2017-08-01 14:30:58 +02:00
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
2019-01-03 14:26:51 +01:00
static const char * solverSetupCL =
" /* \n "
" Copyright (c) 2012 Advanced Micro Devices, Inc. \n "
" This software is provided 'as-is', without any express or implied warranty. \n "
" In no event will the authors be held liable for any damages arising from the use of this software. \n "
" Permission is granted to anyone to use this software for any purpose, \n "
" including commercial applications, and to alter it and redistribute it freely, \n "
" subject to the following restrictions: \n "
" 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 "
" 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. \n "
" 3. This notice may not be removed or altered from any source distribution. \n "
" */ \n "
" //Originally written by Takahiro Harada \n "
" #ifndef B3_CONTACT4DATA_H \n "
" #define B3_CONTACT4DATA_H \n "
" #ifndef B3_FLOAT4_H \n "
" #define B3_FLOAT4_H \n "
" #ifndef B3_PLATFORM_DEFINITIONS_H \n "
" #define B3_PLATFORM_DEFINITIONS_H \n "
" struct MyTest \n "
" { \n "
" int bla; \n "
" }; \n "
" #ifdef __cplusplus \n "
" #else \n "
" //keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX \n "
" #define B3_LARGE_FLOAT 1e18f \n "
" #define B3_INFINITY 1e18f \n "
" #define b3Assert(a) \n "
" #define b3ConstArray(a) __global const a* \n "
" #define b3AtomicInc atomic_inc \n "
" #define b3AtomicAdd atomic_add \n "
" #define b3Fabs fabs \n "
" #define b3Sqrt native_sqrt \n "
" #define b3Sin native_sin \n "
" #define b3Cos native_cos \n "
" #define B3_STATIC \n "
" #endif \n "
" #endif \n "
" #ifdef __cplusplus \n "
" #else \n "
" typedef float4 b3Float4; \n "
" #define b3Float4ConstArg const b3Float4 \n "
" #define b3MakeFloat4 (float4) \n "
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1) \n "
" { \n "
" float4 a1 = b3MakeFloat4(v0.xyz,0.f); \n "
" float4 b1 = b3MakeFloat4(v1.xyz,0.f); \n "
" return dot(a1, b1); \n "
" } \n "
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1) \n "
" { \n "
" float4 a1 = b3MakeFloat4(v0.xyz,0.f); \n "
" float4 b1 = b3MakeFloat4(v1.xyz,0.f); \n "
" return cross(a1, b1); \n "
" } \n "
" #define b3MinFloat4 min \n "
" #define b3MaxFloat4 max \n "
" #define b3Normalized(a) normalize(a) \n "
" #endif \n "
" \n "
" inline bool b3IsAlmostZero(b3Float4ConstArg v) \n "
" { \n "
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n "
" return false; \n "
" return true; \n "
" } \n "
" inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut ) \n "
" { \n "
" float maxDot = -B3_INFINITY; \n "
" int i = 0; \n "
" int ptIndex = -1; \n "
" for( i = 0; i < vecLen; i++ ) \n "
" { \n "
" float dot = b3Dot3F4(vecArray[i],vec); \n "
" \n "
" if( dot > maxDot ) \n "
" { \n "
" maxDot = dot; \n "
" ptIndex = i; \n "
" } \n "
" } \n "
" b3Assert(ptIndex>=0); \n "
" if (ptIndex<0) \n "
" { \n "
" ptIndex = 0; \n "
" } \n "
" *dotOut = maxDot; \n "
" return ptIndex; \n "
" } \n "
" #endif //B3_FLOAT4_H \n "
" typedef struct b3Contact4Data b3Contact4Data_t; \n "
" struct b3Contact4Data \n "
" { \n "
" b3Float4 m_worldPosB[4]; \n "
" // b3Float4 m_localPosA[4]; \n "
" // b3Float4 m_localPosB[4]; \n "
" b3Float4 m_worldNormalOnB; // w: m_nPoints \n "
" unsigned short m_restituitionCoeffCmp; \n "
" unsigned short m_frictionCoeffCmp; \n "
" int m_batchIdx; \n "
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr \n "
" int m_bodyBPtrAndSignBit; \n "
" int m_childIndexA; \n "
" int m_childIndexB; \n "
" int m_unused1; \n "
" int m_unused2; \n "
" }; \n "
" inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact) \n "
" { \n "
" return (int)contact->m_worldNormalOnB.w; \n "
" }; \n "
" inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints) \n "
" { \n "
" contact->m_worldNormalOnB.w = (float)numPoints; \n "
" }; \n "
" #endif //B3_CONTACT4DATA_H \n "
" #ifndef B3_CONTACT_CONSTRAINT5_H \n "
" #define B3_CONTACT_CONSTRAINT5_H \n "
" #ifndef B3_FLOAT4_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" #endif \n "
" #endif //B3_FLOAT4_H \n "
" typedef struct b3ContactConstraint4 b3ContactConstraint4_t; \n "
" struct b3ContactConstraint4 \n "
" { \n "
" b3Float4 m_linear;//normal? \n "
" b3Float4 m_worldPos[4]; \n "
" b3Float4 m_center; // friction \n "
" float m_jacCoeffInv[4]; \n "
" float m_b[4]; \n "
" float m_appliedRambdaDt[4]; \n "
" float m_fJacCoeffInv[2]; // friction \n "
" float m_fAppliedRambdaDt[2]; // friction \n "
" unsigned int m_bodyA; \n "
" unsigned int m_bodyB; \n "
" int m_batchIdx; \n "
" unsigned int m_paddings; \n "
" }; \n "
" //inline void setFrictionCoeff(float value) { m_linear[3] = value; } \n "
" inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) \n "
" { \n "
" return constraint->m_linear.w; \n "
" } \n "
" #endif //B3_CONTACT_CONSTRAINT5_H \n "
" #ifndef B3_RIGIDBODY_DATA_H \n "
" #define B3_RIGIDBODY_DATA_H \n "
" #ifndef B3_FLOAT4_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" #endif \n "
" #endif //B3_FLOAT4_H \n "
" #ifndef B3_QUAT_H \n "
" #define B3_QUAT_H \n "
" #ifndef B3_PLATFORM_DEFINITIONS_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" #endif \n "
" #endif \n "
" #ifndef B3_FLOAT4_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" #endif \n "
" #endif //B3_FLOAT4_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" typedef float4 b3Quat; \n "
" #define b3QuatConstArg const b3Quat \n "
" \n "
" \n "
" inline float4 b3FastNormalize4(float4 v) \n "
" { \n "
" v = (float4)(v.xyz,0.f); \n "
" return fast_normalize(v); \n "
" } \n "
" \n "
" inline b3Quat b3QuatMul(b3Quat a, b3Quat b); \n "
" inline b3Quat b3QuatNormalized(b3QuatConstArg in); \n "
" inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec); \n "
" inline b3Quat b3QuatInvert(b3QuatConstArg q); \n "
" inline b3Quat b3QuatInverse(b3QuatConstArg q); \n "
" inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b) \n "
" { \n "
" b3Quat ans; \n "
" ans = b3Cross3( 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 - b3Dot3F4(a, b); \n "
" return ans; \n "
" } \n "
" inline b3Quat b3QuatNormalized(b3QuatConstArg in) \n "
" { \n "
" b3Quat q; \n "
" q=in; \n "
" //return b3FastNormalize4(in); \n "
" float len = native_sqrt(dot(q, q)); \n "
" if(len > 0.f) \n "
" { \n "
" q *= 1.f / len; \n "
" } \n "
" else \n "
" { \n "
" q.x = q.y = q.z = 0.f; \n "
" q.w = 1.f; \n "
" } \n "
" return q; \n "
" } \n "
" inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec) \n "
" { \n "
" b3Quat qInv = b3QuatInvert( q ); \n "
" float4 vcpy = vec; \n "
" vcpy.w = 0.f; \n "
" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv); \n "
" return out; \n "
" } \n "
" inline b3Quat b3QuatInverse(b3QuatConstArg q) \n "
" { \n "
" return (b3Quat)(-q.xyz, q.w); \n "
" } \n "
" inline b3Quat b3QuatInvert(b3QuatConstArg q) \n "
" { \n "
" return (b3Quat)(-q.xyz, q.w); \n "
" } \n "
" inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec) \n "
" { \n "
" return b3QuatRotate( b3QuatInvert( q ), vec ); \n "
" } \n "
" inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation) \n "
" { \n "
" return b3QuatRotate( orientation, point ) + (translation); \n "
" } \n "
" \n "
" #endif \n "
" #endif //B3_QUAT_H \n "
" #ifndef B3_MAT3x3_H \n "
" #define B3_MAT3x3_H \n "
" #ifndef B3_QUAT_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" #endif \n "
" #endif //B3_QUAT_H \n "
" #ifdef __cplusplus \n "
" #else \n "
" typedef struct \n "
" { \n "
" b3Float4 m_row[3]; \n "
" }b3Mat3x3; \n "
" #define b3Mat3x3ConstArg const b3Mat3x3 \n "
" #define b3GetRow(m,row) (m.m_row[row]) \n "
" inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat) \n "
" { \n "
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f); \n "
" b3Mat3x3 out; \n "
" out.m_row[0].x=1-2*quat2.y-2*quat2.z; \n "
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z; \n "
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y; \n "
" out.m_row[0].w = 0.f; \n "
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z; \n "
" out.m_row[1].y=1-2*quat2.x-2*quat2.z; \n "
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x; \n "
" out.m_row[1].w = 0.f; \n "
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y; \n "
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x; \n "
" out.m_row[2].z=1-2*quat2.x-2*quat2.y; \n "
" out.m_row[2].w = 0.f; \n "
" return out; \n "
" } \n "
" inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn) \n "
" { \n "
" b3Mat3x3 out; \n "
" out.m_row[0] = fabs(matIn.m_row[0]); \n "
" out.m_row[1] = fabs(matIn.m_row[1]); \n "
" out.m_row[2] = fabs(matIn.m_row[2]); \n "
" return out; \n "
" } \n "
" __inline \n "
" b3Mat3x3 mtZero(); \n "
" __inline \n "
" b3Mat3x3 mtIdentity(); \n "
" __inline \n "
" b3Mat3x3 mtTranspose(b3Mat3x3 m); \n "
" __inline \n "
" b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b); \n "
" __inline \n "
" b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b); \n "
" __inline \n "
" b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b); \n "
" __inline \n "
" b3Mat3x3 mtZero() \n "
" { \n "
" b3Mat3x3 m; \n "
" m.m_row[0] = (b3Float4)(0.f); \n "
" m.m_row[1] = (b3Float4)(0.f); \n "
" m.m_row[2] = (b3Float4)(0.f); \n "
" return m; \n "
" } \n "
" __inline \n "
" b3Mat3x3 mtIdentity() \n "
" { \n "
" b3Mat3x3 m; \n "
" m.m_row[0] = (b3Float4)(1,0,0,0); \n "
" m.m_row[1] = (b3Float4)(0,1,0,0); \n "
" m.m_row[2] = (b3Float4)(0,0,1,0); \n "
" return m; \n "
" } \n "
" __inline \n "
" b3Mat3x3 mtTranspose(b3Mat3x3 m) \n "
" { \n "
" b3Mat3x3 out; \n "
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f); \n "
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f); \n "
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f); \n "
" return out; \n "
" } \n "
" __inline \n "
" b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b) \n "
" { \n "
" b3Mat3x3 transB; \n "
" transB = mtTranspose( b ); \n "
" b3Mat3x3 ans; \n "
" // why this doesn't run when 0ing in the for{} \n "
" a.m_row[0].w = 0.f; \n "
" a.m_row[1].w = 0.f; \n "
" a.m_row[2].w = 0.f; \n "
" for(int i=0; i<3; i++) \n "
" { \n "
" // a.m_row[i].w = 0.f; \n "
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]); \n "
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]); \n "
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]); \n "
" ans.m_row[i].w = 0.f; \n "
" } \n "
" return ans; \n "
" } \n "
" __inline \n "
" b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b) \n "
" { \n "
" b3Float4 ans; \n "
" ans.x = b3Dot3F4( a.m_row[0], b ); \n "
" ans.y = b3Dot3F4( a.m_row[1], b ); \n "
" ans.z = b3Dot3F4( a.m_row[2], b ); \n "
" ans.w = 0.f; \n "
" return ans; \n "
" } \n "
" __inline \n "
" b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b) \n "
" { \n "
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0); \n "
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0); \n "
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0); \n "
" b3Float4 ans; \n "
" ans.x = b3Dot3F4( a, colx ); \n "
" ans.y = b3Dot3F4( a, coly ); \n "
" ans.z = b3Dot3F4( a, colz ); \n "
" return ans; \n "
" } \n "
" #endif \n "
" #endif //B3_MAT3x3_H \n "
" typedef struct b3RigidBodyData b3RigidBodyData_t; \n "
" struct b3RigidBodyData \n "
" { \n "
" b3Float4 m_pos; \n "
" b3Quat m_quat; \n "
" b3Float4 m_linVel; \n "
" b3Float4 m_angVel; \n "
" int m_collidableIdx; \n "
" float m_invMass; \n "
" float m_restituitionCoeff; \n "
" float m_frictionCoeff; \n "
" }; \n "
" typedef struct b3InertiaData b3InertiaData_t; \n "
" struct b3InertiaData \n "
" { \n "
" b3Mat3x3 m_invInertiaWorld; \n "
" b3Mat3x3 m_initInvInertia; \n "
" }; \n "
" #endif //B3_RIGIDBODY_DATA_H \n "
" \n "
" void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q); \n "
" void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q) \n "
" { \n "
" if (b3Fabs(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 "
" \n "
" void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1) \n "
" { \n "
" *linear = b3MakeFloat4(n.x,n.y,n.z,0.f); \n "
" *angular0 = b3Cross3(r0, n); \n "
" *angular1 = -b3Cross3(r1, n); \n "
" } \n "
" float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0, \n "
" b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 ) \n "
" { \n "
" return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1); \n "
" } \n "
" float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1, \n "
" float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1) \n "
" { \n "
" // linear0,1 are normlized \n "
" float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0; \n "
" float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0); \n "
" float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1; \n "
" float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1); \n "
" return -1.f/(jmj0+jmj1+jmj2+jmj3); \n "
" } \n "
" void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA, \n "
" b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, \n "
" __global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff, \n "
" b3ContactConstraint4_t* 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 "
" b3Float4 r0 = src->m_worldPosB[ic] - posA; \n "
" b3Float4 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 "
" b3Float4 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 ); \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 "
" b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,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 "
" b3Float4 tangent[2]; \n "
" b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]); \n "
" \n "
" b3Float4 r[2]; \n "
" r[0] = center - posA; \n "
" r[1] = center - posB; \n "
" for(int i=0; i<2; i++) \n "
" { \n "
" b3Float4 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 ); \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] = b3MakeFloat4(0.f,0.f,0.f,0.f); \n "
" } \n "
" } \n "
" } \n "
" #pragma OPENCL EXTENSION cl_amd_printf : enable \n "
" #pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable \n "
" #pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable \n "
" #pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable \n "
" #pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable \n "
" #ifdef cl_ext_atomic_counters_32 \n "
" #pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable \n "
" #else \n "
" #define counter32_t volatile global int* \n "
" #endif \n "
" typedef unsigned int u32; \n "
" typedef unsigned short u16; \n "
" typedef unsigned char u8; \n "
" #define GET_GROUP_IDX get_group_id(0) \n "
" #define GET_LOCAL_IDX get_local_id(0) \n "
" #define GET_GLOBAL_IDX get_global_id(0) \n "
" #define GET_GROUP_SIZE get_local_size(0) \n "
" #define GET_NUM_GROUPS get_num_groups(0) \n "
" #define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE) \n "
" #define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE) \n "
" #define AtomInc(x) atom_inc(&(x)) \n "
" #define AtomInc1(x, out) out = atom_inc(&(x)) \n "
" #define AppendInc(x, out) out = atomic_inc(x) \n "
" #define AtomAdd(x, value) atom_add(&(x), value) \n "
" #define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value ) \n "
" #define AtomXhg(x, value) atom_xchg ( &(x), value ) \n "
" #define SELECT_UINT4( b, a, condition ) select( b,a,condition ) \n "
" #define make_float4 (float4) \n "
" #define make_float2 (float2) \n "
" #define make_uint4 (uint4) \n "
" #define make_int4 (int4) \n "
" #define make_uint2 (uint2) \n "
" #define make_int2 (int2) \n "
" #define max2 max \n "
" #define min2 min \n "
" /////////////////////////////////////// \n "
" // Vector \n "
" /////////////////////////////////////// \n "
" __inline \n "
" float fastDiv(float numerator, float denominator) \n "
" { \n "
" return native_divide(numerator, denominator); \n "
" // return numerator/denominator; \n "
" } \n "
" __inline \n "
" float4 fastDiv4(float4 numerator, float4 denominator) \n "
" { \n "
" return native_divide(numerator, denominator); \n "
" } \n "
" __inline \n "
" float fastSqrtf(float f2) \n "
" { \n "
" return native_sqrt(f2); \n "
" // return sqrt(f2); \n "
" } \n "
" __inline \n "
" float fastRSqrt(float f2) \n "
" { \n "
" return native_rsqrt(f2); \n "
" } \n "
" __inline \n "
" float fastLength4(float4 v) \n "
" { \n "
" return fast_length(v); \n "
" } \n "
" __inline \n "
" float4 fastNormalize4(float4 v) \n "
" { \n "
" return fast_normalize(v); \n "
" } \n "
" __inline \n "
" float sqrtf(float a) \n "
" { \n "
" // return sqrt(a); \n "
" return native_sqrt(a); \n "
" } \n "
" __inline \n "
" float4 cross3(float4 a, float4 b) \n "
" { \n "
" return cross(a,b); \n "
" } \n "
" __inline \n "
" float dot3F4(float4 a, float4 b) \n "
" { \n "
" float4 a1 = make_float4(a.xyz,0.f); \n "
" float4 b1 = make_float4(b.xyz,0.f); \n "
" return dot(a1, b1); \n "
" } \n "
" __inline \n "
" float length3(const float4 a) \n "
" { \n "
" return sqrtf(dot3F4(a,a)); \n "
" } \n "
" __inline \n "
" float dot4(const float4 a, const float4 b) \n "
" { \n "
" return dot( a, b ); \n "
" } \n "
" // for height \n "
" __inline \n "
" float dot3w1(const float4 point, const float4 eqn) \n "
" { \n "
" return dot3F4(point,eqn) + eqn.w; \n "
" } \n "
" __inline \n "
" float4 normalize3(const float4 a) \n "
" { \n "
" float4 n = make_float4(a.x, a.y, a.z, 0.f); \n "
" return fastNormalize4( n ); \n "
" // float length = sqrtf(dot3F4(a, a)); \n "
" // return 1.f/length * a; \n "
" } \n "
" __inline \n "
" float4 normalize4(const float4 a) \n "
" { \n "
" float length = sqrtf(dot4(a, a)); \n "
" return 1.f/length * a; \n "
" } \n "
" __inline \n "
" float4 createEquation(const float4 a, const float4 b, const float4 c) \n "
" { \n "
" float4 eqn; \n "
" float4 ab = b-a; \n "
" float4 ac = c-a; \n "
" eqn = normalize3( cross3(ab, ac) ); \n "
" eqn.w = -dot3F4(eqn,a); \n "
" return eqn; \n "
" } \n "
" #define WG_SIZE 64 \n "
" typedef struct \n "
" { \n "
" int m_nConstraints; \n "
" int m_start; \n "
" int m_batchIdx; \n "
" int m_nSplit; \n "
" // int m_paddings[1]; \n "
" } ConstBuffer; \n "
" typedef struct \n "
" { \n "
" int m_solveFriction; \n "
" int m_maxBatch; // long batch really kills the performance \n "
" int m_batchIdx; \n "
" int m_nSplit; \n "
" // int m_paddings[1]; \n "
" } ConstBufferBatchSolve; \n "
" \n "
" typedef struct \n "
" { \n "
" int m_valInt0; \n "
" int m_valInt1; \n "
" int m_valInt2; \n "
" int m_valInt3; \n "
" float m_val0; \n "
" float m_val1; \n "
" float m_val2; \n "
" float m_val3; \n "
" } SolverDebugInfo; \n "
" typedef struct \n "
" { \n "
" int m_nContacts; \n "
" float m_dt; \n "
" float m_positionDrift; \n "
" float m_positionConstraintCoeff; \n "
" } ConstBufferCTC; \n "
" __kernel \n "
" __attribute__((reqd_work_group_size(WG_SIZE,1,1))) \n "
" void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, \n "
" int nContacts, \n "
" float dt, \n "
" float positionDrift, \n "
" float positionConstraintCoeff \n "
" ) \n "
" { \n "
" int gIdx = GET_GLOBAL_IDX; \n "
" \n "
" if( gIdx < nContacts ) \n "
" { \n "
" int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit); \n "
" int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit); \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 "
" b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia; \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 "
" b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia; \n "
" b3ContactConstraint4_t cs; \n "
" setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB, \n "
" &gContact[gIdx], dt, positionDrift, positionConstraintCoeff, \n "
" &cs ); \n "
" \n "
" cs.m_batchIdx = gContact[gIdx].m_batchIdx; \n "
" gConstraintOut[gIdx] = cs; \n "
" } \n "
" } \n " ;
