49 lines
1.0 KiB
C++
49 lines
1.0 KiB
C++
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#ifndef BT_GPU_JACOBI_SOLVER_H
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#define BT_GPU_JACOBI_SOLVER_H
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#include "../../basic_initialize/btOpenCLUtils.h"
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#include "../../gpu_sat/host/btRigidBodyCL.h"
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#include "../../gpu_sat/host/btContact4.h"
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class btTypedConstraint;
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struct btJacobiSolverInfo
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{
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int m_fixedBodyIndex;
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float m_deltaTime;
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float m_positionDrift;
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float m_positionConstraintCoeff;
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btJacobiSolverInfo()
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:m_fixedBodyIndex(0),
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m_deltaTime(1./60.f),
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m_positionDrift( 0.005f ),
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m_positionConstraintCoeff( 0.2f )
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{
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}
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};
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class btGpuJacobiSolver
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{
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protected:
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struct btGpuJacobiSolverInternalData* m_data;
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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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public:
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btGpuJacobiSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
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virtual ~btGpuJacobiSolver();
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void solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
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};
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#endif //BT_GPU_JACOBI_SOLVER_H
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