83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
#ifndef BT_GPU_NARROWPHASE_H
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#define BT_GPU_NARROWPHASE_H
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#include "../../gpu_sat/host/btCollidable.h"
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#include "basic_initialize/btOpenCLInclude.h"
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#include "BulletCommon/btAlignedObjectArray.h"
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#include "BulletCommon/btVector3.h"
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class btGpuNarrowPhase
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{
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protected:
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struct btGpuNarrowPhaseInternalData* m_data;
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int m_acceleratedCompanionShapeIndex;
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int m_planeBodyIndex;
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int m_static0Index;
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cl_context m_context;
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cl_device_id m_device;
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cl_command_queue m_queue;
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int registerConvexHullShape(class btConvexUtility* convexPtr, btCollidable& col);
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int registerConcaveMeshShape(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices, btCollidable& col, const float* scaling);
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public:
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btGpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct btConfig& config);
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virtual ~btGpuNarrowPhase(void);
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int registerSphereShape(float radius);
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int registerPlaneShape(const btVector3& planeNormal, float planeConstant);
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int registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes);
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int registerFace(const btVector3& faceNormal, float faceConstant);
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int registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices,const float* scaling);
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//do they need to be merged?
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int registerConvexHullShape(btConvexUtility* utilPtr);
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int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
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int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
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void setObjectTransform(const float* position, const float* orientation , int bodyIndex);
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void writeAllBodiesToGpu();
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void readbackAllBodiesToCpu();
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void getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
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virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbs, int numObjects);
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cl_mem getBodiesGpu();
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int getNumBodiesGpu() const;
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cl_mem getBodyInertiasGpu();
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int getNumBodyInertiasGpu() const;
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cl_mem getCollidablesGpu();
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int getNumCollidablesGpu() const;
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cl_mem getContactsGpu();
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int getNumContactsGpu() const;
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cl_mem getAabbBufferGpu();
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int allocateCollidable();
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btCollidable& getCollidableCpu(int collidableIndex);
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const btCollidable& getCollidableCpu(int collidableIndex) const;
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const struct btSapAabb& getLocalSpaceAabb(int collidableIndex) const;
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};
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#endif //BT_GPU_NARROWPHASE_H
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