more work towards CPU version

src/Bullet3OpenCL/RigidBody/b3Config.h

@@ -1,41 +0,0 @@
-#ifndef B3_CONFIG_H
-#define B3_CONFIG_H
-
-struct	b3Config
-{
-	int	m_maxConvexBodies;
-	int	m_maxConvexShapes;
-	int	m_maxBroadphasePairs;
-	int m_maxContactCapacity;
-	int m_compoundPairCapacity;
-
-	int m_maxVerticesPerFace;
-	int m_maxFacesPerShape;
-	int	m_maxConvexVertices;
-	int m_maxConvexIndices;
-	int m_maxConvexUniqueEdges;
-	
-	int	m_maxCompoundChildShapes;
-	
-	int m_maxTriConvexPairCapacity;
-
-	b3Config()
-		:m_maxConvexBodies(32*1024),
-		m_maxVerticesPerFace(64),
-		m_maxFacesPerShape(12),
-		m_maxConvexVertices(8192),
-		m_maxConvexIndices(81920),
-		m_maxConvexUniqueEdges(8192),
-		m_maxCompoundChildShapes(8192),
-		m_maxTriConvexPairCapacity(256*1024)
-	{
-		m_maxConvexShapes = m_maxConvexBodies;
-		m_maxBroadphasePairs = 16*m_maxConvexBodies;
-		m_maxContactCapacity = m_maxBroadphasePairs;
-		m_compoundPairCapacity = 1024*1024;
-	}
-};
-
-
-#endif//B3_CONFIG_H
-

src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp

@@ -15,7 +15,7 @@ bool gpuSortContactsDeterminism = true;
 #include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
 #include <string.h>
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "b3Solver.h"
 
 

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp

@@ -6,7 +6,7 @@
 #include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h"
 #include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
 #include <string.h>
-#include "b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h"
 #include "Bullet3Geometry/b3AabbUtil.h"
@@ -14,7 +14,7 @@
 
 #include "b3GpuNarrowPhaseInternalData.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
-
+#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 
 
 
@@ -264,7 +264,7 @@ int		b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float pl
 }
 
 
-int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* convexPtr,b3Collidable& col)
+int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr,b3Collidable& col)
 {
 
 	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
@@ -376,7 +376,7 @@ int		b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
 		localCenter*= (1.f/utilPtr->m_vertices.size());
 		utilPtr->m_localCenter = localCenter;
 
-		col.m_shapeIndex = registerConvexHullShape(utilPtr,col);
+		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr,col);
 	}
 
 	if (col.m_shapeIndex>=0)

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h

@@ -19,7 +19,7 @@ protected:
 	cl_device_id m_device;
 	cl_command_queue m_queue;
 
-	int registerConvexHullShape(class b3ConvexUtility* convexPtr, b3Collidable& col);
+	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
 	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
 
 public:

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h

@@ -4,7 +4,7 @@
 
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h"
-#include "b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 
 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"

src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp

@@ -48,7 +48,7 @@ bool dumpContactStats = false;
 #include "b3GpuBatchingPgsSolver.h"
 #include "b3Solver.h"
 
-#include "b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
 
 

src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h

@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define B3_GPU_RIGIDBODY_PIPELINE_H
 
 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
-#include "b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3OpenCL/Raycast/b3RaycastInfo.h"

src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h

@@ -25,7 +25,7 @@ subject to the following restrictions:
 
 #include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
-#include "b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"