Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -17,102 +17,90 @@
|
||||
|
||||
//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
|
||||
|
||||
|
||||
|
||||
|
||||
struct GpuSatCollision
|
||||
{
|
||||
cl_context m_context;
|
||||
cl_device_id m_device;
|
||||
cl_command_queue m_queue;
|
||||
cl_kernel m_findSeparatingAxisKernel;
|
||||
cl_kernel m_mprPenetrationKernel;
|
||||
cl_kernel m_findSeparatingAxisUnitSphereKernel;
|
||||
|
||||
cl_context m_context;
|
||||
cl_device_id m_device;
|
||||
cl_command_queue m_queue;
|
||||
cl_kernel m_findSeparatingAxisKernel;
|
||||
cl_kernel m_mprPenetrationKernel;
|
||||
cl_kernel m_findSeparatingAxisUnitSphereKernel;
|
||||
|
||||
cl_kernel m_findSeparatingAxisVertexFaceKernel;
|
||||
cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
|
||||
|
||||
cl_kernel m_findConcaveSeparatingAxisKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
|
||||
|
||||
|
||||
|
||||
|
||||
cl_kernel m_findCompoundPairsKernel;
|
||||
cl_kernel m_processCompoundPairsKernel;
|
||||
|
||||
cl_kernel m_clipHullHullKernel;
|
||||
cl_kernel m_clipCompoundsHullHullKernel;
|
||||
|
||||
cl_kernel m_clipFacesAndFindContacts;
|
||||
cl_kernel m_findClippingFacesKernel;
|
||||
|
||||
cl_kernel m_clipHullHullConcaveConvexKernel;
|
||||
// cl_kernel m_extractManifoldAndAddContactKernel;
|
||||
cl_kernel m_newContactReductionKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
|
||||
cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
|
||||
|
||||
cl_kernel m_bvhTraversalKernel;
|
||||
cl_kernel m_primitiveContactsKernel;
|
||||
cl_kernel m_findConcaveSphereContactsKernel;
|
||||
cl_kernel m_findCompoundPairsKernel;
|
||||
cl_kernel m_processCompoundPairsKernel;
|
||||
|
||||
cl_kernel m_clipHullHullKernel;
|
||||
cl_kernel m_clipCompoundsHullHullKernel;
|
||||
|
||||
cl_kernel m_clipFacesAndFindContacts;
|
||||
cl_kernel m_findClippingFacesKernel;
|
||||
|
||||
cl_kernel m_clipHullHullConcaveConvexKernel;
|
||||
// cl_kernel m_extractManifoldAndAddContactKernel;
|
||||
cl_kernel m_newContactReductionKernel;
|
||||
|
||||
cl_kernel m_bvhTraversalKernel;
|
||||
cl_kernel m_primitiveContactsKernel;
|
||||
cl_kernel m_findConcaveSphereContactsKernel;
|
||||
|
||||
cl_kernel m_processCompoundPairsPrimitivesKernel;
|
||||
|
||||
cl_kernel m_processCompoundPairsPrimitivesKernel;
|
||||
|
||||
b3OpenCLArray<b3Vector3> m_unitSphereDirections;
|
||||
|
||||
b3OpenCLArray<int> m_totalContactsOut;
|
||||
b3OpenCLArray<int> m_totalContactsOut;
|
||||
|
||||
b3OpenCLArray<b3Vector3> m_sepNormals;
|
||||
b3OpenCLArray<float> m_dmins;
|
||||
|
||||
b3OpenCLArray<int> m_hasSeparatingNormals;
|
||||
b3OpenCLArray<int> m_hasSeparatingNormals;
|
||||
b3OpenCLArray<b3Vector3> m_concaveSepNormals;
|
||||
b3OpenCLArray<int> m_concaveHasSeparatingNormals;
|
||||
b3OpenCLArray<int> m_numConcavePairsOut;
|
||||
b3OpenCLArray<int> m_concaveHasSeparatingNormals;
|
||||
b3OpenCLArray<int> m_numConcavePairsOut;
|
||||
b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
|
||||
b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
|
||||
b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
|
||||
b3OpenCLArray<int> m_numCompoundPairsOut;
|
||||
|
||||
b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
|
||||
b3OpenCLArray<int> m_numCompoundPairsOut;
|
||||
|
||||
GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q );
|
||||
GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q);
|
||||
virtual ~GpuSatCollision();
|
||||
|
||||
|
||||
void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs,
|
||||
const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
|
||||
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
|
||||
const b3OpenCLArray<b3Contact4>* oldContacts,
|
||||
int maxContactCapacity,
|
||||
int compoundPairCapacity,
|
||||
const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
|
||||
const b3OpenCLArray<b3Vector3>& vertices,
|
||||
const b3OpenCLArray<b3Vector3>& uniqueEdges,
|
||||
const b3OpenCLArray<b3GpuFace>& faces,
|
||||
const b3OpenCLArray<int>& indices,
|
||||
const b3OpenCLArray<b3Collidable>& gpuCollidables,
|
||||
const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
|
||||
|
||||
const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
|
||||
const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
|
||||
|
||||
b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
|
||||
b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
|
||||
b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
|
||||
b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
|
||||
b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
|
||||
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
|
||||
b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
|
||||
b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
|
||||
b3OpenCLArray<b3BvhInfo>* bvhInfo,
|
||||
int numObjects,
|
||||
int maxTriConvexPairCapacity,
|
||||
b3OpenCLArray<b3Int4>& triangleConvexPairs,
|
||||
int& numTriConvexPairsOut
|
||||
);
|
||||
void computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
|
||||
const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
|
||||
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
|
||||
const b3OpenCLArray<b3Contact4>* oldContacts,
|
||||
int maxContactCapacity,
|
||||
int compoundPairCapacity,
|
||||
const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
|
||||
const b3OpenCLArray<b3Vector3>& vertices,
|
||||
const b3OpenCLArray<b3Vector3>& uniqueEdges,
|
||||
const b3OpenCLArray<b3GpuFace>& faces,
|
||||
const b3OpenCLArray<int>& indices,
|
||||
const b3OpenCLArray<b3Collidable>& gpuCollidables,
|
||||
const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
|
||||
|
||||
const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
|
||||
const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
|
||||
|
||||
b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
|
||||
b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
|
||||
b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
|
||||
b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
|
||||
b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
|
||||
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
|
||||
b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
|
||||
b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
|
||||
b3OpenCLArray<b3BvhInfo>* bvhInfo,
|
||||
int numObjects,
|
||||
int maxTriConvexPairCapacity,
|
||||
b3OpenCLArray<b3Int4>& triangleConvexPairs,
|
||||
int& numTriConvexPairsOut);
|
||||
};
|
||||
|
||||
#endif //_CONVEX_HULL_CONTACT_H
|
||||
#endif //_CONVEX_HULL_CONTACT_H
|
||||
|
||||
Reference in New Issue
Block a user