2017-08-01 12:30:58 +00:00
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#ifndef _CONVEX_HULL_CONTACT_H
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#define _CONVEX_HULL_CONTACT_H
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
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#include "Bullet3Common/shared/b3Int2.h"
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#include "Bullet3Common/shared/b3Int4.h"
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#include "b3OptimizedBvh.h"
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#include "b3BvhInfo.h"
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
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struct GpuSatCollision
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{
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2019-01-03 13:26:51 +00:00
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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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cl_kernel m_findSeparatingAxisKernel;
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cl_kernel m_mprPenetrationKernel;
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cl_kernel m_findSeparatingAxisUnitSphereKernel;
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2017-08-01 12:30:58 +00:00
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cl_kernel m_findSeparatingAxisVertexFaceKernel;
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cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
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2019-01-03 13:26:51 +00:00
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cl_kernel m_findConcaveSeparatingAxisKernel;
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cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
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cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
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cl_kernel m_findCompoundPairsKernel;
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cl_kernel m_processCompoundPairsKernel;
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cl_kernel m_clipHullHullKernel;
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cl_kernel m_clipCompoundsHullHullKernel;
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cl_kernel m_clipFacesAndFindContacts;
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cl_kernel m_findClippingFacesKernel;
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cl_kernel m_clipHullHullConcaveConvexKernel;
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// cl_kernel m_extractManifoldAndAddContactKernel;
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cl_kernel m_newContactReductionKernel;
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cl_kernel m_bvhTraversalKernel;
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cl_kernel m_primitiveContactsKernel;
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cl_kernel m_findConcaveSphereContactsKernel;
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cl_kernel m_processCompoundPairsPrimitivesKernel;
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2017-08-01 12:30:58 +00:00
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b3OpenCLArray<b3Vector3> m_unitSphereDirections;
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2019-01-03 13:26:51 +00:00
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b3OpenCLArray<int> m_totalContactsOut;
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2017-08-01 12:30:58 +00:00
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b3OpenCLArray<b3Vector3> m_sepNormals;
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b3OpenCLArray<float> m_dmins;
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2019-01-03 13:26:51 +00:00
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b3OpenCLArray<int> m_hasSeparatingNormals;
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2017-08-01 12:30:58 +00:00
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b3OpenCLArray<b3Vector3> m_concaveSepNormals;
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2019-01-03 13:26:51 +00:00
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b3OpenCLArray<int> m_concaveHasSeparatingNormals;
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b3OpenCLArray<int> m_numConcavePairsOut;
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2017-08-01 12:30:58 +00:00
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b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
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b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
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2019-01-03 13:26:51 +00:00
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b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
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b3OpenCLArray<int> m_numCompoundPairsOut;
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2017-08-01 12:30:58 +00:00
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2019-01-03 13:26:51 +00:00
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GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q);
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2017-08-01 12:30:58 +00:00
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virtual ~GpuSatCollision();
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2019-01-03 13:26:51 +00:00
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void computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
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const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
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b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
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const b3OpenCLArray<b3Contact4>* oldContacts,
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int maxContactCapacity,
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int compoundPairCapacity,
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const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
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const b3OpenCLArray<b3Vector3>& vertices,
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const b3OpenCLArray<b3Vector3>& uniqueEdges,
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const b3OpenCLArray<b3GpuFace>& faces,
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const b3OpenCLArray<int>& indices,
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const b3OpenCLArray<b3Collidable>& gpuCollidables,
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const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
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const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
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const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
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b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
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b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
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b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
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b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
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b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
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b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
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b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
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b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
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b3OpenCLArray<b3BvhInfo>* bvhInfo,
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int numObjects,
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int maxTriConvexPairCapacity,
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b3OpenCLArray<b3Int4>& triangleConvexPairs,
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int& numTriConvexPairsOut);
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2017-08-01 12:30:58 +00:00
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};
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2019-01-03 13:26:51 +00:00
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#endif //_CONVEX_HULL_CONTACT_H
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