btSoftBodySolver_OpenCLSIMDAware.h

Go to the documentation of this file.
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