106 lines
3.9 KiB
C++
106 lines
3.9 KiB
C++
|
|
#ifndef _CONVEX_HULL_CONTACT_H
|
|
#define _CONVEX_HULL_CONTACT_H
|
|
|
|
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
|
|
#include "Bullet3Common/b3AlignedObjectArray.h"
|
|
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
|
|
#include "Bullet3Common/shared/b3Int2.h"
|
|
#include "Bullet3Common/shared/b3Int4.h"
|
|
#include "b3OptimizedBvh.h"
|
|
#include "b3BvhInfo.h"
|
|
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
|
|
|
|
//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
|
|
|
|
struct GpuSatCollision
|
|
{
|
|
cl_context m_context;
|
|
cl_device_id m_device;
|
|
cl_command_queue m_queue;
|
|
cl_kernel m_findSeparatingAxisKernel;
|
|
cl_kernel m_mprPenetrationKernel;
|
|
cl_kernel m_findSeparatingAxisUnitSphereKernel;
|
|
|
|
cl_kernel m_findSeparatingAxisVertexFaceKernel;
|
|
cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
|
|
|
|
cl_kernel m_findConcaveSeparatingAxisKernel;
|
|
cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
|
|
cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
|
|
|
|
cl_kernel m_findCompoundPairsKernel;
|
|
cl_kernel m_processCompoundPairsKernel;
|
|
|
|
cl_kernel m_clipHullHullKernel;
|
|
cl_kernel m_clipCompoundsHullHullKernel;
|
|
|
|
cl_kernel m_clipFacesAndFindContacts;
|
|
cl_kernel m_findClippingFacesKernel;
|
|
|
|
cl_kernel m_clipHullHullConcaveConvexKernel;
|
|
// cl_kernel m_extractManifoldAndAddContactKernel;
|
|
cl_kernel m_newContactReductionKernel;
|
|
|
|
cl_kernel m_bvhTraversalKernel;
|
|
cl_kernel m_primitiveContactsKernel;
|
|
cl_kernel m_findConcaveSphereContactsKernel;
|
|
|
|
cl_kernel m_processCompoundPairsPrimitivesKernel;
|
|
|
|
b3OpenCLArray<b3Vector3> m_unitSphereDirections;
|
|
|
|
b3OpenCLArray<int> m_totalContactsOut;
|
|
|
|
b3OpenCLArray<b3Vector3> m_sepNormals;
|
|
b3OpenCLArray<float> m_dmins;
|
|
|
|
b3OpenCLArray<int> m_hasSeparatingNormals;
|
|
b3OpenCLArray<b3Vector3> m_concaveSepNormals;
|
|
b3OpenCLArray<int> m_concaveHasSeparatingNormals;
|
|
b3OpenCLArray<int> m_numConcavePairsOut;
|
|
b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
|
|
b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
|
|
b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
|
|
b3OpenCLArray<int> m_numCompoundPairsOut;
|
|
|
|
GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q);
|
|
virtual ~GpuSatCollision();
|
|
|
|
void computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
|
|
const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
|
|
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
|
|
const b3OpenCLArray<b3Contact4>* oldContacts,
|
|
int maxContactCapacity,
|
|
int compoundPairCapacity,
|
|
const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
|
|
const b3OpenCLArray<b3Vector3>& vertices,
|
|
const b3OpenCLArray<b3Vector3>& uniqueEdges,
|
|
const b3OpenCLArray<b3GpuFace>& faces,
|
|
const b3OpenCLArray<int>& indices,
|
|
const b3OpenCLArray<b3Collidable>& gpuCollidables,
|
|
const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
|
|
|
|
const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
|
|
const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
|
|
|
|
b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
|
|
b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
|
|
b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
|
|
b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
|
|
b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
|
|
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
|
|
b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
|
|
b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
|
|
b3OpenCLArray<b3BvhInfo>* bvhInfo,
|
|
int numObjects,
|
|
int maxTriConvexPairCapacity,
|
|
b3OpenCLArray<b3Int4>& triangleConvexPairs,
|
|
int& numTriConvexPairsOut);
|
|
};
|
|
|
|
#endif //_CONVEX_HULL_CONTACT_H
|