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#ifndef B3_GPU_BATCHING_PGS_SOLVER_H
#define B3_GPU_BATCHING_PGS_SOLVER_H
#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "b3GpuConstraint4.h"
class b3GpuPgsContactSolver
{
protected:
int m_debugOutput;
struct b3GpuBatchingPgsSolverInternalData* m_data;
void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
inline int sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
inline int sortConstraintByBatch2(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
inline int sortConstraintByBatch3(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies, int* batchSizes);
void solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes); //const b3OpenCLArray<int>* gpuBatchSizes);
void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes); //const b3OpenCLArray<int>* gpuBatchSizes);
public:
b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity);
virtual ~b3GpuPgsContactSolver();
void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
};
#endif //B3_GPU_BATCHING_PGS_SOLVER_H
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