bt -> b3 rename

add docs
2013-04-15 18:26:09 -07:00
parent 76e74523f6
commit faabffc23d
88 changed files with 720 additions and 6695 deletions
--- a/opencl/gpu_narrowphase/host/b3ConvexHullContact.h
+++ b/opencl/gpu_narrowphase/host/b3ConvexHullContact.h
@@ -0,0 +1,97 @@
+
+#ifndef _CONVEX_HULL_CONTACT_H
+#define _CONVEX_HULL_CONTACT_H
+
+#include "parallel_primitives/host/btOpenCLArray.h"
+#include "b3RigidBodyCL.h"
+#include "BulletCommon/btAlignedObjectArray.h"
+#include "b3ConvexUtility.h"
+#include "b3ConvexPolyhedronCL.h"
+#include "b3Collidable.h"
+#include "b3Contact4.h"
+#include "parallel_primitives/host/btInt2.h"
+#include "parallel_primitives/host/btInt4.h"
+#include "b3OptimizedBvh.h"
+
+//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
+
+
+struct btYetAnotherAabb
+{
+	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
+{
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+	cl_kernel				m_findSeparatingAxisKernel;
+	cl_kernel				m_findConcaveSeparatingAxisKernel;
+	cl_kernel				m_findCompoundPairsKernel;
+	cl_kernel				m_processCompoundPairsKernel;
+
+	cl_kernel				m_clipHullHullKernel;
+	cl_kernel				m_clipCompoundsHullHullKernel;
+    
+    cl_kernel               m_clipFacesAndContactReductionKernel;
+    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;
+    
+
+	btOpenCLArray<int>		m_totalContactsOut;
+
+	GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	virtual ~GpuSatCollision();
+	
+
+	void computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs, 
+			const btOpenCLArray<b3RigidBodyCL>* bodyBuf,
+			btOpenCLArray<b3Contact4>* contactOut, int& nContacts,
+			int maxContactCapacity,
+			const btOpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
+			const btOpenCLArray<btVector3>& vertices,
+			const btOpenCLArray<btVector3>& uniqueEdges,
+			const btOpenCLArray<btGpuFace>& faces,
+			const btOpenCLArray<int>& indices,
+			const btOpenCLArray<b3Collidable>& gpuCollidables,
+			const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
+
+			const btOpenCLArray<btYetAnotherAabb>& clAabbs,
+           btOpenCLArray<btVector3>& worldVertsB1GPU,
+           btOpenCLArray<btInt4>& clippingFacesOutGPU,
+           btOpenCLArray<btVector3>& worldNormalsAGPU,
+           btOpenCLArray<btVector3>& worldVertsA1GPU,
+           btOpenCLArray<btVector3>& worldVertsB2GPU,
+		   btAlignedObjectArray<class b3OptimizedBvh*>& bvhData,
+		   btOpenCLArray<btQuantizedBvhNode>*	treeNodesGPU,
+			btOpenCLArray<btBvhSubtreeInfo>*	subTreesGPU,
+			int numObjects,
+			int maxTriConvexPairCapacity,
+			btOpenCLArray<btInt4>& triangleConvexPairs,
+			int& numTriConvexPairsOut
+			);
+
+
+};
+
+#endif //_CONVEX_HULL_CONTACT_H