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#ifndef B3_GPU_NARROWPHASE_H
#define B3_GPU_NARROWPHASE_H
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Common/b3Vector3.h"
class b3GpuNarrowPhase
{
protected:
struct b3GpuNarrowPhaseInternalData* m_data;
int m_acceleratedCompanionShapeIndex;
int m_planeBodyIndex;
int m_static0Index;
cl_context m_context;
cl_device_id m_device;
cl_command_queue m_queue;
int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
public:
b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);
virtual ~b3GpuNarrowPhase(void);
int registerSphereShape(float radius);
int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
int registerFace(const b3Vector3& faceNormal, float faceConstant);
int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling);
//do they need to be merged?
int registerConvexHullShape(b3ConvexUtility* utilPtr);
int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
void setObjectTransform(const float* position, const float* orientation , int bodyIndex);
void writeAllBodiesToGpu();
void reset();
void readbackAllBodiesToCpu();
bool getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
void setObjectTransformCpu(float* position, float* orientation , int bodyIndex);
void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
cl_mem getBodiesGpu();
const struct b3RigidBodyData* getBodiesCpu() const;
//struct b3RigidBodyData* getBodiesCpu();
int getNumBodiesGpu() const;
cl_mem getBodyInertiasGpu();
int getNumBodyInertiasGpu() const;
cl_mem getCollidablesGpu();
const struct b3Collidable* getCollidablesCpu() const;
int getNumCollidablesGpu() const;
const struct b3SapAabb* getLocalSpaceAabbsCpu() const;
const struct b3Contact4* getContactsCPU() const;
cl_mem getContactsGpu();
int getNumContactsGpu() const;
cl_mem getAabbLocalSpaceBufferGpu();
int getNumRigidBodies() const;
int allocateCollidable();
int getStatic0Index() const
{
return m_static0Index;
}
b3Collidable& getCollidableCpu(int collidableIndex);
const b3Collidable& getCollidableCpu(int collidableIndex) const;
const b3GpuNarrowPhaseInternalData* getInternalData() const
{
return m_data;
}
b3GpuNarrowPhaseInternalData* getInternalData()
{
return m_data;
}
const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
};
#endif //B3_GPU_NARROWPHASE_H
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