74 lines
3.2 KiB
C++
74 lines
3.2 KiB
C++
/*
|
|
Copyright (c) 2013 Advanced Micro Devices, Inc.
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
//Originally written by Erwin Coumans
|
|
|
|
#ifndef B3_GPU_RIGIDBODY_PIPELINE_H
|
|
#define B3_GPU_RIGIDBODY_PIPELINE_H
|
|
|
|
#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
|
|
|
|
#include "Bullet3Common/b3AlignedObjectArray.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
|
|
|
|
class b3GpuRigidBodyPipeline
|
|
{
|
|
protected:
|
|
struct b3GpuRigidBodyPipelineInternalData* m_data;
|
|
|
|
int allocateCollidable();
|
|
|
|
public:
|
|
|
|
|
|
b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q , class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
|
|
virtual ~b3GpuRigidBodyPipeline();
|
|
|
|
void stepSimulation(float deltaTime);
|
|
void integrate(float timeStep);
|
|
void setupGpuAabbsFull();
|
|
|
|
int registerConvexPolyhedron(class b3ConvexUtility* convex);
|
|
|
|
//int registerConvexPolyhedron(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
|
|
//int registerSphereShape(float radius);
|
|
//int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
|
|
|
|
//int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
|
|
//int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
|
|
|
|
|
|
int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData, bool writeInstanceToGpu);
|
|
//if you passed "writeInstanceToGpu" false in the registerPhysicsInstance method (for performance) you need to call writeAllInstancesToGpu after all instances are registered
|
|
void writeAllInstancesToGpu();
|
|
void copyConstraintsToHost();
|
|
void setGravity(const float* grav);
|
|
void reset();
|
|
|
|
int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold);
|
|
int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
|
|
void removeConstraintByUid(int uid);
|
|
|
|
void addConstraint(class b3TypedConstraint* constraint);
|
|
void removeConstraint(b3TypedConstraint* constraint);
|
|
|
|
void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults);
|
|
|
|
cl_mem getBodyBuffer();
|
|
|
|
int getNumBodies() const;
|
|
|
|
};
|
|
|
|
#endif //B3_GPU_RIGIDBODY_PIPELINE_H
|