CI3 has all you need!
$this->db->select('*')->from('my_table')
->group_start()
->where('a', 'a')
->or_group_start()
->where('b', 'b')
->where('c', 'c')
->group_end()
->group_end()
->where('d', 'd')
->get();
https://www.codeigniter.com/userguide3/database/query_builder.html#query-grouping