Merge pull request #24740 from OBKF/update-bullet-physics

Update Bullet physics to commit 126b676

1 files changed, 260 insertions, 280 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
index 641df9eb12..0721928684 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
@@ -16,177 +16,174 @@ subject to the following restrictions:
 
 #include "b3GpuParallelLinearBvh.h"
 
-b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
-	m_queue(queue),
-	m_radixSorter(context, device, queue),
-	
-	m_rootNodeIndex(context, queue),
-	m_maxDistanceFromRoot(context, queue),
-	m_temp(context, queue),
-	
-	m_internalNodeAabbs(context, queue),
-	m_internalNodeLeafIndexRanges(context, queue),
-	m_internalNodeChildNodes(context, queue),
-	m_internalNodeParentNodes(context, queue),
-	
-	m_commonPrefixes(context, queue),
-	m_commonPrefixLengths(context, queue),
-	m_distanceFromRoot(context, queue),
-	
-	m_leafNodeParentNodes(context, queue),
-	m_mortonCodesAndAabbIndicies(context, queue),
-	m_mergedAabb(context, queue),
-	m_leafNodeAabbs(context, queue),
-	
-	m_largeAabbs(context, queue)
+b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) : m_queue(queue),
+																												  m_radixSorter(context, device, queue),
+
+																												  m_rootNodeIndex(context, queue),
+																												  m_maxDistanceFromRoot(context, queue),
+																												  m_temp(context, queue),
+
+																												  m_internalNodeAabbs(context, queue),
+																												  m_internalNodeLeafIndexRanges(context, queue),
+																												  m_internalNodeChildNodes(context, queue),
+																												  m_internalNodeParentNodes(context, queue),
+
+																												  m_commonPrefixes(context, queue),
+																												  m_commonPrefixLengths(context, queue),
+																												  m_distanceFromRoot(context, queue),
+
+																												  m_leafNodeParentNodes(context, queue),
+																												  m_mortonCodesAndAabbIndicies(context, queue),
+																												  m_mergedAabb(context, queue),
+																												  m_leafNodeAabbs(context, queue),
+
+																												  m_largeAabbs(context, queue)
 {
 	m_rootNodeIndex.resize(1);
 	m_maxDistanceFromRoot.resize(1);
 	m_temp.resize(1);
-	
+
 	//
 	const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
-	
-	const char* kernelSource = parallelLinearBvhCL;	//parallelLinearBvhCL.h
+
+	const char* kernelSource = parallelLinearBvhCL;  //parallelLinearBvhCL.h
 	cl_int error;
 	char* additionalMacros = 0;
 	m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
 	b3Assert(m_parallelLinearBvhProgram);
-	
-	m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_separateAabbsKernel);
-	m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_findAllNodesMergedAabbKernel);
-	m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
-	
-	m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_computeAdjacentPairCommonPrefixKernel);
-	m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_buildBinaryRadixTreeLeafNodesKernel);
-	m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_buildBinaryRadixTreeInternalNodesKernel);
-	m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_findDistanceFromRootKernel);
-	m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel);
-	
-	m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_findLeafIndexRangesKernel);
-	
-	m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhCalculateOverlappingPairsKernel);
-	m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhRayTraverseKernel);
-	m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhLargeAabbAabbTestKernel);
-	m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhLargeAabbRayTestKernel);
 }
 
-b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh() 
+b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
 {
 	clReleaseKernel(m_separateAabbsKernel);
 	clReleaseKernel(m_findAllNodesMergedAabbKernel);
 	clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
-	
+
 	clReleaseKernel(m_computeAdjacentPairCommonPrefixKernel);
 	clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel);
 	clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel);
 	clReleaseKernel(m_findDistanceFromRootKernel);
 	clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel);
-	
+
 	clReleaseKernel(m_findLeafIndexRangesKernel);
-	
+
 	clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
 	clReleaseKernel(m_plbvhRayTraverseKernel);
 	clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
 	clReleaseKernel(m_plbvhLargeAabbRayTestKernel);
-	
+
 	clReleaseProgram(m_parallelLinearBvhProgram);
 }
 
-void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices, 
-									const b3OpenCLArray<int>& largeAabbIndices)
+void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
+								   const b3OpenCLArray<int>& largeAabbIndices)
 {
 	B3_PROFILE("b3ParallelLinearBvh::build()");
-	
+
 	int numLargeAabbs = largeAabbIndices.size();
 	int numSmallAabbs = smallAabbIndices.size();
-	
-	//Since all AABBs(both large and small) are input as a contiguous array, 
+
+	//Since all AABBs(both large and small) are input as a contiguous array,
 	//with 2 additional arrays used to indicate the indices of large and small AABBs,
 	//it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH.
 	{
 		B3_PROFILE("Separate large and small AABBs");
-		
+
 		m_largeAabbs.resize(numLargeAabbs);
 		m_leafNodeAabbs.resize(numSmallAabbs);
-		
+
 		//Write large AABBs into m_largeAabbs
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
-				b3BufferInfoCL( largeAabbIndices.getBufferCL() ),
-				
-				b3BufferInfoCL( m_largeAabbs.getBufferCL() )
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
+					b3BufferInfoCL(largeAabbIndices.getBufferCL()),
+
+					b3BufferInfoCL(m_largeAabbs.getBufferCL())};
+
 			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numLargeAabbs);
-			
+
 			launcher.launch1D(numLargeAabbs);
 		}
-		
+
 		//Write small AABBs into m_leafNodeAabbs
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
-				b3BufferInfoCL( smallAabbIndices.getBufferCL() ),
-				
-				b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() )
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
+					b3BufferInfoCL(smallAabbIndices.getBufferCL()),
+
+					b3BufferInfoCL(m_leafNodeAabbs.getBufferCL())};
+
 			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numSmallAabbs);
-			
+
 			launcher.launch1D(numSmallAabbs);
 		}
-		
+
 		clFinish(m_queue);
 	}
-	
+
 	//
-	int numLeaves = numSmallAabbs;	//Number of leaves in the BVH == Number of rigid bodies with small AABBs
+	int numLeaves = numSmallAabbs;  //Number of leaves in the BVH == Number of rigid bodies with small AABBs
 	int numInternalNodes = numLeaves - 1;
-	
-	if(numLeaves < 2)
+
+	if (numLeaves < 2)
 	{
 		//Number of leaf nodes is checked in calculateOverlappingPairs() and testRaysAgainstBvhAabbs(),
 		//so it does not matter if numLeaves == 0 and rootNodeIndex == -1
 		int rootNodeIndex = numLeaves - 1;
 		m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
-		
+
 		//Since the AABBs need to be rearranged(sorted) for the BVH construction algorithm,
 		//m_mortonCodesAndAabbIndicies.m_value is used to map a sorted AABB index to the unsorted AABB index
 		//instead of directly moving the AABBs. It needs to be set for the ray cast traversal kernel to work.
 		//( m_mortonCodesAndAabbIndicies[].m_value == unsorted index == index of m_leafNodeAabbs )
-		if(numLeaves == 1)
+		if (numLeaves == 1)
 		{
 			b3SortData leaf;
-			leaf.m_value = 0;		//1 leaf so index is always 0; leaf.m_key does not need to be set
-			
+			leaf.m_value = 0;  //1 leaf so index is always 0; leaf.m_key does not need to be set
+
 			m_mortonCodesAndAabbIndicies.resize(1);
 			m_mortonCodesAndAabbIndicies.copyFromHostPointer(&leaf, 1);
 		}
-		
+
 		return;
 	}
-	
+
 	//
 	{
 		m_internalNodeAabbs.resize(numInternalNodes);
@@ -197,37 +194,37 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
 		m_commonPrefixes.resize(numInternalNodes);
 		m_commonPrefixLengths.resize(numInternalNodes);
 		m_distanceFromRoot.resize(numInternalNodes);
-	
+
 		m_leafNodeParentNodes.resize(numLeaves);
 		m_mortonCodesAndAabbIndicies.resize(numLeaves);
 		m_mergedAabb.resize(numLeaves);
 	}
-	
-	//Find the merged AABB of all small AABBs; this is used to define the size of 
+
+	//Find the merged AABB of all small AABBs; this is used to define the size of
 	//each cell in the virtual grid for the next kernel(2^10 cells in each dimension).
 	{
 		B3_PROFILE("Find AABB of merged nodes");
-	
-		m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs);	//Need to make a copy since the kernel modifies the array
-			
-		for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2; 
-				numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
+
+		m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs);  //Need to make a copy since the kernel modifies the array
+
+		for (int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
+			 numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( m_mergedAabb.getBufferCL() )		//Resulting AABB is stored in m_mergedAabb[0]
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(m_mergedAabb.getBufferCL())  //Resulting AABB is stored in m_mergedAabb[0]
+				};
+
 			b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numAabbsNeedingMerge);
-			
+
 			launcher.launch1D(numAabbsNeedingMerge);
 		}
-		
+
 		clFinish(m_queue);
 	}
-	
+
 	//Insert the center of the AABBs into a virtual grid,
 	//then convert the discrete grid coordinates into a morton code
 	//For each element in m_mortonCodesAndAabbIndicies, set
@@ -235,34 +232,32 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
 	//	m_value == small AABB index
 	{
 		B3_PROFILE("Assign morton codes");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_mergedAabb.getBufferCL()),
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numLeaves);
-		
+
 		launcher.launch1D(numLeaves);
 		clFinish(m_queue);
 	}
-	
+
 	//
 	{
 		B3_PROFILE("Sort leaves by morton codes");
-	
+
 		m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
 		clFinish(m_queue);
 	}
-	
+
 	//
 	constructBinaryRadixTree();
-	
-	
+
 	//Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices.
 	//The root node contains leaf node indices in the range [0, numLeafNodes - 1].
 	//The child nodes of each node split their parent's index range into 2 contiguous halves.
@@ -273,17 +268,16 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
 	//This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice
 	{
 		B3_PROFILE("m_findLeafIndexRangesKernel");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
@@ -293,285 +287,271 @@ void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& ou
 {
 	int maxPairs = out_overlappingPairs.size();
 	b3OpenCLArray<int>& numPairsGpu = m_temp;
-	
+
 	int reset = 0;
 	numPairsGpu.copyFromHostPointer(&reset, 1);
-	
+
 	//
-	if( m_leafNodeAabbs.size() > 1 )
+	if (m_leafNodeAabbs.size() > 1)
 	{
 		B3_PROFILE("PLBVH small-small AABB test");
-	
+
 		int numQueryAabbs = m_leafNodeAabbs.size();
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-			
-			b3BufferInfoCL( numPairsGpu.getBufferCL() ),
-			b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+
+				b3BufferInfoCL(numPairsGpu.getBufferCL()),
+				b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(maxPairs);
 		launcher.setConst(numQueryAabbs);
-		
+
 		launcher.launch1D(numQueryAabbs);
 		clFinish(m_queue);
 	}
-	
+
 	int numLargeAabbRigids = m_largeAabbs.size();
-	if( numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0 )
+	if (numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0)
 	{
 		B3_PROFILE("PLBVH large-small AABB test");
-	
+
 		int numQueryAabbs = m_leafNodeAabbs.size();
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
-			
-			b3BufferInfoCL( numPairsGpu.getBufferCL() ),
-			b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_largeAabbs.getBufferCL()),
+
+				b3BufferInfoCL(numPairsGpu.getBufferCL()),
+				b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(maxPairs);
 		launcher.setConst(numLargeAabbRigids);
 		launcher.setConst(numQueryAabbs);
-		
+
 		launcher.launch1D(numQueryAabbs);
 		clFinish(m_queue);
 	}
-	
-	
+
 	//
 	int numPairs = -1;
 	numPairsGpu.copyToHostPointer(&numPairs, 1);
-	if(numPairs > maxPairs)
+	if (numPairs > maxPairs)
 	{
 		b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
 		numPairs = maxPairs;
 		numPairsGpu.copyFromHostPointer(&maxPairs, 1);
 	}
-	
+
 	out_overlappingPairs.resize(numPairs);
 }
 
-
-void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays, 
-							b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
+void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
+													 b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
 {
 	B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
-	
+
 	int numRays = rays.size();
 	int maxRayRigidPairs = out_rayRigidPairs.size();
-	
+
 	int reset = 0;
 	out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
-	
+
 	//
-	if( m_leafNodeAabbs.size() > 0 )
+	if (m_leafNodeAabbs.size() > 0)
 	{
 		B3_PROFILE("PLBVH ray test small AABB");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-			
-			b3BufferInfoCL( rays.getBufferCL() ),
-			
-			b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
-			b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+
+				b3BufferInfoCL(rays.getBufferCL()),
+
+				b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
+				b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(maxRayRigidPairs);
 		launcher.setConst(numRays);
-		
+
 		launcher.launch1D(numRays);
 		clFinish(m_queue);
 	}
-	
+
 	int numLargeAabbRigids = m_largeAabbs.size();
-	if(numLargeAabbRigids > 0)
+	if (numLargeAabbRigids > 0)
 	{
 		B3_PROFILE("PLBVH ray test large AABB");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
-			b3BufferInfoCL( rays.getBufferCL() ),
-			
-			b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
-			b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_largeAabbs.getBufferCL()),
+				b3BufferInfoCL(rays.getBufferCL()),
+
+				b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
+				b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numLargeAabbRigids);
 		launcher.setConst(maxRayRigidPairs);
 		launcher.setConst(numRays);
-		
+
 		launcher.launch1D(numRays);
 		clFinish(m_queue);
 	}
-	
+
 	//
 	int numRayRigidPairs = -1;
 	out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
-	
-	if(numRayRigidPairs > maxRayRigidPairs)
+
+	if (numRayRigidPairs > maxRayRigidPairs)
 		b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
-	
 }
 
 void b3GpuParallelLinearBvh::constructBinaryRadixTree()
 {
 	B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()");
-	
+
 	int numLeaves = m_leafNodeAabbs.size();
 	int numInternalNodes = numLeaves - 1;
-	
+
 	//Each internal node is placed in between 2 leaf nodes.
 	//By using this arrangement and computing the common prefix between
 	//these 2 adjacent leaf nodes, it is possible to quickly construct a binary radix tree.
 	{
 		B3_PROFILE("m_computeAdjacentPairCommonPrefixKernel");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-			b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
-			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+				b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
+				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_computeAdjacentPairCommonPrefixKernel, "m_computeAdjacentPairCommonPrefixKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
-	
-	//For each leaf node, select its parent node by 
+
+	//For each leaf node, select its parent node by
 	//comparing the 2 nearest internal nodes and assign child node indices
 	{
 		B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
-			b3BufferInfoCL( m_leafNodeParentNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
+				b3BufferInfoCL(m_leafNodeParentNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numLeaves);
-		
+
 		launcher.launch1D(numLeaves);
 		clFinish(m_queue);
 	}
-	
+
 	//For each internal node, perform 2 binary searches among the other internal nodes
 	//to its left and right to find its potential parent nodes and assign child node indices
 	{
 		B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
-			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
+				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
-	
+
 	//Find the number of nodes seperating each internal node and the root node
 	//so that the AABBs can be set using the next kernel.
 	//Also determine the maximum number of nodes separating an internal node and the root node.
 	{
 		B3_PROFILE("m_findDistanceFromRootKernel");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
-			b3BufferInfoCL( m_maxDistanceFromRoot.getBufferCL() ),
-			b3BufferInfoCL( m_distanceFromRoot.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
+				b3BufferInfoCL(m_maxDistanceFromRoot.getBufferCL()),
+				b3BufferInfoCL(m_distanceFromRoot.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_findDistanceFromRootKernel, "m_findDistanceFromRootKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
-	
+
 	//Starting from the internal nodes nearest to the leaf nodes, recursively move up
 	//the tree towards the root to set the AABBs of each internal node; each internal node
 	//checks its children and merges their AABBs
 	{
 		B3_PROFILE("m_buildBinaryRadixTreeAabbsRecursiveKernel");
-		
+
 		int maxDistanceFromRoot = -1;
 		{
 			B3_PROFILE("copy maxDistanceFromRoot to CPU");
 			m_maxDistanceFromRoot.copyToHostPointer(&maxDistanceFromRoot, 1);
 			clFinish(m_queue);
 		}
-		
-		for(int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
+
+		for (int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( m_distanceFromRoot.getBufferCL() ),
-				b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-				b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-				b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-				b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() )
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(m_distanceFromRoot.getBufferCL()),
+					b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+					b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+					b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+					b3BufferInfoCL(m_internalNodeAabbs.getBufferCL())};
+
 			b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeAabbsRecursiveKernel, "m_buildBinaryRadixTreeAabbsRecursiveKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(maxDistanceFromRoot);
 			launcher.setConst(distanceFromRoot);
 			launcher.setConst(numInternalNodes);
-			
+
 			//It may seem inefficent to launch a thread for each internal node when a
 			//much smaller number of nodes is actually processed, but this is actually
-			//faster than determining the exact nodes that are ready to merge their child AABBs. 
+			//faster than determining the exact nodes that are ready to merge their child AABBs.
 			launcher.launch1D(numInternalNodes);
 		}
-		
+
 		clFinish(m_queue);
 	}
 }
-
-	
\ No newline at end of file