00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H 00017 #define BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H 00018 00019 #include "stddef.h" //for size_t 00020 #include "vectormath/vmInclude.h" 00021 00022 #include "btSoftBodySolver_OpenCL.h" 00023 #include "btSoftBodySolverBuffer_OpenCL.h" 00024 #include "btSoftBodySolverLinkData_OpenCLSIMDAware.h" 00025 #include "btSoftBodySolverVertexData_OpenCL.h" 00026 #include "btSoftBodySolverTriangleData_OpenCL.h" 00027 00028 00029 00030 00031 00032 class btOpenCLSoftBodySolverSIMDAware : public btOpenCLSoftBodySolver 00033 { 00034 protected: 00035 00036 00037 btSoftBodyLinkDataOpenCLSIMDAware m_linkData; 00038 00039 00040 00041 00042 virtual bool buildShaders(); 00043 00044 00045 void updateConstants( float timeStep ); 00046 00047 float computeTriangleArea( 00048 const Vectormath::Aos::Point3 &vertex0, 00049 const Vectormath::Aos::Point3 &vertex1, 00050 const Vectormath::Aos::Point3 &vertex2 ); 00051 00052 00054 // Kernel dispatches 00055 void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); 00056 00057 void solveCollisionsAndUpdateVelocities( float isolverdt ); 00058 // End kernel dispatches 00060 00061 public: 00062 btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue,cl_context ctx, bool bUpdateAchchoredNodePos = false); 00063 00064 virtual ~btOpenCLSoftBodySolverSIMDAware(); 00065 00066 virtual SolverTypes getSolverType() const 00067 { 00068 return CL_SIMD_SOLVER; 00069 } 00070 00071 00072 virtual btSoftBodyLinkData &getLinkData(); 00073 00074 00075 virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false); 00076 00077 virtual void solveConstraints( float solverdt ); 00078 00079 }; // btOpenCLSoftBodySolverSIMDAware 00080 00081 #endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H