6ee9eb9bb5
implement CPU version of narrowphase convex collision, for comparison/debug purposes start towards cpu/gpu sync, for adding/removing bodies (work in progress)
41 lines
1.5 KiB
C++
41 lines
1.5 KiB
C++
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#ifndef B3_GPU_BATCHING_PGS_SOLVER_H
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#define B3_GPU_BATCHING_PGS_SOLVER_H
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#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
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#include "b3GpuConstraint4.h"
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class b3GpuBatchingPgsSolver
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{
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protected:
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struct b3GpuBatchingPgsSolverInternalData* m_data;
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void batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx );
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inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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void solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
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b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations);
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public:
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b3GpuBatchingPgsSolver(cl_context ctx,cl_device_id device, cl_command_queue q,int pairCapacity);
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virtual ~b3GpuBatchingPgsSolver();
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void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
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};
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#endif //B3_GPU_BATCHING_PGS_SOLVER_H
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