dali-physics/third-party/bullet3/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h

   1
   2 #ifndef B3_GPU_NARROWPHASE_INTERNAL_DATA_H
   3 #define B3_GPU_NARROWPHASE_INTERNAL_DATA_H
   4
   5 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
   6 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
   7 #include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
   8 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
   9
  10 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
  11 #include "Bullet3Common/b3AlignedObjectArray.h"
  12 #include "Bullet3Common/b3Vector3.h"
  13
  14 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
  15 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
  16 #include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
  17
  18 #include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
  19 #include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
  20 #include "Bullet3Common/shared/b3Int4.h"
  21 #include "Bullet3Common/shared/b3Int2.h"
  22
  23 class b3ConvexUtility;
  24
  25 struct b3GpuNarrowPhaseInternalData
  26 {
  27         b3AlignedObjectArray<b3ConvexUtility*>* m_convexData;
  28
  29         b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
  30         b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
  31         b3AlignedObjectArray<b3Vector3> m_convexVertices;
  32         b3AlignedObjectArray<int> m_convexIndices;
  33
  34         b3OpenCLArray<b3ConvexPolyhedronData>* m_convexPolyhedraGPU;
  35         b3OpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
  36         b3OpenCLArray<b3Vector3>* m_convexVerticesGPU;
  37         b3OpenCLArray<int>* m_convexIndicesGPU;
  38
  39         b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
  40         b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
  41         b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
  42         b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
  43         b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
  44
  45         b3AlignedObjectArray<b3GpuChildShape> m_cpuChildShapes;
  46         b3OpenCLArray<b3GpuChildShape>* m_gpuChildShapes;
  47
  48         b3AlignedObjectArray<b3GpuFace> m_convexFaces;
  49         b3OpenCLArray<b3GpuFace>* m_convexFacesGPU;
  50
  51         struct GpuSatCollision* m_gpuSatCollision;
  52
  53         b3OpenCLArray<b3Int4>* m_triangleConvexPairs;
  54
  55         b3OpenCLArray<b3Contact4>* m_pBufContactBuffersGPU[2];
  56         int m_currentContactBuffer;
  57         b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
  58
  59         b3AlignedObjectArray<b3RigidBodyData>* m_bodyBufferCPU;
  60         b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
  61
  62         b3AlignedObjectArray<b3InertiaData>* m_inertiaBufferCPU;
  63         b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU;
  64
  65         int m_numAcceleratedShapes;
  66         int m_numAcceleratedRigidBodies;
  67
  68         b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
  69         b3OpenCLArray<b3Collidable>* m_collidablesGPU;
  70
  71         b3OpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
  72         b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
  73
  74         b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
  75         b3AlignedObjectArray<class b3TriangleIndexVertexArray*> m_meshInterfaces;
  76
  77         b3AlignedObjectArray<b3QuantizedBvhNode> m_treeNodesCPU;
  78         b3AlignedObjectArray<b3BvhSubtreeInfo> m_subTreesCPU;
  79
  80         b3AlignedObjectArray<b3BvhInfo> m_bvhInfoCPU;
  81         b3OpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
  82
  83         b3OpenCLArray<b3QuantizedBvhNode>* m_treeNodesGPU;
  84         b3OpenCLArray<b3BvhSubtreeInfo>* m_subTreesGPU;
  85
  86         b3Config m_config;
  87 };
  88
  89 #endif  //B3_GPU_NARROWPHASE_INTERNAL_DATA_H