63 lines
2.3 KiB
C++
63 lines
2.3 KiB
C++
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#ifndef B3_GPU_JACOBI_CONTACT_SOLVER_H
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#define B3_GPU_JACOBI_CONTACT_SOLVER_H
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#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
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//#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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//struct b3InertiaData;
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//b3InertiaData
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class b3TypedConstraint;
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struct b3JacobiSolverInfo
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{
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int m_fixedBodyIndex;
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float m_deltaTime;
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float m_positionDrift;
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float m_positionConstraintCoeff;
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int m_numIterations;
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b3JacobiSolverInfo()
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:m_fixedBodyIndex(0),
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m_deltaTime(1./60.f),
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m_positionDrift( 0.005f ),
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m_positionConstraintCoeff( 0.99f ),
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m_numIterations(7)
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{
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}
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};
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class b3GpuJacobiContactSolver
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{
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protected:
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struct b3GpuJacobiSolverInternalData* m_data;
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cl_context m_context;
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cl_device_id m_device;
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cl_command_queue m_queue;
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public:
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b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
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virtual ~b3GpuJacobiContactSolver();
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void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
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void solveGroupHost(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,struct b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo);
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//void solveGroupHost(btRigidBodyCL* bodies,b3InertiaData* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
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//b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
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//void solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
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//void solveGroupMixed(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
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};
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#endif //B3_GPU_JACOBI_CONTACT_SOLVER_H
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