move some files to shared folders

use b3Aabb for compound vs compound on host (for testing, towards BVH)

src/Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h

@@ -1,56 +0,0 @@
-
-#ifndef B3_COLLIDABLE_H
-#define B3_COLLIDABLE_H
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Quaternion.h"
-
-enum b3ShapeTypes
-{
-	SHAPE_HEIGHT_FIELD=1,
-
-	SHAPE_CONVEX_HULL=3,
-	SHAPE_PLANE=4,
-	SHAPE_CONCAVE_TRIMESH=5,
-	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,
-	SHAPE_SPHERE=7,
-	MAX_NUM_SHAPE_TYPES,
-};
-
-struct b3Collidable
-{
-	union {
-		int m_numChildShapes;
-		int m_bvhIndex;
-	};
-	float m_radius;
-	int m_shapeType;
-	int m_shapeIndex;
-};
-
-struct b3CollidableNew
-{
-	short int m_shapeType;
-	short int m_numShapes;
-	int m_shapeIndex;
-};
-
-struct b3GpuChildShape
-{
-	b3Vector3	m_childPosition;
-	b3Quaternion m_childOrientation;
-	int m_shapeIndex;
-	int m_unused0;
-	int m_unused1;
-	int m_unused2;
-};
-
-struct b3CompoundOverlappingPair
-{
-	int m_bodyIndexA;
-	int m_bodyIndexB;
-//	int	m_pairType;
-	int m_childShapeIndexA;
-	int m_childShapeIndexB;
-};
-#endif //B3_COLLIDABLE_H

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h

@@ -7,30 +7,18 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3ConvexUtility.h"
 #include "b3ConvexPolyhedronCL.h"
-#include "b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3Common/b3Int2.h"
-#include "Bullet3Common/b3Int4.h"
+#include "Bullet3Common/shared/b3Int2.h"
+#include "Bullet3Common/shared/b3Int4.h"
 #include "b3OptimizedBvh.h"
 #include "b3BvhInfo.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
 
 //#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
 
 
-struct b3YetAnotherAabb
-{
-	union
-	{
-		float m_min[4];
-		int m_minIndices[4];
-	};
-	union
-	{
-		float m_max[4];
-		//int m_signedMaxIndices[4];
-		//unsigned int m_unsignedMaxIndices[4];
-	};
-};
+
 
 struct GpuSatCollision
 {
@@ -89,7 +77,9 @@ struct GpuSatCollision
 			const b3OpenCLArray<b3Collidable>& gpuCollidables,
 			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
 
-			const b3OpenCLArray<b3YetAnotherAabb>& clAabbs,
+			const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
+			const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
+
            b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
            b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
            b3OpenCLArray<b3Vector3>& worldNormalsAGPU,

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h

@@ -2,34 +2,12 @@
 #define CONVEX_POLYHEDRON_CL
 
 #include "Bullet3Common/b3Transform.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 
-struct b3GpuFace
+
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL : public b3ConvexPolyhedronData
 {
-	b3Vector4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-	int m_unusedPadding1;
-	int m_unusedPadding2;
-};
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
-{
-	b3Vector3		m_localCenter;
-	b3Vector3		m_extents;
-	b3Vector3		mC;
-	b3Vector3		mE;
-
-	b3Scalar		m_radius;
-	int	m_faceOffset;
-	int m_numFaces;
-	int	m_numVertices;
-
-	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
-	int m_unused;	
-	
-
 
 	inline void project(const b3Transform& trans, const b3Vector3& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) const
 	{

src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h

@@ -10,9 +10,13 @@ static const char* primitiveContactsKernelsCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h

@@ -42,9 +42,13 @@ static const char* satClipKernelsCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"