910 lines
30 KiB
C++
910 lines
30 KiB
C++
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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* solverUtilsCL= \
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"/*\n"
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"Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
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"This software is provided 'as-is', without any express or implied warranty.\n"
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"In no event will the authors be held liable for any damages arising from the use of this software.\n"
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"Permission is granted to anyone to use this software for any purpose, \n"
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"including commercial applications, and to alter it and redistribute it freely, \n"
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"subject to the following restrictions:\n"
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"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.\n"
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"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
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"3. This notice may not be removed or altered from any source distribution.\n"
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"*/\n"
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"//Originally written by Erwin Coumans\n"
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"#ifndef B3_CONTACT4DATA_H\n"
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"#define B3_CONTACT4DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#define B3_FLOAT4_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#define B3_PLATFORM_DEFINITIONS_H\n"
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"struct MyTest\n"
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"{\n"
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" int bla;\n"
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"};\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
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"#define B3_LARGE_FLOAT 1e18f\n"
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"#define B3_INFINITY 1e18f\n"
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"#define b3Assert(a)\n"
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"#define b3ConstArray(a) __global const a*\n"
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"#define b3AtomicInc atomic_inc\n"
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"#define b3AtomicAdd atomic_add\n"
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"#define b3Fabs fabs\n"
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"#define b3Sqrt native_sqrt\n"
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"#define b3Sin native_sin\n"
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"#define b3Cos native_cos\n"
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"#define B3_STATIC\n"
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"#endif\n"
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"#endif\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Float4;\n"
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" #define b3Float4ConstArg const b3Float4\n"
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" #define b3MakeFloat4 (float4)\n"
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" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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" }\n"
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" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return cross(a1, b1);\n"
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" }\n"
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" #define b3MinFloat4 min\n"
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" #define b3MaxFloat4 max\n"
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" #define b3Normalized(a) normalize(a)\n"
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"#endif \n"
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" \n"
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"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
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"{\n"
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" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
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" return false;\n"
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" return true;\n"
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"}\n"
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"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
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"{\n"
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" float maxDot = -B3_INFINITY;\n"
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" int i = 0;\n"
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" int ptIndex = -1;\n"
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" for( i = 0; i < vecLen; i++ )\n"
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" {\n"
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" float dot = b3Dot3F4(vecArray[i],vec);\n"
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" \n"
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" if( dot > maxDot )\n"
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" {\n"
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" maxDot = dot;\n"
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" ptIndex = i;\n"
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" }\n"
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" }\n"
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" b3Assert(ptIndex>=0);\n"
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" if (ptIndex<0)\n"
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" {\n"
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" ptIndex = 0;\n"
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" }\n"
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" *dotOut = maxDot;\n"
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" return ptIndex;\n"
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"}\n"
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"#endif //B3_FLOAT4_H\n"
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"typedef struct b3Contact4Data b3Contact4Data_t;\n"
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"struct b3Contact4Data\n"
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"{\n"
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" b3Float4 m_worldPosB[4];\n"
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"// b3Float4 m_localPosA[4];\n"
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"// b3Float4 m_localPosB[4];\n"
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" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
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" unsigned short m_restituitionCoeffCmp;\n"
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" unsigned short m_frictionCoeffCmp;\n"
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" int m_batchIdx;\n"
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" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
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" int m_bodyBPtrAndSignBit;\n"
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" int m_childIndexA;\n"
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" int m_childIndexB;\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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"};\n"
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"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
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"{\n"
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" return (int)contact->m_worldNormalOnB.w;\n"
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"};\n"
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"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
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"{\n"
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" contact->m_worldNormalOnB.w = (float)numPoints;\n"
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"};\n"
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"#endif //B3_CONTACT4DATA_H\n"
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"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
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"#ifdef cl_ext_atomic_counters_32\n"
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"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
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"#else\n"
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"#define counter32_t volatile global int*\n"
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"#endif\n"
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"typedef unsigned int u32;\n"
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"typedef unsigned short u16;\n"
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"typedef unsigned char u8;\n"
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"#define GET_GROUP_IDX get_group_id(0)\n"
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"#define GET_LOCAL_IDX get_local_id(0)\n"
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"#define GET_GLOBAL_IDX get_global_id(0)\n"
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"#define GET_GROUP_SIZE get_local_size(0)\n"
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"#define GET_NUM_GROUPS get_num_groups(0)\n"
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"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
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"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
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"#define AtomInc(x) atom_inc(&(x))\n"
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"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
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"#define AppendInc(x, out) out = atomic_inc(x)\n"
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"#define AtomAdd(x, value) atom_add(&(x), value)\n"
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"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
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"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
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"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
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"#define make_float4 (float4)\n"
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"#define make_float2 (float2)\n"
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"#define make_uint4 (uint4)\n"
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"#define make_int4 (int4)\n"
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"#define make_uint2 (uint2)\n"
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"#define make_int2 (int2)\n"
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"#define max2 max\n"
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"#define min2 min\n"
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"///////////////////////////////////////\n"
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"// Vector\n"
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"///////////////////////////////////////\n"
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"__inline\n"
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"float fastDiv(float numerator, float denominator)\n"
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"{\n"
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" return native_divide(numerator, denominator); \n"
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"// return numerator/denominator; \n"
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"}\n"
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"__inline\n"
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"float4 fastDiv4(float4 numerator, float4 denominator)\n"
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"{\n"
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" return native_divide(numerator, denominator); \n"
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"}\n"
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"__inline\n"
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"float fastSqrtf(float f2)\n"
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"{\n"
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" return native_sqrt(f2);\n"
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"// return sqrt(f2);\n"
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"}\n"
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"__inline\n"
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"float fastRSqrt(float f2)\n"
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"{\n"
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" return native_rsqrt(f2);\n"
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"}\n"
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"__inline\n"
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"float fastLength4(float4 v)\n"
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"{\n"
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" return fast_length(v);\n"
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"}\n"
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"__inline\n"
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"float4 fastNormalize4(float4 v)\n"
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"{\n"
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" return fast_normalize(v);\n"
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"}\n"
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"__inline\n"
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"float sqrtf(float a)\n"
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"{\n"
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"// return sqrt(a);\n"
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" return native_sqrt(a);\n"
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"}\n"
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"__inline\n"
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"float4 cross3(float4 a1, float4 b1)\n"
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"{\n"
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" float4 a=make_float4(a1.xyz,0.f);\n"
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" float4 b=make_float4(b1.xyz,0.f);\n"
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" //float4 a=a1;\n"
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" //float4 b=b1;\n"
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" return cross(a,b);\n"
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"}\n"
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"__inline\n"
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"float dot3F4(float4 a, float4 b)\n"
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"{\n"
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" float4 a1 = make_float4(a.xyz,0.f);\n"
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" float4 b1 = make_float4(b.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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"}\n"
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"__inline\n"
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"float length3(const float4 a)\n"
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"{\n"
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" return sqrtf(dot3F4(a,a));\n"
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"}\n"
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"__inline\n"
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"float dot4(const float4 a, const float4 b)\n"
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"{\n"
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" return dot( a, b );\n"
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"}\n"
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"// for height\n"
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"__inline\n"
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"float dot3w1(const float4 point, const float4 eqn)\n"
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"{\n"
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" return dot3F4(point,eqn) + eqn.w;\n"
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"}\n"
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"__inline\n"
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"float4 normalize3(const float4 a)\n"
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"{\n"
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" float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
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" return fastNormalize4( n );\n"
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"// float length = sqrtf(dot3F4(a, a));\n"
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"// return 1.f/length * a;\n"
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"}\n"
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"__inline\n"
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"float4 normalize4(const float4 a)\n"
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"{\n"
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" float length = sqrtf(dot4(a, a));\n"
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" return 1.f/length * a;\n"
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"}\n"
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"__inline\n"
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"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
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"{\n"
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" float4 eqn;\n"
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" float4 ab = b-a;\n"
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" float4 ac = c-a;\n"
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" eqn = normalize3( cross3(ab, ac) );\n"
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" eqn.w = -dot3F4(eqn,a);\n"
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" return eqn;\n"
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"}\n"
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"///////////////////////////////////////\n"
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"// Matrix3x3\n"
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"///////////////////////////////////////\n"
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"typedef struct\n"
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"{\n"
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" float4 m_row[3];\n"
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"}Matrix3x3;\n"
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"__inline\n"
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"Matrix3x3 mtZero();\n"
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"__inline\n"
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"Matrix3x3 mtIdentity();\n"
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"__inline\n"
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"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
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"__inline\n"
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"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
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"__inline\n"
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"float4 mtMul1(Matrix3x3 a, float4 b);\n"
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"__inline\n"
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"float4 mtMul3(float4 a, Matrix3x3 b);\n"
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"__inline\n"
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"Matrix3x3 mtZero()\n"
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"{\n"
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" Matrix3x3 m;\n"
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" m.m_row[0] = (float4)(0.f);\n"
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" m.m_row[1] = (float4)(0.f);\n"
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" m.m_row[2] = (float4)(0.f);\n"
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" return m;\n"
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"}\n"
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"__inline\n"
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"Matrix3x3 mtIdentity()\n"
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"{\n"
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" Matrix3x3 m;\n"
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" m.m_row[0] = (float4)(1,0,0,0);\n"
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" m.m_row[1] = (float4)(0,1,0,0);\n"
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" m.m_row[2] = (float4)(0,0,1,0);\n"
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" return m;\n"
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"}\n"
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"__inline\n"
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"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
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"{\n"
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" Matrix3x3 out;\n"
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" out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
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" out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
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" out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
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" return out;\n"
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"}\n"
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"__inline\n"
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"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
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"{\n"
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" Matrix3x3 transB;\n"
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" transB = mtTranspose( b );\n"
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" Matrix3x3 ans;\n"
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" // why this doesn't run when 0ing in the for{}\n"
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" a.m_row[0].w = 0.f;\n"
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" a.m_row[1].w = 0.f;\n"
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" a.m_row[2].w = 0.f;\n"
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" for(int i=0; i<3; i++)\n"
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" {\n"
|
||
|
|
"// a.m_row[i].w = 0.f;\n"
|
||
|
|
" ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
|
||
|
|
" ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
||
|
|
" ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
|
||
|
|
" ans.m_row[i].w = 0.f;\n"
|
||
|
|
" }\n"
|
||
|
|
" return ans;\n"
|
||
|
|
"}\n"
|
||
|
|
"__inline\n"
|
||
|
|
"float4 mtMul1(Matrix3x3 a, float4 b)\n"
|
||
|
|
"{\n"
|
||
|
|
" float4 ans;\n"
|
||
|
|
" ans.x = dot3F4( a.m_row[0], b );\n"
|
||
|
|
" ans.y = dot3F4( a.m_row[1], b );\n"
|
||
|
|
" ans.z = dot3F4( a.m_row[2], b );\n"
|
||
|
|
" ans.w = 0.f;\n"
|
||
|
|
" return ans;\n"
|
||
|
|
"}\n"
|
||
|
|
"__inline\n"
|
||
|
|
"float4 mtMul3(float4 a, Matrix3x3 b)\n"
|
||
|
|
"{\n"
|
||
|
|
" float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||
|
|
" float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||
|
|
" float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||
|
|
" float4 ans;\n"
|
||
|
|
" ans.x = dot3F4( a, colx );\n"
|
||
|
|
" ans.y = dot3F4( a, coly );\n"
|
||
|
|
" ans.z = dot3F4( a, colz );\n"
|
||
|
|
" return ans;\n"
|
||
|
|
"}\n"
|
||
|
|
"///////////////////////////////////////\n"
|
||
|
|
"// Quaternion\n"
|
||
|
|
"///////////////////////////////////////\n"
|
||
|
|
"typedef float4 Quaternion;\n"
|
||
|
|
"__inline\n"
|
||
|
|
"Quaternion qtMul(Quaternion a, Quaternion b);\n"
|
||
|
|
"__inline\n"
|
||
|
|
"Quaternion qtNormalize(Quaternion in);\n"
|
||
|
|
"__inline\n"
|
||
|
|
"float4 qtRotate(Quaternion q, float4 vec);\n"
|
||
|
|
"__inline\n"
|
||
|
|
"Quaternion qtInvert(Quaternion q);\n"
|
||
|
|
"__inline\n"
|
||
|
|
"Quaternion qtMul(Quaternion a, Quaternion b)\n"
|
||
|
|
"{\n"
|
||
|
|
" Quaternion ans;\n"
|
||
|
|
" ans = cross3( a, b );\n"
|
||
|
|
" ans += a.w*b+b.w*a;\n"
|
||
|
|
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
||
|
|
" ans.w = a.w*b.w - dot3F4(a, b);\n"
|
||
|
|
" return ans;\n"
|
||
|
|
"}\n"
|
||
|
|
"__inline\n"
|
||
|
|
"Quaternion qtNormalize(Quaternion in)\n"
|
||
|
|
"{\n"
|
||
|
|
" return fastNormalize4(in);\n"
|
||
|
|
"// in /= length( in );\n"
|
||
|
|
"// return in;\n"
|
||
|
|
"}\n"
|
||
|
|
"__inline\n"
|
||
|
|
"float4 qtRotate(Quaternion q, float4 vec)\n"
|
||
|
|
"{\n"
|
||
|
|
" Quaternion qInv = qtInvert( q );\n"
|
||
|
|
" float4 vcpy = vec;\n"
|
||
|
|
" vcpy.w = 0.f;\n"
|
||
|
|
" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
|
||
|
|
" return out;\n"
|
||
|
|
"}\n"
|
||
|
|
"__inline\n"
|
||
|
|
"Quaternion qtInvert(Quaternion q)\n"
|
||
|
|
"{\n"
|
||
|
|
" return (Quaternion)(-q.xyz, q.w);\n"
|
||
|
|
"}\n"
|
||
|
|
"__inline\n"
|
||
|
|
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
|
||
|
|
"{\n"
|
||
|
|
" return qtRotate( qtInvert( q ), vec );\n"
|
||
|
|
"}\n"
|
||
|
|
"#define WG_SIZE 64\n"
|
||
|
|
"typedef struct\n"
|
||
|
|
"{\n"
|
||
|
|
" float4 m_pos;\n"
|
||
|
|
" Quaternion m_quat;\n"
|
||
|
|
" float4 m_linVel;\n"
|
||
|
|
" float4 m_angVel;\n"
|
||
|
|
" u32 m_shapeIdx;\n"
|
||
|
|
" float m_invMass;\n"
|
||
|
|
" float m_restituitionCoeff;\n"
|
||
|
|
" float m_frictionCoeff;\n"
|
||
|
|
"} Body;\n"
|
||
|
|
"typedef struct\n"
|
||
|
|
"{\n"
|
||
|
|
" Matrix3x3 m_invInertia;\n"
|
||
|
|
" Matrix3x3 m_initInvInertia;\n"
|
||
|
|
"} Shape;\n"
|
||
|
|
"typedef struct\n"
|
||
|
|
"{\n"
|
||
|
|
" float4 m_linear;\n"
|
||
|
|
" float4 m_worldPos[4];\n"
|
||
|
|
" float4 m_center; \n"
|
||
|
|
" float m_jacCoeffInv[4];\n"
|
||
|
|
" float m_b[4];\n"
|
||
|
|
" float m_appliedRambdaDt[4];\n"
|
||
|
|
" float m_fJacCoeffInv[2]; \n"
|
||
|
|
" float m_fAppliedRambdaDt[2]; \n"
|
||
|
|
" u32 m_bodyA;\n"
|
||
|
|
" u32 m_bodyB;\n"
|
||
|
|
" int m_batchIdx;\n"
|
||
|
|
" u32 m_paddings;\n"
|
||
|
|
"} Constraint4;\n"
|
||
|
|
"__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = GET_GLOBAL_IDX;\n"
|
||
|
|
" \n"
|
||
|
|
" if( i < numContactManifolds)\n"
|
||
|
|
" {\n"
|
||
|
|
" int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;\n"
|
||
|
|
" bool isFixedA = (pa <0) || (pa == fixedBodyIndex);\n"
|
||
|
|
" int bodyIndexA = abs(pa);\n"
|
||
|
|
" if (!isFixedA)\n"
|
||
|
|
" {\n"
|
||
|
|
" AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);\n"
|
||
|
|
" }\n"
|
||
|
|
" barrier(CLK_GLOBAL_MEM_FENCE);\n"
|
||
|
|
" int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;\n"
|
||
|
|
" bool isFixedB = (pb <0) || (pb == fixedBodyIndex);\n"
|
||
|
|
" int bodyIndexB = abs(pb);\n"
|
||
|
|
" if (!isFixedB)\n"
|
||
|
|
" {\n"
|
||
|
|
" AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);\n"
|
||
|
|
" } \n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = GET_GLOBAL_IDX;\n"
|
||
|
|
" \n"
|
||
|
|
" if( i < numSplitBodies)\n"
|
||
|
|
" {\n"
|
||
|
|
" linearVelocities[i] = make_float4(0);\n"
|
||
|
|
" angularVelocities[i] = make_float4(0);\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
|
||
|
|
"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = GET_GLOBAL_IDX;\n"
|
||
|
|
" if (i<numBodies)\n"
|
||
|
|
" {\n"
|
||
|
|
" if (gBodies[i].m_invMass)\n"
|
||
|
|
" {\n"
|
||
|
|
" int bodyOffset = offsetSplitBodies[i];\n"
|
||
|
|
" int count = bodyCount[i];\n"
|
||
|
|
" float factor = 1.f/((float)count);\n"
|
||
|
|
" float4 averageLinVel = make_float4(0.f);\n"
|
||
|
|
" float4 averageAngVel = make_float4(0.f);\n"
|
||
|
|
" \n"
|
||
|
|
" for (int j=0;j<count;j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;\n"
|
||
|
|
" averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" for (int j=0;j<count;j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" deltaLinearVelocities[bodyOffset+j] = averageLinVel;\n"
|
||
|
|
" deltaAngularVelocities[bodyOffset+j] = averageAngVel;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" }//bodies[i].m_invMass\n"
|
||
|
|
" }//i<numBodies\n"
|
||
|
|
"}\n"
|
||
|
|
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
|
||
|
|
"{\n"
|
||
|
|
" *linear = make_float4(n.xyz,0.f);\n"
|
||
|
|
" *angular0 = cross3(r0, n);\n"
|
||
|
|
" *angular1 = -cross3(r1, n);\n"
|
||
|
|
"}\n"
|
||
|
|
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
|
||
|
|
"{\n"
|
||
|
|
" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
|
||
|
|
"}\n"
|
||
|
|
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||
|
|
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)\n"
|
||
|
|
"{\n"
|
||
|
|
" // linear0,1 are normlized\n"
|
||
|
|
" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
|
||
|
|
" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
|
||
|
|
" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
|
||
|
|
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
|
||
|
|
" return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);\n"
|
||
|
|
"}\n"
|
||
|
|
"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
|
||
|
|
" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
|
||
|
|
"{\n"
|
||
|
|
" if (fabs(n.z) > 0.70710678f) {\n"
|
||
|
|
" // choose p in y-z plane\n"
|
||
|
|
" float a = n.y*n.y + n.z*n.z;\n"
|
||
|
|
" float k = 1.f/sqrt(a);\n"
|
||
|
|
" p[0].x = 0;\n"
|
||
|
|
" p[0].y = -n.z*k;\n"
|
||
|
|
" p[0].z = n.y*k;\n"
|
||
|
|
" // set q = n x p\n"
|
||
|
|
" q[0].x = a*k;\n"
|
||
|
|
" q[0].y = -n.x*p[0].z;\n"
|
||
|
|
" q[0].z = n.x*p[0].y;\n"
|
||
|
|
" }\n"
|
||
|
|
" else {\n"
|
||
|
|
" // choose p in x-y plane\n"
|
||
|
|
" float a = n.x*n.x + n.y*n.y;\n"
|
||
|
|
" float k = 1.f/sqrt(a);\n"
|
||
|
|
" p[0].x = -n.y*k;\n"
|
||
|
|
" p[0].y = n.x*k;\n"
|
||
|
|
" p[0].z = 0;\n"
|
||
|
|
" // set q = n x p\n"
|
||
|
|
" q[0].x = -n.z*p[0].y;\n"
|
||
|
|
" q[0].y = n.z*p[0].x;\n"
|
||
|
|
" q[0].z = a*k;\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"void solveContact(__global Constraint4* cs,\n"
|
||
|
|
" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
|
||
|
|
" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,\n"
|
||
|
|
" float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)\n"
|
||
|
|
"{\n"
|
||
|
|
" float minRambdaDt = 0;\n"
|
||
|
|
" float maxRambdaDt = FLT_MAX;\n"
|
||
|
|
" for(int ic=0; ic<4; ic++)\n"
|
||
|
|
" {\n"
|
||
|
|
" if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
|
||
|
|
" float4 angular0, angular1, linear;\n"
|
||
|
|
" float4 r0 = cs->m_worldPos[ic] - posA;\n"
|
||
|
|
" float4 r1 = cs->m_worldPos[ic] - posB;\n"
|
||
|
|
" setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
|
||
|
|
" \n"
|
||
|
|
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
|
||
|
|
" *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
|
||
|
|
" rambdaDt *= cs->m_jacCoeffInv[ic];\n"
|
||
|
|
" \n"
|
||
|
|
" {\n"
|
||
|
|
" float prevSum = cs->m_appliedRambdaDt[ic];\n"
|
||
|
|
" float updated = prevSum;\n"
|
||
|
|
" updated += rambdaDt;\n"
|
||
|
|
" updated = max2( updated, minRambdaDt );\n"
|
||
|
|
" updated = min2( updated, maxRambdaDt );\n"
|
||
|
|
" rambdaDt = updated - prevSum;\n"
|
||
|
|
" cs->m_appliedRambdaDt[ic] = updated;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" float4 linImp0 = invMassA*linear*rambdaDt;\n"
|
||
|
|
" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
|
||
|
|
" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
|
||
|
|
" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
|
||
|
|
" \n"
|
||
|
|
" if (invMassA)\n"
|
||
|
|
" {\n"
|
||
|
|
" *dLinVelA += linImp0;\n"
|
||
|
|
" *dAngVelA += angImp0;\n"
|
||
|
|
" }\n"
|
||
|
|
" if (invMassB)\n"
|
||
|
|
" {\n"
|
||
|
|
" *dLinVelB += linImp1;\n"
|
||
|
|
" *dAngVelB += angImp1;\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"// solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
|
||
|
|
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n"
|
||
|
|
"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
|
||
|
|
"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
|
||
|
|
"{\n"
|
||
|
|
" //float frictionCoeff = ldsCs[0].m_linear.w;\n"
|
||
|
|
" int aIdx = ldsCs[0].m_bodyA;\n"
|
||
|
|
" int bIdx = ldsCs[0].m_bodyB;\n"
|
||
|
|
" float4 posA = gBodies[aIdx].m_pos;\n"
|
||
|
|
" float4 linVelA = gBodies[aIdx].m_linVel;\n"
|
||
|
|
" float4 angVelA = gBodies[aIdx].m_angVel;\n"
|
||
|
|
" float invMassA = gBodies[aIdx].m_invMass;\n"
|
||
|
|
" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
|
||
|
|
" float4 posB = gBodies[bIdx].m_pos;\n"
|
||
|
|
" float4 linVelB = gBodies[bIdx].m_linVel;\n"
|
||
|
|
" float4 angVelB = gBodies[bIdx].m_angVel;\n"
|
||
|
|
" float invMassB = gBodies[bIdx].m_invMass;\n"
|
||
|
|
" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
|
||
|
|
" \n"
|
||
|
|
" float4 dLinVelA = make_float4(0,0,0,0);\n"
|
||
|
|
" float4 dAngVelA = make_float4(0,0,0,0);\n"
|
||
|
|
" float4 dLinVelB = make_float4(0,0,0,0);\n"
|
||
|
|
" float4 dAngVelB = make_float4(0,0,0,0);\n"
|
||
|
|
" \n"
|
||
|
|
" int bodyOffsetA = offsetSplitBodies[aIdx];\n"
|
||
|
|
" int constraintOffsetA = contactConstraintOffsets[0].x;\n"
|
||
|
|
" int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
|
||
|
|
" \n"
|
||
|
|
" if (invMassA)\n"
|
||
|
|
" {\n"
|
||
|
|
" dLinVelA = deltaLinearVelocities[splitIndexA];\n"
|
||
|
|
" dAngVelA = deltaAngularVelocities[splitIndexA];\n"
|
||
|
|
" }\n"
|
||
|
|
" int bodyOffsetB = offsetSplitBodies[bIdx];\n"
|
||
|
|
" int constraintOffsetB = contactConstraintOffsets[0].y;\n"
|
||
|
|
" int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
|
||
|
|
" if (invMassB)\n"
|
||
|
|
" {\n"
|
||
|
|
" dLinVelB = deltaLinearVelocities[splitIndexB];\n"
|
||
|
|
" dAngVelB = deltaAngularVelocities[splitIndexB];\n"
|
||
|
|
" }\n"
|
||
|
|
" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
|
||
|
|
" posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);\n"
|
||
|
|
" if (invMassA)\n"
|
||
|
|
" {\n"
|
||
|
|
" deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
|
||
|
|
" deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
|
||
|
|
" } \n"
|
||
|
|
" if (invMassB)\n"
|
||
|
|
" {\n"
|
||
|
|
" deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
|
||
|
|
" deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
|
||
|
|
"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
|
||
|
|
"float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
|
||
|
|
")\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = GET_GLOBAL_IDX;\n"
|
||
|
|
" if (i<numManifolds)\n"
|
||
|
|
" {\n"
|
||
|
|
" solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,\n"
|
||
|
|
" __global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
|
||
|
|
" __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
|
||
|
|
"{\n"
|
||
|
|
" float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;\n"
|
||
|
|
" int aIdx = ldsCs[0].m_bodyA;\n"
|
||
|
|
" int bIdx = ldsCs[0].m_bodyB;\n"
|
||
|
|
" float4 posA = gBodies[aIdx].m_pos;\n"
|
||
|
|
" float4 linVelA = gBodies[aIdx].m_linVel;\n"
|
||
|
|
" float4 angVelA = gBodies[aIdx].m_angVel;\n"
|
||
|
|
" float invMassA = gBodies[aIdx].m_invMass;\n"
|
||
|
|
" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
|
||
|
|
" float4 posB = gBodies[bIdx].m_pos;\n"
|
||
|
|
" float4 linVelB = gBodies[bIdx].m_linVel;\n"
|
||
|
|
" float4 angVelB = gBodies[bIdx].m_angVel;\n"
|
||
|
|
" float invMassB = gBodies[bIdx].m_invMass;\n"
|
||
|
|
" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
|
||
|
|
" \n"
|
||
|
|
" float4 dLinVelA = make_float4(0,0,0,0);\n"
|
||
|
|
" float4 dAngVelA = make_float4(0,0,0,0);\n"
|
||
|
|
" float4 dLinVelB = make_float4(0,0,0,0);\n"
|
||
|
|
" float4 dAngVelB = make_float4(0,0,0,0);\n"
|
||
|
|
" \n"
|
||
|
|
" int bodyOffsetA = offsetSplitBodies[aIdx];\n"
|
||
|
|
" int constraintOffsetA = contactConstraintOffsets[0].x;\n"
|
||
|
|
" int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
|
||
|
|
" \n"
|
||
|
|
" if (invMassA)\n"
|
||
|
|
" {\n"
|
||
|
|
" dLinVelA = deltaLinearVelocities[splitIndexA];\n"
|
||
|
|
" dAngVelA = deltaAngularVelocities[splitIndexA];\n"
|
||
|
|
" }\n"
|
||
|
|
" int bodyOffsetB = offsetSplitBodies[bIdx];\n"
|
||
|
|
" int constraintOffsetB = contactConstraintOffsets[0].y;\n"
|
||
|
|
" int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
|
||
|
|
" if (invMassB)\n"
|
||
|
|
" {\n"
|
||
|
|
" dLinVelB = deltaLinearVelocities[splitIndexB];\n"
|
||
|
|
" dAngVelB = deltaAngularVelocities[splitIndexB];\n"
|
||
|
|
" }\n"
|
||
|
|
" {\n"
|
||
|
|
" float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
|
||
|
|
" float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
|
||
|
|
" float sum = 0;\n"
|
||
|
|
" for(int j=0; j<4; j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
|
||
|
|
" }\n"
|
||
|
|
" frictionCoeff = 0.7f;\n"
|
||
|
|
" for(int j=0; j<4; j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" maxRambdaDt[j] = frictionCoeff*sum;\n"
|
||
|
|
" minRambdaDt[j] = -maxRambdaDt[j];\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
"// solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
|
||
|
|
"// posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
|
||
|
|
" \n"
|
||
|
|
" \n"
|
||
|
|
" {\n"
|
||
|
|
" \n"
|
||
|
|
" __global Constraint4* cs = ldsCs;\n"
|
||
|
|
" \n"
|
||
|
|
" if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
|
||
|
|
" const float4 center = cs->m_center;\n"
|
||
|
|
" \n"
|
||
|
|
" float4 n = -cs->m_linear;\n"
|
||
|
|
" \n"
|
||
|
|
" float4 tangent[2];\n"
|
||
|
|
" btPlaneSpace1(n,&tangent[0],&tangent[1]);\n"
|
||
|
|
" float4 angular0, angular1, linear;\n"
|
||
|
|
" float4 r0 = center - posA;\n"
|
||
|
|
" float4 r1 = center - posB;\n"
|
||
|
|
" for(int i=0; i<2; i++)\n"
|
||
|
|
" {\n"
|
||
|
|
" setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
|
||
|
|
" float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
|
||
|
|
" linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );\n"
|
||
|
|
" rambdaDt *= cs->m_fJacCoeffInv[i];\n"
|
||
|
|
" \n"
|
||
|
|
" {\n"
|
||
|
|
" float prevSum = cs->m_fAppliedRambdaDt[i];\n"
|
||
|
|
" float updated = prevSum;\n"
|
||
|
|
" updated += rambdaDt;\n"
|
||
|
|
" updated = max2( updated, minRambdaDt[i] );\n"
|
||
|
|
" updated = min2( updated, maxRambdaDt[i] );\n"
|
||
|
|
" rambdaDt = updated - prevSum;\n"
|
||
|
|
" cs->m_fAppliedRambdaDt[i] = updated;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" float4 linImp0 = invMassA*linear*rambdaDt;\n"
|
||
|
|
" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
|
||
|
|
" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
|
||
|
|
" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
|
||
|
|
" \n"
|
||
|
|
" dLinVelA += linImp0;\n"
|
||
|
|
" dAngVelA += angImp0;\n"
|
||
|
|
" dLinVelB += linImp1;\n"
|
||
|
|
" dAngVelB += angImp1;\n"
|
||
|
|
" }\n"
|
||
|
|
" { // angular damping for point constraint\n"
|
||
|
|
" float4 ab = normalize3( posB - posA );\n"
|
||
|
|
" float4 ac = normalize3( center - posA );\n"
|
||
|
|
" if( dot3F4( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))\n"
|
||
|
|
" {\n"
|
||
|
|
" float angNA = dot3F4( n, angVelA );\n"
|
||
|
|
" float angNB = dot3F4( n, angVelB );\n"
|
||
|
|
" \n"
|
||
|
|
" dAngVelA -= (angNA*0.1f)*n;\n"
|
||
|
|
" dAngVelB -= (angNB*0.1f)*n;\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" \n"
|
||
|
|
" }\n"
|
||
|
|
" if (invMassA)\n"
|
||
|
|
" {\n"
|
||
|
|
" deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
|
||
|
|
" deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
|
||
|
|
" } \n"
|
||
|
|
" if (invMassB)\n"
|
||
|
|
" {\n"
|
||
|
|
" deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
|
||
|
|
" deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
|
||
|
|
" __global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
|
||
|
|
" __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
|
||
|
|
" float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
|
||
|
|
")\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = GET_GLOBAL_IDX;\n"
|
||
|
|
" if (i<numManifolds)\n"
|
||
|
|
" {\n"
|
||
|
|
" solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
|
||
|
|
" __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = GET_GLOBAL_IDX;\n"
|
||
|
|
" if (i<numBodies)\n"
|
||
|
|
" {\n"
|
||
|
|
" if (gBodies[i].m_invMass)\n"
|
||
|
|
" {\n"
|
||
|
|
" int bodyOffset = offsetSplitBodies[i];\n"
|
||
|
|
" int count = bodyCount[i];\n"
|
||
|
|
" if (count)\n"
|
||
|
|
" {\n"
|
||
|
|
" gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];\n"
|
||
|
|
" gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n"
|
||
|
|
" const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n"
|
||
|
|
" __global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,\n"
|
||
|
|
" Constraint4* dstC )\n"
|
||
|
|
"{\n"
|
||
|
|
" dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
|
||
|
|
" dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
|
||
|
|
" float dtInv = 1.f/dt;\n"
|
||
|
|
" for(int ic=0; ic<4; ic++)\n"
|
||
|
|
" {\n"
|
||
|
|
" dstC->m_appliedRambdaDt[ic] = 0.f;\n"
|
||
|
|
" }\n"
|
||
|
|
" dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
|
||
|
|
" dstC->m_linear = src->m_worldNormalOnB;\n"
|
||
|
|
" dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
|
||
|
|
" for(int ic=0; ic<4; ic++)\n"
|
||
|
|
" {\n"
|
||
|
|
" float4 r0 = src->m_worldPosB[ic] - posA;\n"
|
||
|
|
" float4 r1 = src->m_worldPosB[ic] - posB;\n"
|
||
|
|
" if( ic >= src->m_worldNormalOnB.w )//npoints\n"
|
||
|
|
" {\n"
|
||
|
|
" dstC->m_jacCoeffInv[ic] = 0.f;\n"
|
||
|
|
" continue;\n"
|
||
|
|
" }\n"
|
||
|
|
" float relVelN;\n"
|
||
|
|
" {\n"
|
||
|
|
" float4 linear, angular0, angular1;\n"
|
||
|
|
" setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
|
||
|
|
" dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
|
||
|
|
" invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);\n"
|
||
|
|
" relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
|
||
|
|
" linVelA, angVelA, linVelB, angVelB);\n"
|
||
|
|
" float e = 0.f;//src->getRestituitionCoeff();\n"
|
||
|
|
" if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
|
||
|
|
" dstC->m_b[ic] = e*relVelN;\n"
|
||
|
|
" //float penetration = src->m_worldPosB[ic].w;\n"
|
||
|
|
" dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
|
||
|
|
" dstC->m_appliedRambdaDt[ic] = 0.f;\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" if( src->m_worldNormalOnB.w > 0 )//npoints\n"
|
||
|
|
" { // prepare friction\n"
|
||
|
|
" float4 center = make_float4(0.f);\n"
|
||
|
|
" for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
|
||
|
|
" center += src->m_worldPosB[i];\n"
|
||
|
|
" center /= (float)src->m_worldNormalOnB.w;\n"
|
||
|
|
" float4 tangent[2];\n"
|
||
|
|
" btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
|
||
|
|
" \n"
|
||
|
|
" float4 r[2];\n"
|
||
|
|
" r[0] = center - posA;\n"
|
||
|
|
" r[1] = center - posB;\n"
|
||
|
|
" for(int i=0; i<2; i++)\n"
|
||
|
|
" {\n"
|
||
|
|
" float4 linear, angular0, angular1;\n"
|
||
|
|
" setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
|
||
|
|
" dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
|
||
|
|
" invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);\n"
|
||
|
|
" dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
|
||
|
|
" }\n"
|
||
|
|
" dstC->m_center = center;\n"
|
||
|
|
" }\n"
|
||
|
|
" for(int i=0; i<4; i++)\n"
|
||
|
|
" {\n"
|
||
|
|
" if( i<src->m_worldNormalOnB.w )\n"
|
||
|
|
" {\n"
|
||
|
|
" dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
|
||
|
|
" }\n"
|
||
|
|
" else\n"
|
||
|
|
" {\n"
|
||
|
|
" dstC->m_worldPos[i] = make_float4(0.f);\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel\n"
|
||
|
|
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
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"void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, \n"
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"__global const unsigned int* bodyCount,\n"
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"int nContacts,\n"
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"float dt,\n"
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"float positionDrift,\n"
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"float positionConstraintCoeff\n"
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")\n"
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"{\n"
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" int gIdx = GET_GLOBAL_IDX;\n"
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" \n"
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" if( gIdx < nContacts )\n"
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" {\n"
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" int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
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|
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" int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
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||
|
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" float4 posA = gBodies[aIdx].m_pos;\n"
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||
|
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" float4 linVelA = gBodies[aIdx].m_linVel;\n"
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||
|
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" float4 angVelA = gBodies[aIdx].m_angVel;\n"
|
||
|
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" float invMassA = gBodies[aIdx].m_invMass;\n"
|
||
|
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" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
|
||
|
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" float4 posB = gBodies[bIdx].m_pos;\n"
|
||
|
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" float4 linVelB = gBodies[bIdx].m_linVel;\n"
|
||
|
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" float4 angVelB = gBodies[bIdx].m_angVel;\n"
|
||
|
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" float invMassB = gBodies[bIdx].m_invMass;\n"
|
||
|
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" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
|
||
|
|
" Constraint4 cs;\n"
|
||
|
|
" float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;\n"
|
||
|
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" float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;\n"
|
||
|
|
" setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
|
||
|
|
" &gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,\n"
|
||
|
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" &cs );\n"
|
||
|
|
" \n"
|
||
|
|
" cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
|
||
|
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" gConstraintOut[gIdx] = cs;\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
;
|