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"
8 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
9 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
11 //struct b3InertiaData;
14 class b3TypedConstraint;
16 struct b3JacobiSolverInfo
21 float m_positionDrift;
22 float m_positionConstraintCoeff;
26 : m_fixedBodyIndex(0),
27 m_deltaTime(1. / 60.f),
28 m_positionDrift(0.005f),
29 m_positionConstraintCoeff(0.99f),
34 class b3GpuJacobiContactSolver
37 struct b3GpuJacobiSolverInternalData* m_data;
40 cl_device_id m_device;
41 cl_command_queue m_queue;
44 b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
45 virtual ~b3GpuJacobiContactSolver();
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);
51 //b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
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);
56 #endif //B3_GPU_JACOBI_CONTACT_SOLVER_H