6ee9eb9bb5
implement CPU version of narrowphase convex collision, for comparison/debug purposes start towards cpu/gpu sync, for adding/removing bodies (work in progress)
114 lines
2.3 KiB
C++
114 lines
2.3 KiB
C++
#ifndef B3_GPU_DYNAMICS_WORLD_H
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#define B3_GPU_DYNAMICS_WORLD_H
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#include "LinearMath/btVector3.h"
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class btRigidBody;
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class btCollisionObject;
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struct b3GpuInternalData;//use this struct to avoid 'leaking' all OpenCL headers into clients code base
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class CLPhysicsDemo;
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class btActionInterface;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
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class b3GpuDynamicsWorld : public btDynamicsWorld
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{
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btAlignedObjectArray<const class btCollisionShape*> m_uniqueShapes;
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btAlignedObjectArray<int> m_uniqueShapeMapping;
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class b3GpuRigidBodyPipeline* m_rigidBodyPipeline;
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class b3GpuNarrowPhase* m_np;
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class b3GpuSapBroadphase* m_bp;
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btVector3 m_gravity;
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bool m_cpuGpuSync;
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int findOrRegisterCollisionShape(const btCollisionShape* colShape);
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public:
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b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline);
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virtual ~b3GpuDynamicsWorld();
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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virtual void synchronizeMotionStates()
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{
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btAssert(0);
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}
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void debugDrawWorld() {}
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void setGravity(const btVector3& gravity);
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void addRigidBody(btRigidBody* body);
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void removeCollisionObject(btCollisionObject* colObj);
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void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
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btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();
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const btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray() const;
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btVector3 getGravity () const
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{
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return m_gravity;
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}
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virtual void addRigidBody(btRigidBody* body, short group, short mask)
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{
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addRigidBody(body);
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}
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virtual void removeRigidBody(btRigidBody* body)
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{
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btAssert(0);
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}
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virtual void addAction(btActionInterface* action)
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{
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btAssert(0);
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}
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virtual void removeAction(btActionInterface* action)
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{
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btAssert(0);
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}
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virtual void setConstraintSolver(btConstraintSolver* solver)
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{
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btAssert(0);
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}
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virtual btConstraintSolver* getConstraintSolver()
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{
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btAssert(0);
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return 0;
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}
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virtual void clearForces()
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{
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btAssert(0);
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}
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virtual btDynamicsWorldType getWorldType() const
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{
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return BT_GPU_DYNAMICS_WORLD;
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}
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};
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#endif //B3_GPU_DYNAMICS_WORLD_H
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