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_rigidbody/host/b3GpuNarrowPhase.h
+++ b/opencl/gpu_rigidbody/host/b3GpuNarrowPhase.h
@@ -0,0 +1,82 @@
+#ifndef BT_GPU_NARROWPHASE_H
+#define BT_GPU_NARROWPHASE_H
+
+#include "../../gpu_narrowphase/host/b3Collidable.h"
+#include "basic_initialize/b3OpenCLInclude.h"
+#include "BulletCommon/btAlignedObjectArray.h"
+#include "BulletCommon/btVector3.h"
+
+class b3GpuNarrowPhase
+{
+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;
+
+	int registerConvexHullShape(class b3ConvexUtility* convexPtr, b3Collidable& col);
+	int registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
+
+public:
+
+	
+
+
+	b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);
+
+	virtual ~b3GpuNarrowPhase(void);
+
+	int		registerSphereShape(float radius);
+	int		registerPlaneShape(const btVector3& planeNormal, float planeConstant);
+
+	int registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes);
+	int registerFace(const btVector3& faceNormal, float faceConstant);
+	
+	int	registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling);
+	
+	//do they need to be merged?
+	
+	int	registerConvexHullShape(b3ConvexUtility* utilPtr);
+	int	registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
+
+	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;
+
+	cl_mem	getAabbBufferGpu();
+	
+
+	int allocateCollidable();
+
+	b3Collidable& getCollidableCpu(int collidableIndex);
+	const b3Collidable& getCollidableCpu(int collidableIndex) const;
+
+	const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
+};
+
+#endif //BT_GPU_NARROWPHASE_H
+