dali-physics/third-party/bullet3/src/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h

   1 #ifndef B3_CPU_NARROWPHASE_H
   2 #define B3_CPU_NARROWPHASE_H
   3
   4 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
   5 #include "Bullet3Common/b3AlignedObjectArray.h"
   6 #include "Bullet3Common/b3Vector3.h"
   7 #include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
   8 #include "Bullet3Common/shared/b3Int4.h"
   9 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
  10 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
  11
  12 class b3CpuNarrowPhase
  13 {
  14 protected:
  15         struct b3CpuNarrowPhaseInternalData* m_data;
  16         int m_acceleratedCompanionShapeIndex;
  17         int m_planeBodyIndex;
  18         int m_static0Index;
  19
  20         int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
  21         int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
  22
  23 public:
  24         b3CpuNarrowPhase(const struct b3Config& config);
  25
  26         virtual ~b3CpuNarrowPhase(void);
  27
  28         int registerSphereShape(float radius);
  29         int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
  30
  31         int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
  32         int registerFace(const b3Vector3& faceNormal, float faceConstant);
  33
  34         int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
  35
  36         //do they need to be merged?
  37
  38         int registerConvexHullShape(b3ConvexUtility* utilPtr);
  39         int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
  40
  41         //int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
  42         void setObjectTransform(const float* position, const float* orientation, int bodyIndex);
  43
  44         void writeAllBodiesToGpu();
  45         void reset();
  46         void readbackAllBodiesToCpu();
  47         bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;
  48
  49         void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
  50         void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
  51
  52         //virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
  53         virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies);
  54
  55         const struct b3RigidBodyData* getBodiesCpu() const;
  56         //struct b3RigidBodyData* getBodiesCpu();
  57
  58         int getNumBodiesGpu() const;
  59
  60         int getNumBodyInertiasGpu() const;
  61
  62         const struct b3Collidable* getCollidablesCpu() const;
  63         int getNumCollidablesGpu() const;
  64
  65         /*const struct b3Contact4* getContactsCPU() const;
  66
  67
  68         int     getNumContactsGpu() const;
  69         */
  70
  71         const b3AlignedObjectArray<b3Contact4Data>& getContacts() const;
  72
  73         int getNumRigidBodies() const;
  74
  75         int allocateCollidable();
  76
  77         int getStatic0Index() const
  78         {
  79                 return m_static0Index;
  80         }
  81         b3Collidable& getCollidableCpu(int collidableIndex);
  82         const b3Collidable& getCollidableCpu(int collidableIndex) const;
  83
  84         const b3CpuNarrowPhaseInternalData* getInternalData() const
  85         {
  86                 return m_data;
  87         }
  88
  89         const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const;
  90 };
  91
  92 #endif  //B3_CPU_NARROWPHASE_H