConstraint.h" - -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; - - b3AlignedObjectArray<unsigned int> m_tmpConstraintSizesPool; - - - bool m_usePgs; - void averageVelocities(); - - int m_maxOverrideNumSolverIterations; - - int m_numSplitImpulseRecoveries; - -// 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); - - - 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(); -}; - -#endif //B3_GPU_PGS_CONSTRAINT_SOLVER_H |