Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

cleanup of gpu rigid body (removed all Adl stuff)

Browse Source
This commit is contained in:
erwin coumans
2013-03-15 16:27:23 -07:00
parent 39dbb51f68
commit 9a7414f4e9
19 changed files with 1383 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
opencl/gpu_rigidbody/host/btGpuNarrowPhase.h Normal file
View File

@@ -0,0 +1,76 @@
#ifndef BT_GPU_NARROWPHASE_H
#define BT_GPU_NARROWPHASE_H
#include "../../gpu_sat/host/btCollidable.h"
#include "basic_initialize/btOpenCLInclude.h"
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/btVector3.h"
class btGpuNarrowPhase
{
protected:
struct btGpuNarrowPhaseInternalData* 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;
public:
btGpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct btConfig& config);
virtual ~btGpuNarrowPhase(void);
int registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes);
int registerFace(const btVector3& faceNormal, float faceConstant);
int registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices, btCollidable& col, const float* scaling);
int registerConcaveMeshShape(class objLoader* obj, btCollidable& col, const float* scaling);
//do they need to be merged?
int registerConvexHullShape(class btConvexUtility* convexPtr, btCollidable& col);
int registerConvexHullShape(btConvexUtility* utilPtr);
int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
int registerConvexHeightfield(class ConvexHeightField* convexShape,btCollidable& col);
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 readbackAllBodiesToCpu();
void getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbs, int numObjects);
cl_mem getBodiesGpu();
int getNumBodiesGpu() const;
cl_mem getBodyInertiasGpu();
int getNumBodyInertiasGpu() const;
cl_mem getCollidablesGpu();
int getNumCollidablesGpu() const;
cl_mem getContactsGpu();
int getNumContactsGpu() const;
int allocateCollidable();
btCollidable& getCollidableCpu(int collidableIndex);
const btCollidable& getCollidableCpu(int collidableIndex) const;
const struct btSapAabb& getLocalSpaceAabb(int collidableIndex) const;
};
#endif //BT_GPU_NARROWPHASE_H