98 lines
2.8 KiB
C
98 lines
2.8 KiB
C
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#ifndef _CONVEX_HULL_CONTACT_H
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#define _CONVEX_HULL_CONTACT_H
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#include "parallel_primitives/host/btOpenCLArray.h"
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#include "b3RigidBodyCL.h"
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#include "BulletCommon/btAlignedObjectArray.h"
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#include "b3ConvexUtility.h"
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#include "b3ConvexPolyhedronCL.h"
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#include "b3Collidable.h"
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#include "b3Contact4.h"
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#include "parallel_primitives/host/btInt2.h"
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#include "parallel_primitives/host/btInt4.h"
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#include "b3OptimizedBvh.h"
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//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
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struct btYetAnotherAabb
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{
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union
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{
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float m_min[4];
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int m_minIndices[4];
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};
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union
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{
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float m_max[4];
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//int m_signedMaxIndices[4];
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//unsigned int m_unsignedMaxIndices[4];
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};
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};
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struct GpuSatCollision
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{
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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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cl_kernel m_findSeparatingAxisKernel;
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cl_kernel m_findConcaveSeparatingAxisKernel;
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cl_kernel m_findCompoundPairsKernel;
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cl_kernel m_processCompoundPairsKernel;
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cl_kernel m_clipHullHullKernel;
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cl_kernel m_clipCompoundsHullHullKernel;
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cl_kernel m_clipFacesAndContactReductionKernel;
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cl_kernel m_findClippingFacesKernel;
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cl_kernel m_clipHullHullConcaveConvexKernel;
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cl_kernel m_extractManifoldAndAddContactKernel;
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cl_kernel m_newContactReductionKernel;
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cl_kernel m_bvhTraversalKernel;
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cl_kernel m_primitiveContactsKernel;
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cl_kernel m_findConcaveSphereContactsKernel;
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cl_kernel m_processCompoundPairsPrimitivesKernel;
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btOpenCLArray<int> m_totalContactsOut;
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GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q );
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virtual ~GpuSatCollision();
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void computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs,
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const btOpenCLArray<b3RigidBodyCL>* bodyBuf,
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btOpenCLArray<b3Contact4>* contactOut, int& nContacts,
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int maxContactCapacity,
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const btOpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
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const btOpenCLArray<btVector3>& vertices,
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const btOpenCLArray<btVector3>& uniqueEdges,
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const btOpenCLArray<btGpuFace>& faces,
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const btOpenCLArray<int>& indices,
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const btOpenCLArray<b3Collidable>& gpuCollidables,
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const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
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const btOpenCLArray<btYetAnotherAabb>& clAabbs,
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btOpenCLArray<btVector3>& worldVertsB1GPU,
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btOpenCLArray<btInt4>& clippingFacesOutGPU,
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btOpenCLArray<btVector3>& worldNormalsAGPU,
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btOpenCLArray<btVector3>& worldVertsA1GPU,
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btOpenCLArray<btVector3>& worldVertsB2GPU,
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btAlignedObjectArray<class b3OptimizedBvh*>& bvhData,
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btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
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btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
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int numObjects,
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int maxTriConvexPairCapacity,
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btOpenCLArray<btInt4>& triangleConvexPairs,
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int& numTriConvexPairsOut
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);
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};
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#endif //_CONVEX_HULL_CONTACT_H
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