70 lines
3.2 KiB
C++
70 lines
3.2 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_H
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#define B3_GPU_RIGIDBODY_PIPELINE_H
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#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
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class b3GpuRigidBodyPipeline
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{
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protected:
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struct b3GpuRigidBodyPipelineInternalData* m_data;
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int allocateCollidable();
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public:
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b3GpuRigidBodyPipeline(cl_context ctx, cl_device_id device, cl_command_queue q, class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
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virtual ~b3GpuRigidBodyPipeline();
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void stepSimulation(float deltaTime);
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void integrate(float timeStep);
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void setupGpuAabbsFull();
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int registerConvexPolyhedron(class b3ConvexUtility* convex);
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//int registerConvexPolyhedron(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
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//int registerSphereShape(float radius);
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//int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
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//int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
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//int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
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int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData, bool writeInstanceToGpu);
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//if you passed "writeInstanceToGpu" false in the registerPhysicsInstance method (for performance) you need to call writeAllInstancesToGpu after all instances are registered
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void writeAllInstancesToGpu();
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void copyConstraintsToHost();
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void setGravity(const float* grav);
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void reset();
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int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold);
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int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
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void removeConstraintByUid(int uid);
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void addConstraint(class b3TypedConstraint* constraint);
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void removeConstraint(b3TypedConstraint* constraint);
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void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults);
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cl_mem getBodyBuffer();
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int getNumBodies() const;
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};
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#endif //B3_GPU_RIGIDBODY_PIPELINE_H
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