40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
#ifndef BT_GPU_RIGIDBODY_PIPELINE_H
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#define BT_GPU_RIGIDBODY_PIPELINE_H
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#include "../../basic_initialize/b3OpenCLInclude.h"
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class b3GpuRigidBodyPipeline
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{
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protected:
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struct b3GpuRigidBodyPipelineInternalData* m_data;
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int allocateCollidable();
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public:
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b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q , class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap);
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virtual ~b3GpuRigidBodyPipeline();
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void stepSimulation(float deltaTime);
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void integrate(float timeStep);
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void setupGpuAabbsFull();
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int registerConvexPolyhedron(class b3ConvexUtility* convex);
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//int registerConvexPolyhedron(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
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//int registerSphereShape(float radius);
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//int registerPlaneShape(const btVector3& planeNormal, float planeConstant);
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//int registerConcaveMesh(btAlignedObjectArray<btVector3>* vertices, btAlignedObjectArray<int>* indices, const float* scaling);
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//int registerCompoundShape(btAlignedObjectArray<btGpuChildShape>* childShapes);
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int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData);
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cl_mem getBodyBuffer();
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int getNumBodies() const;
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};
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#endif //BT_GPU_RIGIDBODY_PIPELINE_H
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