dali-physics/third-party/bullet3/src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h

   1
   2 #ifndef B3_GPU_BATCHING_PGS_SOLVER_H
   3 #define B3_GPU_BATCHING_PGS_SOLVER_H
   4
   5 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
   6 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
   7 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
   8 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
   9 #include "b3GpuConstraint4.h"
  10
  11 class b3GpuPgsContactSolver
  12 {
  13 protected:
  14         int m_debugOutput;
  15
  16         struct b3GpuBatchingPgsSolverInternalData* m_data;
  17
  18         void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
  19
  20         inline int sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
  21         inline int sortConstraintByBatch2(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
  22         inline int sortConstraintByBatch3(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies, int* batchSizes);
  23
  24         void solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
  25                                                                                   b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
  26
  27         void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
  28                                                                 b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
  29
  30 public:
  31         b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity);
  32         virtual ~b3GpuPgsContactSolver();
  33
  34         void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
  35 };
  36
  37 #endif  //B3_GPU_BATCHING_PGS_SOLVER_H