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#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
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