69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
/*
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Copyright (c) 2013 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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#ifndef B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
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#define B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
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#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
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#include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h"
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struct b3GpuRigidBodyPipelineInternalData
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{
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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_integrateTransformsKernel;
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cl_kernel m_updateAabbsKernel;
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cl_kernel m_clearOverlappingPairsKernel;
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class b3PgsJacobiSolver* m_solver;
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class b3GpuPgsConstraintSolver* m_gpuSolver;
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class b3GpuPgsContactSolver* m_solver2;
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class b3GpuJacobiContactSolver* m_solver3;
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class b3GpuRaycast* m_raycaster;
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class b3GpuBroadphaseInterface* m_broadphaseSap;
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struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
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b3OpenCLArray<b3SapAabb>* m_allAabbsGPU;
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b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
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b3OpenCLArray<b3BroadphasePair>* m_overlappingPairsGPU;
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b3OpenCLArray<b3GpuGenericConstraint>* m_gpuConstraints;
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b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
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b3AlignedObjectArray<b3TypedConstraint*> m_joints;
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int m_constraintUid;
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class b3GpuNarrowPhase* m_narrowphase;
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b3Vector3 m_gravity;
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b3Config m_config;
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};
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#endif //B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
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