dali-physics/third-party/bullet3/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h

   1
   2 #ifndef _CONVEX_HULL_CONTACT_H
   3 #define _CONVEX_HULL_CONTACT_H
   4
   5 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
   6 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
   7 #include "Bullet3Common/b3AlignedObjectArray.h"
   8
   9 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
  10 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
  11 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
  12 #include "Bullet3Common/shared/b3Int2.h"
  13 #include "Bullet3Common/shared/b3Int4.h"
  14 #include "b3OptimizedBvh.h"
  15 #include "b3BvhInfo.h"
  16 #include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
  17
  18 //#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
  19
  20 struct GpuSatCollision
  21 {
  22         cl_context m_context;
  23         cl_device_id m_device;
  24         cl_command_queue m_queue;
  25         cl_kernel m_findSeparatingAxisKernel;
  26         cl_kernel m_mprPenetrationKernel;
  27         cl_kernel m_findSeparatingAxisUnitSphereKernel;
  28
  29         cl_kernel m_findSeparatingAxisVertexFaceKernel;
  30         cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
  31
  32         cl_kernel m_findConcaveSeparatingAxisKernel;
  33         cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
  34         cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
  35
  36         cl_kernel m_findCompoundPairsKernel;
  37         cl_kernel m_processCompoundPairsKernel;
  38
  39         cl_kernel m_clipHullHullKernel;
  40         cl_kernel m_clipCompoundsHullHullKernel;
  41
  42         cl_kernel m_clipFacesAndFindContacts;
  43         cl_kernel m_findClippingFacesKernel;
  44
  45         cl_kernel m_clipHullHullConcaveConvexKernel;
  46         //      cl_kernel                               m_extractManifoldAndAddContactKernel;
  47         cl_kernel m_newContactReductionKernel;
  48
  49         cl_kernel m_bvhTraversalKernel;
  50         cl_kernel m_primitiveContactsKernel;
  51         cl_kernel m_findConcaveSphereContactsKernel;
  52
  53         cl_kernel m_processCompoundPairsPrimitivesKernel;
  54
  55         b3OpenCLArray<b3Vector3> m_unitSphereDirections;
  56
  57         b3OpenCLArray<int> m_totalContactsOut;
  58
  59         b3OpenCLArray<b3Vector3> m_sepNormals;
  60         b3OpenCLArray<float> m_dmins;
  61
  62         b3OpenCLArray<int> m_hasSeparatingNormals;
  63         b3OpenCLArray<b3Vector3> m_concaveSepNormals;
  64         b3OpenCLArray<int> m_concaveHasSeparatingNormals;
  65         b3OpenCLArray<int> m_numConcavePairsOut;
  66         b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
  67         b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
  68         b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
  69         b3OpenCLArray<int> m_numCompoundPairsOut;
  70
  71         GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q);
  72         virtual ~GpuSatCollision();
  73
  74         void computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
  75                                                                                    const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
  76                                                                                    b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
  77                                                                                    const b3OpenCLArray<b3Contact4>* oldContacts,
  78                                                                                    int maxContactCapacity,
  79                                                                                    int compoundPairCapacity,
  80                                                                                    const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
  81                                                                                    const b3OpenCLArray<b3Vector3>& vertices,
  82                                                                                    const b3OpenCLArray<b3Vector3>& uniqueEdges,
  83                                                                                    const b3OpenCLArray<b3GpuFace>& faces,
  84                                                                                    const b3OpenCLArray<int>& indices,
  85                                                                                    const b3OpenCLArray<b3Collidable>& gpuCollidables,
  86                                                                                    const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
  87
  88                                                                                    const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
  89                                                                                    const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
  90
  91                                                                                    b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
  92                                                                                    b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
  93                                                                                    b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
  94                                                                                    b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
  95                                                                                    b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
  96                                                                                    b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
  97                                                                                    b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
  98                                                                                    b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
  99                                                                                    b3OpenCLArray<b3BvhInfo>* bvhInfo,
 100                                                                                    int numObjects,
 101                                                                                    int maxTriConvexPairCapacity,
 102                                                                                    b3OpenCLArray<b3Int4>& triangleConvexPairs,
 103                                                                                    int& numTriConvexPairsOut);
 104 };
 105
 106 #endif  //_CONVEX_HULL_CONTACT_H