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#ifndef B3_GPU_GRID_BROADPHASE_H
#define B3_GPU_GRID_BROADPHASE_H
#include "b3GpuBroadphaseInterface.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
struct b3ParamsGridBroadphaseCL
{
float m_invCellSize[4];
int m_gridSize[4];
int getMaxBodiesPerCell() const
{
return m_gridSize[3];
}
void setMaxBodiesPerCell(int maxOverlap)
{
m_gridSize[3] = maxOverlap;
}
};
class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
{
protected:
cl_context m_context;
cl_device_id m_device;
cl_command_queue m_queue;
b3OpenCLArray<b3SapAabb> m_allAabbsGPU1;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU1;
b3OpenCLArray<int> m_smallAabbsMappingGPU;
b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
b3OpenCLArray<int> m_largeAabbsMappingGPU;
b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
b3AlignedObjectArray<b3Int4> m_hostPairs;
b3OpenCLArray<b3Int4> m_gpuPairs;
b3OpenCLArray<b3SortData> m_hashGpu;
b3OpenCLArray<int> m_cellStartGpu;
b3ParamsGridBroadphaseCL m_paramsCPU;
b3OpenCLArray<b3ParamsGridBroadphaseCL> m_paramsGPU;
class b3RadixSort32CL* m_sorter;
public:
b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q );
virtual ~b3GpuGridBroadphase();
static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx,cl_device_id device, cl_command_queue q)
{
return new b3GpuGridBroadphase(ctx,device,q);
}
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);
//call writeAabbsToGpu after done making all changes (createProxy etc)
virtual void writeAabbsToGpu();
virtual cl_mem getAabbBufferWS();
virtual int getNumOverlap();
virtual cl_mem getOverlappingPairBuffer();
virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU();
virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU();
virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
};
#endif //B3_GPU_GRID_BROADPHASE_H
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