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#ifndef B3_GPU_JACOBI_CONTACT_SOLVER_H
#define B3_GPU_JACOBI_CONTACT_SOLVER_H
#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
//#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
//struct b3InertiaData;
//b3InertiaData
class b3TypedConstraint;
struct b3JacobiSolverInfo
{
int m_fixedBodyIndex;
float m_deltaTime;
float m_positionDrift;
float m_positionConstraintCoeff;
int m_numIterations;
b3JacobiSolverInfo()
:m_fixedBodyIndex(0),
m_deltaTime(1./60.f),
m_positionDrift( 0.005f ),
m_positionConstraintCoeff( 0.99f ),
m_numIterations(7)
{
}
};
class b3GpuJacobiContactSolver
{
protected:
struct b3GpuJacobiSolverInternalData* m_data;
cl_context m_context;
cl_device_id m_device;
cl_command_queue m_queue;
public:
b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
virtual ~b3GpuJacobiContactSolver();
void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
void solveGroupHost(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,struct b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo);
//void solveGroupHost(btRigidBodyCL* bodies,b3InertiaData* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
//b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
//void solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
//void solveGroupMixed(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
};
#endif //B3_GPU_JACOBI_CONTACT_SOLVER_H
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