dali-physics/third-party/bullet3/src/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h

   1
   2 #ifndef B3_GPU_JACOBI_CONTACT_SOLVER_H
   3 #define B3_GPU_JACOBI_CONTACT_SOLVER_H
   4 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
   5 //#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
   6 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
   7
   8 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
   9 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
  10
  11 //struct b3InertiaData;
  12 //b3InertiaData
  13
  14 class b3TypedConstraint;
  15
  16 struct b3JacobiSolverInfo
  17 {
  18         int m_fixedBodyIndex;
  19
  20         float m_deltaTime;
  21         float m_positionDrift;
  22         float m_positionConstraintCoeff;
  23         int m_numIterations;
  24
  25         b3JacobiSolverInfo()
  26                 : m_fixedBodyIndex(0),
  27                   m_deltaTime(1. / 60.f),
  28                   m_positionDrift(0.005f),
  29                   m_positionConstraintCoeff(0.99f),
  30                   m_numIterations(7)
  31         {
  32         }
  33 };
  34 class b3GpuJacobiContactSolver
  35 {
  36 protected:
  37         struct b3GpuJacobiSolverInternalData* m_data;
  38
  39         cl_context m_context;
  40         cl_device_id m_device;
  41         cl_command_queue m_queue;
  42
  43 public:
  44         b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
  45         virtual ~b3GpuJacobiContactSolver();
  46
  47         void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
  48         void solveGroupHost(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, struct b3Contact4* manifoldPtr, int numManifolds, const b3JacobiSolverInfo& solverInfo);
  49         //void  solveGroupHost(btRigidBodyCL* bodies,b3InertiaData* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
  50
  51         //b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
  52
  53         //void  solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
  54         //void  solveGroupMixed(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
  55 };
  56 #endif  //B3_GPU_JACOBI_CONTACT_SOLVER_H