155 lines
4.0 KiB
C++
155 lines
4.0 KiB
C++
/*
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Copyright (c) 2012 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Takahiro Harada
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#pragma once
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#include <Adl/Adl.h>
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//#include <Common/Base/SyncObjects.h>
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#include "AdlMath.h"
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#include "AdlContact4.h"
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#include "AdlRigidBody.h"
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#include "../ConvexHeightFieldShape.h"
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//#include "TypeDefinition.h"
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//#include "RigidBody.h"
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//#include "ConvexHeightFieldShape.h"
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namespace adl
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{
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class ShapeBase;
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class ChNarrowphaseBase
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{
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public:
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struct Config
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{
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float m_collisionMargin;
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};
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/*
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typedef struct
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{
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// m_normal.w == height in u8
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float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
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u32 m_height4[HEIGHT_RES*HEIGHT_RES*6];
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float m_scale;
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float m_padding0;
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float m_padding1;
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float m_padding2;
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} ShapeData;
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*/
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};
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template<DeviceType TYPE>
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class ChNarrowphase : public ChNarrowphaseBase
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{
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public:
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typedef Launcher::BufferInfo BufferInfo;
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struct Data
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{
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const Device* m_device;
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Kernel* m_supportCullingKernel;
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Kernel* m_narrowphaseKernel;
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Kernel* m_narrowphaseWithPlaneKernel;
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Buffer<u32>* m_counterBuffer;
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};
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enum
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{
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N_TASKS = 4,
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HEIGHT_RES = ConvexHeightField::HEIGHT_RES,
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};
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struct ShapeData
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{
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float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
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u32 m_height4[HEIGHT_RES*HEIGHT_RES*6];
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u32 m_supportHeight4[HEIGHT_RES*HEIGHT_RES*6];
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float m_scale;
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float m_padding0;
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float m_padding1;
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float m_padding2;
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};
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struct ConstData
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{
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int m_nPairs;
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float m_collisionMargin;
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int m_capacity;
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int m_paddings[1];
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};
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static
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Data* allocate( const Device* device );
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static
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void deallocate( Data* data );
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/*
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static
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Buffer<ShapeData>* allocateShapeBuffer( const Device* device, int capacity );
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static
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void deallocateShapeBuffer( Buffer<ShapeData>* shapeBuf );
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static
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void setShape( Buffer<ShapeData>* shapeBuf, ShapeBase* shape, int idx, float collisionMargin );
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*/
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static
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ShapeDataType allocateShapeBuffer( const Device* device, int capacity );
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static
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void deallocateShapeBuffer( ShapeDataType shapeBuf );
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static
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void setShape( ShapeDataType shapeBuf, ShapeBase* shape, int idx, float collisionMargin = 0.f );
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static
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void setShape( ShapeDataType shapeBuf, ConvexHeightField* cvxShape, int idx, float collisionMargin = 0.f );
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// Run NarrowphaseKernel
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//template<bool USE_OMP>
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static
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void execute( Data* data, const Buffer<int2>* pairs, int nPairs,
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const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
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Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg );
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// Run NarrowphaseWithPlaneKernel
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//template<bool USE_OMP>
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static
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void execute( Data* data, const Buffer<int2>* pairs, int nPairs,
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const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
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const Buffer<float4>* vtxBuf, const Buffer<int4>* idxBuf,
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Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg );
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// Run SupportCullingKernel
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//template<bool USE_OMP>
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static
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int culling( Data* data, const Buffer<int2>* pairs, int nPairs, const Buffer<RigidBodyBase::Body>* bodyBuf,
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const ShapeDataType shapeBuf, const Buffer<int2>* pairsOut, const Config& cfg );
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};
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//#include <AdlPhysics/Narrowphase/ChNarrowphase.inl>
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//#include <AdlPhysics/Narrowphase/ChNarrowphaseHost.inl>
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#include "ChNarrowphase.inl"
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};
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