Your posted schematic is too low in resolution, and drawn in a convoluted way, to actually provide an opinion.
It appears though, that your upper Mosfets are always biased on.
Setting aside that, to control all Mosfets individually, you require a pair a things:
-a way to level shift the pwm drive signals for the upper Mosfets.
-a way to provide independent bias voltage for the upper Mosfets.
This can be done with discrete components, but to do "fast switching" (fast meaning how many Khz?) tailoring the individual component values is difficult to prevent shoot-thru and other faults that cause immediate and catastrophic destruction.
I can advise you to search on the International Rectifier's webpage and look for H-bridge drivers. Intersil also has a good selection.