44 lines
1.9 KiB
C++
44 lines
1.9 KiB
C++
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#ifndef B3_GPU_BATCHING_PGS_SOLVER_H
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#define B3_GPU_BATCHING_PGS_SOLVER_H
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#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.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 "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
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#include "b3GpuConstraint4.h"
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class b3GpuPgsContactSolver
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{
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protected:
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int m_debugOutput;
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struct b3GpuBatchingPgsSolverInternalData* m_data;
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void batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx );
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inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies, int* batchSizes);
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void solveContactConstraintBatchSizes( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
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b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
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void solveContactConstraint( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
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b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
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public:
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b3GpuPgsContactSolver(cl_context ctx,cl_device_id device, cl_command_queue q,int pairCapacity);
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virtual ~b3GpuPgsContactSolver();
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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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};
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#endif //B3_GPU_BATCHING_PGS_SOLVER_H
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