dali-physics/third-party/bullet3/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h

   1 #ifndef B3_GPU_NARROWPHASE_H
   2 #define B3_GPU_NARROWPHASE_H
   3
   4 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
   5 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
   6 #include "Bullet3Common/b3AlignedObjectArray.h"
   7 #include "Bullet3Common/b3Vector3.h"
   8
   9 class b3GpuNarrowPhase
  10 {
  11 protected:
  12         struct b3GpuNarrowPhaseInternalData* m_data;
  13         int m_acceleratedCompanionShapeIndex;
  14         int m_planeBodyIndex;
  15         int m_static0Index;
  16
  17         cl_context m_context;
  18         cl_device_id m_device;
  19         cl_command_queue m_queue;
  20
  21         int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
  22         int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
  23
  24 public:
  25         b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);
  26
  27         virtual ~b3GpuNarrowPhase(void);
  28
  29         int registerSphereShape(float radius);
  30         int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
  31
  32         int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
  33         int registerFace(const b3Vector3& faceNormal, float faceConstant);
  34
  35         int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
  36
  37         //do they need to be merged?
  38
  39         int registerConvexHullShape(b3ConvexUtility* utilPtr);
  40         int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
  41
  42         int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax, bool writeToGpu);
  43         void setObjectTransform(const float* position, const float* orientation, int bodyIndex);
  44
  45         void writeAllBodiesToGpu();
  46         void reset();
  47         void readbackAllBodiesToCpu();
  48         bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;
  49
  50         void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
  51         void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
  52
  53         virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
  54
  55         cl_mem getBodiesGpu();
  56         const struct b3RigidBodyData* getBodiesCpu() const;
  57         //struct b3RigidBodyData* getBodiesCpu();
  58
  59         int getNumBodiesGpu() const;
  60
  61         cl_mem getBodyInertiasGpu();
  62         int getNumBodyInertiasGpu() const;
  63
  64         cl_mem getCollidablesGpu();
  65         const struct b3Collidable* getCollidablesCpu() const;
  66         int getNumCollidablesGpu() const;
  67
  68         const struct b3SapAabb* getLocalSpaceAabbsCpu() const;
  69
  70         const struct b3Contact4* getContactsCPU() const;
  71
  72         cl_mem getContactsGpu();
  73         int getNumContactsGpu() const;
  74
  75         cl_mem getAabbLocalSpaceBufferGpu();
  76
  77         int getNumRigidBodies() const;
  78
  79         int allocateCollidable();
  80
  81         int getStatic0Index() const
  82         {
  83                 return m_static0Index;
  84         }
  85         b3Collidable& getCollidableCpu(int collidableIndex);
  86         const b3Collidable& getCollidableCpu(int collidableIndex) const;
  87
  88         const b3GpuNarrowPhaseInternalData* getInternalData() const
  89         {
  90                 return m_data;
  91         }
  92
  93         b3GpuNarrowPhaseInternalData* getInternalData()
  94         {
  95                 return m_data;
  96         }
  97
  98         const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
  99 };
 100
 101 #endif  //B3_GPU_NARROWPHASE_H