106 lines
3.2 KiB
C++
106 lines
3.2 KiB
C++
#ifndef B3_CPU_NARROWPHASE_H
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#define B3_CPU_NARROWPHASE_H
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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#include "Bullet3Common/shared/b3Int4.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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class b3CpuNarrowPhase
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{
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protected:
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struct b3CpuNarrowPhaseInternalData* m_data;
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int m_acceleratedCompanionShapeIndex;
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int m_planeBodyIndex;
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int m_static0Index;
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int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr,b3Collidable& col);
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int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
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public:
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b3CpuNarrowPhase(const struct b3Config& config);
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virtual ~b3CpuNarrowPhase(void);
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int registerSphereShape(float radius);
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int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
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int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
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int registerFace(const b3Vector3& faceNormal, float faceConstant);
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int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling);
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//do they need to be merged?
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int registerConvexHullShape(b3ConvexUtility* utilPtr);
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int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
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//int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
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void setObjectTransform(const float* position, const float* orientation , int bodyIndex);
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void writeAllBodiesToGpu();
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void reset();
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void readbackAllBodiesToCpu();
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bool getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
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void setObjectTransformCpu(float* position, float* orientation , int bodyIndex);
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void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
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//virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
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virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies);
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const struct b3RigidBodyData* getBodiesCpu() const;
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//struct b3RigidBodyData* getBodiesCpu();
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int getNumBodiesGpu() const;
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int getNumBodyInertiasGpu() const;
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const struct b3Collidable* getCollidablesCpu() const;
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int getNumCollidablesGpu() const;
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/*const struct b3Contact4* getContactsCPU() const;
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int getNumContactsGpu() const;
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*/
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const b3AlignedObjectArray<b3Contact4Data>& getContacts() const;
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int getNumRigidBodies() const;
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int allocateCollidable();
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int getStatic0Index() const
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{
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return m_static0Index;
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}
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b3Collidable& getCollidableCpu(int collidableIndex);
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const b3Collidable& getCollidableCpu(int collidableIndex) const;
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const b3CpuNarrowPhaseInternalData* getInternalData() const
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{
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return m_data;
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}
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const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const;
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};
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#endif //B3_CPU_NARROWPHASE_H
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