diff options
| author | Rémi Verschelde <rverschelde@gmail.com> | 2019-01-07 15:08:41 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-01-07 15:08:41 +0100 |
| commit | dab650fcaa3eb37deee5118d678a3763ac78a58a (patch) | |
| tree | 3131df01280f91a61b4721eed132a5b6b21881ba /thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h | |
| parent | a3a537c2cf86ff4bf82385bbd17606654f8013c4 (diff) | |
| parent | 22b7c9dfa80d0f7abca40f061865c2ab3c136a74 (diff) | |
Merge pull request #24740 from OBKF/update-bullet-physics
Update Bullet physics to commit 126b676
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h | 4195 |
1 files changed, 2097 insertions, 2098 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h index f0ecfc7851..907809d8bd 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h @@ -1,2099 +1,2098 @@ //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* satClipKernelsCL= \ -"#define TRIANGLE_NUM_CONVEX_FACES 5\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" -"#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 max2 max\n" -"#define min2 min\n" -"typedef unsigned int u32;\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_CONVEX_POLYHEDRON_DATA_H\n" -"#define B3_CONVEX_POLYHEDRON_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" -"typedef struct b3GpuFace b3GpuFace_t;\n" -"struct b3GpuFace\n" -"{\n" -" b3Float4 m_plane;\n" -" int m_indexOffset;\n" -" int m_numIndices;\n" -" int m_unusedPadding1;\n" -" int m_unusedPadding2;\n" -"};\n" -"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n" -"struct b3ConvexPolyhedronData\n" -"{\n" -" b3Float4 m_localCenter;\n" -" b3Float4 m_extents;\n" -" b3Float4 mC;\n" -" b3Float4 mE;\n" -" float m_radius;\n" -" int m_faceOffset;\n" -" int m_numFaces;\n" -" int m_numVertices;\n" -" int m_vertexOffset;\n" -" int m_uniqueEdgesOffset;\n" -" int m_numUniqueEdges;\n" -" int m_unused;\n" -"};\n" -"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n" -"#ifndef B3_COLLIDABLE_H\n" -"#define B3_COLLIDABLE_H\n" -"#ifndef B3_FLOAT4_H\n" -"#ifdef __cplusplus\n" -"#else\n" -"#endif \n" -"#endif //B3_FLOAT4_H\n" -"#ifndef B3_QUAT_H\n" -"#ifdef __cplusplus\n" -"#else\n" -"#endif \n" -"#endif //B3_QUAT_H\n" -"enum b3ShapeTypes\n" -"{\n" -" SHAPE_HEIGHT_FIELD=1,\n" -" SHAPE_CONVEX_HULL=3,\n" -" SHAPE_PLANE=4,\n" -" SHAPE_CONCAVE_TRIMESH=5,\n" -" SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n" -" SHAPE_SPHERE=7,\n" -" MAX_NUM_SHAPE_TYPES,\n" -"};\n" -"typedef struct b3Collidable b3Collidable_t;\n" -"struct b3Collidable\n" -"{\n" -" union {\n" -" int m_numChildShapes;\n" -" int m_bvhIndex;\n" -" };\n" -" union\n" -" {\n" -" float m_radius;\n" -" int m_compoundBvhIndex;\n" -" };\n" -" int m_shapeType;\n" -" int m_shapeIndex;\n" -"};\n" -"typedef struct b3GpuChildShape b3GpuChildShape_t;\n" -"struct b3GpuChildShape\n" -"{\n" -" b3Float4 m_childPosition;\n" -" b3Quat m_childOrientation;\n" -" int m_shapeIndex;\n" -" int m_unused0;\n" -" int m_unused1;\n" -" int m_unused2;\n" -"};\n" -"struct b3CompoundOverlappingPair\n" -"{\n" -" int m_bodyIndexA;\n" -" int m_bodyIndexB;\n" -"// int m_pairType;\n" -" int m_childShapeIndexA;\n" -" int m_childShapeIndexB;\n" -"};\n" -"#endif //B3_COLLIDABLE_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" -"#ifdef __cplusplus\n" -"#else\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" -"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\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" -"__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" -"float4 cross3(float4 a, float4 b)\n" -"{\n" -" return cross(a,b);\n" -"}\n" -"//#define dot3F4 dot\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" -"float4 fastNormalize4(float4 v)\n" -"{\n" -" return fast_normalize(v);\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" -"__inline\n" -"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n" -"{\n" -" return qtRotate( *orientation, *p ) + (*translation);\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" -"}\n" -"__inline float4 lerp3(const float4 a,const float4 b, float t)\n" -"{\n" -" return make_float4( a.x + (b.x - a.x) * t,\n" -" a.y + (b.y - a.y) * t,\n" -" a.z + (b.z - a.z) * t,\n" -" 0.f);\n" -"}\n" -"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n" -"int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n" -"{\n" -" \n" -" int ve;\n" -" float ds, de;\n" -" int numVertsOut = 0;\n" -" //double-check next test\n" -" if (numVertsIn < 2)\n" -" return 0;\n" -" \n" -" float4 firstVertex=pVtxIn[numVertsIn-1];\n" -" float4 endVertex = pVtxIn[0];\n" -" \n" -" ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n" -" \n" -" for (ve = 0; ve < numVertsIn; ve++)\n" -" {\n" -" endVertex=pVtxIn[ve];\n" -" de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n" -" if (ds<0)\n" -" {\n" -" if (de<0)\n" -" {\n" -" // Start < 0, end < 0, so output endVertex\n" -" ppVtxOut[numVertsOut++] = endVertex;\n" -" }\n" -" else\n" -" {\n" -" // Start < 0, end >= 0, so output intersection\n" -" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" -" }\n" -" }\n" -" else\n" -" {\n" -" if (de<0)\n" -" {\n" -" // Start >= 0, end < 0 so output intersection and end\n" -" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" -" ppVtxOut[numVertsOut++] = endVertex;\n" -" }\n" -" }\n" -" firstVertex = endVertex;\n" -" ds = de;\n" -" }\n" -" return numVertsOut;\n" -"}\n" -"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n" -"int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n" -"{\n" -" \n" -" int ve;\n" -" float ds, de;\n" -" int numVertsOut = 0;\n" -"//double-check next test\n" -" if (numVertsIn < 2)\n" -" return 0;\n" -" float4 firstVertex=pVtxIn[numVertsIn-1];\n" -" float4 endVertex = pVtxIn[0];\n" -" \n" -" ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n" -" for (ve = 0; ve < numVertsIn; ve++)\n" -" {\n" -" endVertex=pVtxIn[ve];\n" -" de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n" -" if (ds<0)\n" -" {\n" -" if (de<0)\n" -" {\n" -" // Start < 0, end < 0, so output endVertex\n" -" ppVtxOut[numVertsOut++] = endVertex;\n" -" }\n" -" else\n" -" {\n" -" // Start < 0, end >= 0, so output intersection\n" -" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" -" }\n" -" }\n" -" else\n" -" {\n" -" if (de<0)\n" -" {\n" -" // Start >= 0, end < 0 so output intersection and end\n" -" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" -" ppVtxOut[numVertsOut++] = endVertex;\n" -" }\n" -" }\n" -" firstVertex = endVertex;\n" -" ds = de;\n" -" }\n" -" return numVertsOut;\n" -"}\n" -"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA, \n" -" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n" -" float4* worldVertsB2, int capacityWorldVertsB2,\n" -" const float minDist, float maxDist,\n" -" __global const float4* vertices,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" float4* contactsOut,\n" -" int contactCapacity)\n" -"{\n" -" int numContactsOut = 0;\n" -" float4* pVtxIn = worldVertsB1;\n" -" float4* pVtxOut = worldVertsB2;\n" -" \n" -" int numVertsIn = numWorldVertsB1;\n" -" int numVertsOut = 0;\n" -" int closestFaceA=-1;\n" -" {\n" -" float dmin = FLT_MAX;\n" -" for(int face=0;face<hullA->m_numFaces;face++)\n" -" {\n" -" const float4 Normal = make_float4(\n" -" faces[hullA->m_faceOffset+face].m_plane.x, \n" -" faces[hullA->m_faceOffset+face].m_plane.y, \n" -" faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n" -" const float4 faceANormalWS = qtRotate(ornA,Normal);\n" -" \n" -" float d = dot3F4(faceANormalWS,separatingNormal);\n" -" if (d < dmin)\n" -" {\n" -" dmin = d;\n" -" closestFaceA = face;\n" -" }\n" -" }\n" -" }\n" -" if (closestFaceA<0)\n" -" return numContactsOut;\n" -" b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n" -" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" -" int numVerticesA = polyA.m_numIndices;\n" -" for(int e0=0;e0<numVerticesA;e0++)\n" -" {\n" -" const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n" -" const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n" -" const float4 edge0 = a - b;\n" -" const float4 WorldEdge0 = qtRotate(ornA,edge0);\n" -" float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" -" float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n" -" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" -" float4 worldA1 = transform(&a,&posA,&ornA);\n" -" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" -" \n" -" float4 planeNormalWS = planeNormalWS1;\n" -" float planeEqWS=planeEqWS1;\n" -" \n" -" //clip face\n" -" //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n" -" numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n" -" //btSwap(pVtxIn,pVtxOut);\n" -" float4* tmp = pVtxOut;\n" -" pVtxOut = pVtxIn;\n" -" pVtxIn = tmp;\n" -" numVertsIn = numVertsOut;\n" -" numVertsOut = 0;\n" -" }\n" -" \n" -" // only keep points that are behind the witness face\n" -" {\n" -" float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" -" float localPlaneEq = polyA.m_plane.w;\n" -" float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n" -" float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n" -" for (int i=0;i<numVertsIn;i++)\n" -" {\n" -" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" -" if (depth <=minDist)\n" -" {\n" -" depth = minDist;\n" -" }\n" -" if (depth <=maxDist)\n" -" {\n" -" float4 pointInWorld = pVtxIn[i];\n" -" //resultOut.addContactPoint(separatingNormal,point,depth);\n" -" contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" -" }\n" -" }\n" -" }\n" -" return numContactsOut;\n" -"}\n" -"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA, \n" -" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n" -" float4* worldVertsB2, int capacityWorldVertsB2,\n" -" const float minDist, float maxDist,\n" -" const float4* verticesA,\n" -" const b3GpuFace_t* facesA,\n" -" const int* indicesA,\n" -" __global const float4* verticesB,\n" -" __global const b3GpuFace_t* facesB,\n" -" __global const int* indicesB,\n" -" float4* contactsOut,\n" -" int contactCapacity)\n" -"{\n" -" int numContactsOut = 0;\n" -" float4* pVtxIn = worldVertsB1;\n" -" float4* pVtxOut = worldVertsB2;\n" -" \n" -" int numVertsIn = numWorldVertsB1;\n" -" int numVertsOut = 0;\n" -" int closestFaceA=-1;\n" -" {\n" -" float dmin = FLT_MAX;\n" -" for(int face=0;face<hullA->m_numFaces;face++)\n" -" {\n" -" const float4 Normal = make_float4(\n" -" facesA[hullA->m_faceOffset+face].m_plane.x, \n" -" facesA[hullA->m_faceOffset+face].m_plane.y, \n" -" facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n" -" const float4 faceANormalWS = qtRotate(ornA,Normal);\n" -" \n" -" float d = dot3F4(faceANormalWS,separatingNormal);\n" -" if (d < dmin)\n" -" {\n" -" dmin = d;\n" -" closestFaceA = face;\n" -" }\n" -" }\n" -" }\n" -" if (closestFaceA<0)\n" -" return numContactsOut;\n" -" b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n" -" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" -" int numVerticesA = polyA.m_numIndices;\n" -" for(int e0=0;e0<numVerticesA;e0++)\n" -" {\n" -" const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n" -" const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n" -" const float4 edge0 = a - b;\n" -" const float4 WorldEdge0 = qtRotate(ornA,edge0);\n" -" float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" -" float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n" -" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" -" float4 worldA1 = transform(&a,&posA,&ornA);\n" -" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" -" \n" -" float4 planeNormalWS = planeNormalWS1;\n" -" float planeEqWS=planeEqWS1;\n" -" \n" -" //clip face\n" -" //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n" -" numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n" -" //btSwap(pVtxIn,pVtxOut);\n" -" float4* tmp = pVtxOut;\n" -" pVtxOut = pVtxIn;\n" -" pVtxIn = tmp;\n" -" numVertsIn = numVertsOut;\n" -" numVertsOut = 0;\n" -" }\n" -" \n" -" // only keep points that are behind the witness face\n" -" {\n" -" float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" -" float localPlaneEq = polyA.m_plane.w;\n" -" float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n" -" float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n" -" for (int i=0;i<numVertsIn;i++)\n" -" {\n" -" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" -" if (depth <=minDist)\n" -" {\n" -" depth = minDist;\n" -" }\n" -" if (depth <=maxDist)\n" -" {\n" -" float4 pointInWorld = pVtxIn[i];\n" -" //resultOut.addContactPoint(separatingNormal,point,depth);\n" -" contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" -" }\n" -" }\n" -" }\n" -" return numContactsOut;\n" -"}\n" -"int clipHullAgainstHull(const float4 separatingNormal,\n" -" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n" -" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n" -" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n" -" const float minDist, float maxDist,\n" -" __global const float4* vertices,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" float4* localContactsOut,\n" -" int localContactCapacity)\n" -"{\n" -" int numContactsOut = 0;\n" -" int numWorldVertsB1= 0;\n" -" int closestFaceB=-1;\n" -" float dmax = -FLT_MAX;\n" -" {\n" -" for(int face=0;face<hullB->m_numFaces;face++)\n" -" {\n" -" const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n" -" faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n" -" const float4 WorldNormal = qtRotate(ornB, Normal);\n" -" float d = dot3F4(WorldNormal,separatingNormal);\n" -" if (d > dmax)\n" -" {\n" -" dmax = d;\n" -" closestFaceB = face;\n" -" }\n" -" }\n" -" }\n" -" {\n" -" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n" -" const int numVertices = polyB.m_numIndices;\n" -" for(int e0=0;e0<numVertices;e0++)\n" -" {\n" -" const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n" -" worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" -" }\n" -" }\n" -" if (closestFaceB>=0)\n" -" {\n" -" numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n" -" posA,ornA,\n" -" worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n" -" faces,\n" -" indices,localContactsOut,localContactCapacity);\n" -" }\n" -" return numContactsOut;\n" -"}\n" -"int clipHullAgainstHullLocalA(const float4 separatingNormal,\n" -" const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n" -" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n" -" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n" -" const float minDist, float maxDist,\n" -" const float4* verticesA,\n" -" const b3GpuFace_t* facesA,\n" -" const int* indicesA,\n" -" __global const float4* verticesB,\n" -" __global const b3GpuFace_t* facesB,\n" -" __global const int* indicesB,\n" -" float4* localContactsOut,\n" -" int localContactCapacity)\n" -"{\n" -" int numContactsOut = 0;\n" -" int numWorldVertsB1= 0;\n" -" int closestFaceB=-1;\n" -" float dmax = -FLT_MAX;\n" -" {\n" -" for(int face=0;face<hullB->m_numFaces;face++)\n" -" {\n" -" const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n" -" facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n" -" const float4 WorldNormal = qtRotate(ornB, Normal);\n" -" float d = dot3F4(WorldNormal,separatingNormal);\n" -" if (d > dmax)\n" -" {\n" -" dmax = d;\n" -" closestFaceB = face;\n" -" }\n" -" }\n" -" }\n" -" {\n" -" const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n" -" const int numVertices = polyB.m_numIndices;\n" -" for(int e0=0;e0<numVertices;e0++)\n" -" {\n" -" const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n" -" worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" -" }\n" -" }\n" -" if (closestFaceB>=0)\n" -" {\n" -" numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n" -" posA,ornA,\n" -" worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n" -" verticesA,facesA,indicesA,\n" -" verticesB,facesB,indicesB,\n" -" localContactsOut,localContactCapacity);\n" -" }\n" -" return numContactsOut;\n" -"}\n" -"#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n" -"#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n" -"#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n" -"#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n" -"int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n" -"{\n" -" if( nPoints == 0 )\n" -" return 0;\n" -" \n" -" if (nPoints <=4)\n" -" return nPoints;\n" -" \n" -" \n" -" if (nPoints >64)\n" -" nPoints = 64;\n" -" \n" -" float4 center = make_float4(0.f);\n" -" {\n" -" \n" -" for (int i=0;i<nPoints;i++)\n" -" center += p[i];\n" -" center /= (float)nPoints;\n" -" }\n" -" \n" -" \n" -" \n" -" // sample 4 directions\n" -" \n" -" float4 aVector = p[0] - center;\n" -" float4 u = cross3( nearNormal, aVector );\n" -" float4 v = cross3( nearNormal, u );\n" -" u = normalize3( u );\n" -" v = normalize3( v );\n" -" \n" -" \n" -" //keep point with deepest penetration\n" -" float minW= FLT_MAX;\n" -" \n" -" int minIndex=-1;\n" -" \n" -" float4 maxDots;\n" -" maxDots.x = FLT_MIN;\n" -" maxDots.y = FLT_MIN;\n" -" maxDots.z = FLT_MIN;\n" -" maxDots.w = FLT_MIN;\n" -" \n" -" // idx, distance\n" -" for(int ie = 0; ie<nPoints; ie++ )\n" -" {\n" -" if (p[ie].w<minW)\n" -" {\n" -" minW = p[ie].w;\n" -" minIndex=ie;\n" -" }\n" -" float f;\n" -" float4 r = p[ie]-center;\n" -" f = dot3F4( u, r );\n" -" if (f<maxDots.x)\n" -" {\n" -" maxDots.x = f;\n" -" contactIdx[0].x = ie;\n" -" }\n" -" \n" -" f = dot3F4( -u, r );\n" -" if (f<maxDots.y)\n" -" {\n" -" maxDots.y = f;\n" -" contactIdx[0].y = ie;\n" -" }\n" -" \n" -" \n" -" f = dot3F4( v, r );\n" -" if (f<maxDots.z)\n" -" {\n" -" maxDots.z = f;\n" -" contactIdx[0].z = ie;\n" -" }\n" -" \n" -" f = dot3F4( -v, r );\n" -" if (f<maxDots.w)\n" -" {\n" -" maxDots.w = f;\n" -" contactIdx[0].w = ie;\n" -" }\n" -" \n" -" }\n" -" \n" -" if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n" -" {\n" -" //replace the first contact with minimum (todo: replace contact with least penetration)\n" -" contactIdx[0].x = minIndex;\n" -" }\n" -" \n" -" return 4;\n" -" \n" -"}\n" -"int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n" -"{\n" -" contactIdx[0] = 0;\n" -" contactIdx[1] = 1;\n" -" contactIdx[2] = 2;\n" -" contactIdx[3] = 3;\n" -" \n" -" if( nPoints == 0 ) return 0;\n" -" \n" -" nPoints = min2( nPoints, 4 );\n" -" return nPoints;\n" -" \n" -"}\n" -"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n" -"{\n" -" if( nPoints == 0 ) return 0;\n" -" nPoints = min2( nPoints, 64 );\n" -" float4 center = make_float4(0.f);\n" -" {\n" -" float4 v[64];\n" -" for (int i=0;i<nPoints;i++)\n" -" v[i] = p[i];\n" -" //memcpy( v, p, nPoints*sizeof(float4) );\n" -" PARALLEL_SUM( v, nPoints );\n" -" center = v[0]/(float)nPoints;\n" -" }\n" -" \n" -" { // sample 4 directions\n" -" if( nPoints < 4 )\n" -" {\n" -" for(int i=0; i<nPoints; i++) \n" -" contactIdx[i] = i;\n" -" return nPoints;\n" -" }\n" -" float4 aVector = p[0] - center;\n" -" float4 u = cross3( nearNormal, aVector );\n" -" float4 v = cross3( nearNormal, u );\n" -" u = normalize3( u );\n" -" v = normalize3( v );\n" -" int idx[4];\n" -" float2 max00 = make_float2(0,FLT_MAX);\n" -" {\n" -" // idx, distance\n" -" {\n" -" {\n" -" int4 a[64];\n" -" for(int ie = 0; ie<nPoints; ie++ )\n" -" {\n" -" \n" -" \n" -" float f;\n" -" float4 r = p[ie]-center;\n" -" f = dot3F4( u, r );\n" -" a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" -" f = dot3F4( -u, r );\n" -" a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" -" f = dot3F4( v, r );\n" -" a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" -" f = dot3F4( -v, r );\n" -" a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" -" }\n" -" for(int ie=0; ie<nPoints; ie++)\n" -" {\n" -" a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n" -" a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n" -" a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n" -" a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n" -" }\n" -" idx[0] = (int)a[0].x & 0xff;\n" -" idx[1] = (int)a[0].y & 0xff;\n" -" idx[2] = (int)a[0].z & 0xff;\n" -" idx[3] = (int)a[0].w & 0xff;\n" -" }\n" -" }\n" -" {\n" -" float2 h[64];\n" -" PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n" -" REDUCE_MIN( h, nPoints );\n" -" max00 = h[0];\n" -" }\n" -" }\n" -" contactIdx[0] = idx[0];\n" -" contactIdx[1] = idx[1];\n" -" contactIdx[2] = idx[2];\n" -" contactIdx[3] = idx[3];\n" -" return 4;\n" -" }\n" -"}\n" -"__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n" -" __global const b3RigidBodyData_t* rigidBodies, \n" -" __global const float4* closestPointsWorld,\n" -" __global const float4* separatingNormalsWorld,\n" -" __global const int* contactCounts,\n" -" __global const int* contactOffsets,\n" -" __global struct b3Contact4Data* restrict contactsOut,\n" -" counter32_t nContactsOut,\n" -" int contactCapacity,\n" -" int numPairs,\n" -" int pairIndex\n" -" )\n" -"{\n" -" int idx = get_global_id(0);\n" -" \n" -" if (idx<numPairs)\n" -" {\n" -" float4 normal = separatingNormalsWorld[idx];\n" -" int nPoints = contactCounts[idx];\n" -" __global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n" -" float4 localPoints[64];\n" -" for (int i=0;i<nPoints;i++)\n" -" {\n" -" localPoints[i] = pointsIn[i];\n" -" }\n" -" int contactIdx[4];// = {-1,-1,-1,-1};\n" -" contactIdx[0] = -1;\n" -" contactIdx[1] = -1;\n" -" contactIdx[2] = -1;\n" -" contactIdx[3] = -1;\n" -" int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n" -" int dstIdx;\n" -" AppendInc( nContactsOut, dstIdx );\n" -" if (dstIdx<contactCapacity)\n" -" {\n" -" __global struct b3Contact4Data* c = contactsOut + dstIdx;\n" -" c->m_worldNormalOnB = -normal;\n" -" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" -" c->m_batchIdx = idx;\n" -" int bodyA = pairs[pairIndex].x;\n" -" int bodyB = pairs[pairIndex].y;\n" -" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n" -" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n" -" c->m_childIndexA = -1;\n" -" c->m_childIndexB = -1;\n" -" for (int i=0;i<nContacts;i++)\n" -" {\n" -" c->m_worldPosB[i] = localPoints[contactIdx[i]];\n" -" }\n" -" GET_NPOINTS(*c) = nContacts;\n" -" }\n" -" }\n" -"}\n" -"void trInverse(float4 translationIn, Quaternion orientationIn,\n" -" float4* translationOut, Quaternion* orientationOut)\n" -"{\n" -" *orientationOut = qtInvert(orientationIn);\n" -" *translationOut = qtRotate(*orientationOut, -translationIn);\n" -"}\n" -"void trMul(float4 translationA, Quaternion orientationA,\n" -" float4 translationB, Quaternion orientationB,\n" -" float4* translationOut, Quaternion* orientationOut)\n" -"{\n" -" *orientationOut = qtMul(orientationA,orientationB);\n" -" *translationOut = transform(&translationB,&translationA,&orientationA);\n" -"}\n" -"__kernel void clipHullHullKernel( __global int4* pairs, \n" -" __global const b3RigidBodyData_t* rigidBodies, \n" -" __global const b3Collidable_t* collidables,\n" -" __global const b3ConvexPolyhedronData_t* convexShapes, \n" -" __global const float4* vertices,\n" -" __global const float4* uniqueEdges,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" __global const float4* separatingNormals,\n" -" __global const int* hasSeparatingAxis,\n" -" __global struct b3Contact4Data* restrict globalContactsOut,\n" -" counter32_t nGlobalContactsOut,\n" -" int numPairs,\n" -" int contactCapacity)\n" -"{\n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" float4 worldVertsB1[64];\n" -" float4 worldVertsB2[64];\n" -" int capacityWorldVerts = 64; \n" -" float4 localContactsOut[64];\n" -" int localContactCapacity=64;\n" -" \n" -" float minDist = -1e30f;\n" -" float maxDist = 0.02f;\n" -" if (i<numPairs)\n" -" {\n" -" int bodyIndexA = pairs[i].x;\n" -" int bodyIndexB = pairs[i].y;\n" -" \n" -" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" -" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" -" if (hasSeparatingAxis[i])\n" -" {\n" -" \n" -" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" -" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" -" \n" -" \n" -" int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n" -" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" -" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n" -" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n" -" worldVertsB1,worldVertsB2,capacityWorldVerts,\n" -" minDist, maxDist,\n" -" vertices,faces,indices,\n" -" localContactsOut,localContactCapacity);\n" -" \n" -" if (numLocalContactsOut>0)\n" -" {\n" -" float4 normal = -separatingNormals[i];\n" -" int nPoints = numLocalContactsOut;\n" -" float4* pointsIn = localContactsOut;\n" -" int contactIdx[4];// = {-1,-1,-1,-1};\n" -" contactIdx[0] = -1;\n" -" contactIdx[1] = -1;\n" -" contactIdx[2] = -1;\n" -" contactIdx[3] = -1;\n" -" \n" -" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" -" \n" -" \n" -" int mprContactIndex = pairs[pairIndex].z;\n" -" int dstIdx = mprContactIndex;\n" -" if (dstIdx<0)\n" -" {\n" -" AppendInc( nGlobalContactsOut, dstIdx );\n" -" }\n" -" if (dstIdx<contactCapacity)\n" -" {\n" -" pairs[pairIndex].z = dstIdx;\n" -" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" -" c->m_worldNormalOnB = -normal;\n" -" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" -" c->m_batchIdx = pairIndex;\n" -" int bodyA = pairs[pairIndex].x;\n" -" int bodyB = pairs[pairIndex].y;\n" -" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" -" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" -" c->m_childIndexA = -1;\n" -" c->m_childIndexB = -1;\n" -" for (int i=0;i<nReducedContacts;i++)\n" -" {\n" -" //this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n" -" if (i>0||(mprContactIndex<0))\n" -" {\n" -" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" -" }\n" -" }\n" -" GET_NPOINTS(*c) = nReducedContacts;\n" -" }\n" -" \n" -" }// if (numContactsOut>0)\n" -" }// if (hasSeparatingAxis[i])\n" -" }// if (i<numPairs)\n" -"}\n" -"__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n" -" __global const b3RigidBodyData_t* rigidBodies, \n" -" __global const b3Collidable_t* collidables,\n" -" __global const b3ConvexPolyhedronData_t* convexShapes, \n" -" __global const float4* vertices,\n" -" __global const float4* uniqueEdges,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" __global const b3GpuChildShape_t* gpuChildShapes,\n" -" __global const float4* gpuCompoundSepNormalsOut,\n" -" __global const int* gpuHasCompoundSepNormalsOut,\n" -" __global struct b3Contact4Data* restrict globalContactsOut,\n" -" counter32_t nGlobalContactsOut,\n" -" int numCompoundPairs, int maxContactCapacity)\n" -"{\n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" float4 worldVertsB1[64];\n" -" float4 worldVertsB2[64];\n" -" int capacityWorldVerts = 64; \n" -" float4 localContactsOut[64];\n" -" int localContactCapacity=64;\n" -" \n" -" float minDist = -1e30f;\n" -" float maxDist = 0.02f;\n" -" if (i<numCompoundPairs)\n" -" {\n" -" if (gpuHasCompoundSepNormalsOut[i])\n" -" {\n" -" int bodyIndexA = gpuCompoundPairs[i].x;\n" -" int bodyIndexB = gpuCompoundPairs[i].y;\n" -" \n" -" int childShapeIndexA = gpuCompoundPairs[i].z;\n" -" int childShapeIndexB = gpuCompoundPairs[i].w;\n" -" \n" -" int collidableIndexA = -1;\n" -" int collidableIndexB = -1;\n" -" \n" -" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" -" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" -" \n" -" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n" -" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" -" \n" -" if (childShapeIndexA >= 0)\n" -" {\n" -" collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n" -" float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n" -" float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n" -" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n" -" float4 newOrnA = qtMul(ornA,childOrnA);\n" -" posA = newPosA;\n" -" ornA = newOrnA;\n" -" } else\n" -" {\n" -" collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" -" }\n" -" \n" -" if (childShapeIndexB>=0)\n" -" {\n" -" collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" -" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" -" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" -" float4 newPosB = transform(&childPosB,&posB,&ornB);\n" -" float4 newOrnB = qtMul(ornB,childOrnB);\n" -" posB = newPosB;\n" -" ornB = newOrnB;\n" -" } else\n" -" {\n" -" collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; \n" -" }\n" -" \n" -" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" -" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" -" \n" -" int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n" -" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" -" posA,ornA,\n" -" posB,ornB,\n" -" worldVertsB1,worldVertsB2,capacityWorldVerts,\n" -" minDist, maxDist,\n" -" vertices,faces,indices,\n" -" localContactsOut,localContactCapacity);\n" -" \n" -" if (numLocalContactsOut>0)\n" -" {\n" -" float4 normal = -gpuCompoundSepNormalsOut[i];\n" -" int nPoints = numLocalContactsOut;\n" -" float4* pointsIn = localContactsOut;\n" -" int contactIdx[4];// = {-1,-1,-1,-1};\n" -" contactIdx[0] = -1;\n" -" contactIdx[1] = -1;\n" -" contactIdx[2] = -1;\n" -" contactIdx[3] = -1;\n" -" \n" -" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" -" \n" -" int dstIdx;\n" -" AppendInc( nGlobalContactsOut, dstIdx );\n" -" if ((dstIdx+nReducedContacts) < maxContactCapacity)\n" -" {\n" -" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" -" c->m_worldNormalOnB = -normal;\n" -" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" -" c->m_batchIdx = pairIndex;\n" -" int bodyA = gpuCompoundPairs[pairIndex].x;\n" -" int bodyB = gpuCompoundPairs[pairIndex].y;\n" -" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" -" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" -" c->m_childIndexA = childShapeIndexA;\n" -" c->m_childIndexB = childShapeIndexB;\n" -" for (int i=0;i<nReducedContacts;i++)\n" -" {\n" -" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" -" }\n" -" GET_NPOINTS(*c) = nReducedContacts;\n" -" }\n" -" \n" -" }// if (numContactsOut>0)\n" -" }// if (gpuHasCompoundSepNormalsOut[i])\n" -" }// if (i<numCompoundPairs)\n" -"}\n" -"__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n" -" __global const b3RigidBodyData_t* rigidBodies, \n" -" __global const b3Collidable_t* collidables,\n" -" __global const float4* separatingNormals,\n" -" __global const int* hasSeparatingAxis,\n" -" __global struct b3Contact4Data* restrict globalContactsOut,\n" -" counter32_t nGlobalContactsOut,\n" -" int contactCapacity,\n" -" int numPairs)\n" -"{\n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" if (i<numPairs)\n" -" {\n" -" int bodyIndexA = pairs[i].x;\n" -" int bodyIndexB = pairs[i].y;\n" -" \n" -" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" -" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" -" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n" -" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n" -" {\n" -" //sphere-sphere\n" -" float radiusA = collidables[collidableIndexA].m_radius;\n" -" float radiusB = collidables[collidableIndexB].m_radius;\n" -" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" -" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" -" float4 diff = posA-posB;\n" -" float len = length(diff);\n" -" \n" -" ///iff distance positive, don't generate a new contact\n" -" if ( len <= (radiusA+radiusB))\n" -" {\n" -" ///distance (negative means penetration)\n" -" float dist = len - (radiusA+radiusB);\n" -" float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n" -" if (len > 0.00001)\n" -" {\n" -" normalOnSurfaceB = diff / len;\n" -" }\n" -" float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n" -" contactPosB.w = dist;\n" -" \n" -" int dstIdx;\n" -" AppendInc( nGlobalContactsOut, dstIdx );\n" -" if (dstIdx < contactCapacity)\n" -" {\n" -" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" -" c->m_worldNormalOnB = -normalOnSurfaceB;\n" -" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" -" c->m_batchIdx = pairIndex;\n" -" int bodyA = pairs[pairIndex].x;\n" -" int bodyB = pairs[pairIndex].y;\n" -" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" -" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" -" c->m_worldPosB[0] = contactPosB;\n" -" c->m_childIndexA = -1;\n" -" c->m_childIndexB = -1;\n" -" GET_NPOINTS(*c) = 1;\n" -" }//if (dstIdx < numPairs)\n" -" }//if ( len <= (radiusA+radiusB))\n" -" }//SHAPE_SPHERE SHAPE_SPHERE\n" -" }//if (i<numPairs)\n" -"} \n" -"__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n" -" __global const b3RigidBodyData_t* rigidBodies, \n" -" __global const b3Collidable_t* collidables,\n" -" __global const b3ConvexPolyhedronData_t* convexShapes, \n" -" __global const float4* vertices,\n" -" __global const float4* uniqueEdges,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" __global const b3GpuChildShape_t* gpuChildShapes,\n" -" __global const float4* separatingNormals,\n" -" __global struct b3Contact4Data* restrict globalContactsOut,\n" -" counter32_t nGlobalContactsOut,\n" -" int contactCapacity,\n" -" int numConcavePairs)\n" -"{\n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" float4 worldVertsB1[64];\n" -" float4 worldVertsB2[64];\n" -" int capacityWorldVerts = 64; \n" -" float4 localContactsOut[64];\n" -" int localContactCapacity=64;\n" -" \n" -" float minDist = -1e30f;\n" -" float maxDist = 0.02f;\n" -" if (i<numConcavePairs)\n" -" {\n" -" //negative value means that the pair is invalid\n" -" if (concavePairsIn[i].w<0)\n" -" return;\n" -" int bodyIndexA = concavePairsIn[i].x;\n" -" int bodyIndexB = concavePairsIn[i].y;\n" -" int f = concavePairsIn[i].z;\n" -" int childShapeIndexA = f;\n" -" \n" -" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" -" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" -" \n" -" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" -" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" -" \n" -" ///////////////////////////////////////////////////////////////\n" -" \n" -" \n" -" bool overlap = false;\n" -" \n" -" b3ConvexPolyhedronData_t convexPolyhedronA;\n" -" //add 3 vertices of the triangle\n" -" convexPolyhedronA.m_numVertices = 3;\n" -" convexPolyhedronA.m_vertexOffset = 0;\n" -" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n" -" b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n" -" \n" -" float4 verticesA[3];\n" -" for (int i=0;i<3;i++)\n" -" {\n" -" int index = indices[face.m_indexOffset+i];\n" -" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n" -" verticesA[i] = vert;\n" -" localCenter += vert;\n" -" }\n" -" float dmin = FLT_MAX;\n" -" int localCC=0;\n" -" //a triangle has 3 unique edges\n" -" convexPolyhedronA.m_numUniqueEdges = 3;\n" -" convexPolyhedronA.m_uniqueEdgesOffset = 0;\n" -" float4 uniqueEdgesA[3];\n" -" \n" -" uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n" -" uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n" -" uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n" -" convexPolyhedronA.m_faceOffset = 0;\n" -" \n" -" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n" -" \n" -" b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n" -" int indicesA[3+3+2+2+2];\n" -" int curUsedIndices=0;\n" -" int fidx=0;\n" -" //front size of triangle\n" -" {\n" -" facesA[fidx].m_indexOffset=curUsedIndices;\n" -" indicesA[0] = 0;\n" -" indicesA[1] = 1;\n" -" indicesA[2] = 2;\n" -" curUsedIndices+=3;\n" -" float c = face.m_plane.w;\n" -" facesA[fidx].m_plane.x = normal.x;\n" -" facesA[fidx].m_plane.y = normal.y;\n" -" facesA[fidx].m_plane.z = normal.z;\n" -" facesA[fidx].m_plane.w = c;\n" -" facesA[fidx].m_numIndices=3;\n" -" }\n" -" fidx++;\n" -" //back size of triangle\n" -" {\n" -" facesA[fidx].m_indexOffset=curUsedIndices;\n" -" indicesA[3]=2;\n" -" indicesA[4]=1;\n" -" indicesA[5]=0;\n" -" curUsedIndices+=3;\n" -" float c = dot3F4(normal,verticesA[0]);\n" -" float c1 = -face.m_plane.w;\n" -" facesA[fidx].m_plane.x = -normal.x;\n" -" facesA[fidx].m_plane.y = -normal.y;\n" -" facesA[fidx].m_plane.z = -normal.z;\n" -" facesA[fidx].m_plane.w = c;\n" -" facesA[fidx].m_numIndices=3;\n" -" }\n" -" fidx++;\n" -" bool addEdgePlanes = true;\n" -" if (addEdgePlanes)\n" -" {\n" -" int numVertices=3;\n" -" int prevVertex = numVertices-1;\n" -" for (int i=0;i<numVertices;i++)\n" -" {\n" -" float4 v0 = verticesA[i];\n" -" float4 v1 = verticesA[prevVertex];\n" -" \n" -" float4 edgeNormal = normalize(cross(normal,v1-v0));\n" -" float c = -dot3F4(edgeNormal,v0);\n" -" facesA[fidx].m_numIndices = 2;\n" -" facesA[fidx].m_indexOffset=curUsedIndices;\n" -" indicesA[curUsedIndices++]=i;\n" -" indicesA[curUsedIndices++]=prevVertex;\n" -" \n" -" facesA[fidx].m_plane.x = edgeNormal.x;\n" -" facesA[fidx].m_plane.y = edgeNormal.y;\n" -" facesA[fidx].m_plane.z = edgeNormal.z;\n" -" facesA[fidx].m_plane.w = c;\n" -" fidx++;\n" -" prevVertex = i;\n" -" }\n" -" }\n" -" convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n" -" convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n" -" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" -" posA.w = 0.f;\n" -" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" -" posB.w = 0.f;\n" -" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" -" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n" -" float4 sepAxis = separatingNormals[i];\n" -" \n" -" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n" -" int childShapeIndexB =-1;\n" -" if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n" -" {\n" -" ///////////////////\n" -" ///compound shape support\n" -" \n" -" childShapeIndexB = concavePairsIn[pairIndex].w;\n" -" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" -" shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n" -" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" -" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" -" float4 newPosB = transform(&childPosB,&posB,&ornB);\n" -" float4 newOrnB = qtMul(ornB,childOrnB);\n" -" posB = newPosB;\n" -" ornB = newOrnB;\n" -" \n" -" }\n" -" \n" -" ////////////////////////////////////////\n" -" \n" -" \n" -" \n" -" int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n" -" &convexPolyhedronA, &convexShapes[shapeIndexB],\n" -" posA,ornA,\n" -" posB,ornB,\n" -" worldVertsB1,worldVertsB2,capacityWorldVerts,\n" -" minDist, maxDist,\n" -" &verticesA,&facesA,&indicesA,\n" -" vertices,faces,indices,\n" -" localContactsOut,localContactCapacity);\n" -" \n" -" if (numLocalContactsOut>0)\n" -" {\n" -" float4 normal = -separatingNormals[i];\n" -" int nPoints = numLocalContactsOut;\n" -" float4* pointsIn = localContactsOut;\n" -" int contactIdx[4];// = {-1,-1,-1,-1};\n" -" contactIdx[0] = -1;\n" -" contactIdx[1] = -1;\n" -" contactIdx[2] = -1;\n" -" contactIdx[3] = -1;\n" -" \n" -" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" -" \n" -" int dstIdx;\n" -" AppendInc( nGlobalContactsOut, dstIdx );\n" -" if (dstIdx<contactCapacity)\n" -" {\n" -" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" -" c->m_worldNormalOnB = -normal;\n" -" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" -" c->m_batchIdx = pairIndex;\n" -" int bodyA = concavePairsIn[pairIndex].x;\n" -" int bodyB = concavePairsIn[pairIndex].y;\n" -" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" -" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" -" c->m_childIndexA = childShapeIndexA;\n" -" c->m_childIndexB = childShapeIndexB;\n" -" for (int i=0;i<nReducedContacts;i++)\n" -" {\n" -" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" -" }\n" -" GET_NPOINTS(*c) = nReducedContacts;\n" -" }\n" -" \n" -" }// if (numContactsOut>0)\n" -" }// if (i<numPairs)\n" -"}\n" -"int findClippingFaces(const float4 separatingNormal,\n" -" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n" -" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n" -" __global float4* worldVertsA1,\n" -" __global float4* worldNormalsA1,\n" -" __global float4* worldVertsB1,\n" -" int capacityWorldVerts,\n" -" const float minDist, float maxDist,\n" -" __global const float4* vertices,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" __global int4* clippingFaces, int pairIndex)\n" -"{\n" -" int numContactsOut = 0;\n" -" int numWorldVertsB1= 0;\n" -" \n" -" \n" -" int closestFaceB=-1;\n" -" float dmax = -FLT_MAX;\n" -" \n" -" {\n" -" for(int face=0;face<hullB->m_numFaces;face++)\n" -" {\n" -" const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n" -" faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n" -" const float4 WorldNormal = qtRotate(ornB, Normal);\n" -" float d = dot3F4(WorldNormal,separatingNormal);\n" -" if (d > dmax)\n" -" {\n" -" dmax = d;\n" -" closestFaceB = face;\n" -" }\n" -" }\n" -" }\n" -" \n" -" {\n" -" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n" -" const int numVertices = polyB.m_numIndices;\n" -" for(int e0=0;e0<numVertices;e0++)\n" -" {\n" -" const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n" -" worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" -" }\n" -" }\n" -" \n" -" int closestFaceA=-1;\n" -" {\n" -" float dmin = FLT_MAX;\n" -" for(int face=0;face<hullA->m_numFaces;face++)\n" -" {\n" -" const float4 Normal = make_float4(\n" -" faces[hullA->m_faceOffset+face].m_plane.x,\n" -" faces[hullA->m_faceOffset+face].m_plane.y,\n" -" faces[hullA->m_faceOffset+face].m_plane.z,\n" -" 0.f);\n" -" const float4 faceANormalWS = qtRotate(ornA,Normal);\n" -" \n" -" float d = dot3F4(faceANormalWS,separatingNormal);\n" -" if (d < dmin)\n" -" {\n" -" dmin = d;\n" -" closestFaceA = face;\n" -" worldNormalsA1[pairIndex] = faceANormalWS;\n" -" }\n" -" }\n" -" }\n" -" \n" -" int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n" -" for(int e0=0;e0<numVerticesA;e0++)\n" -" {\n" -" const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n" -" worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n" -" }\n" -" \n" -" clippingFaces[pairIndex].x = closestFaceA;\n" -" clippingFaces[pairIndex].y = closestFaceB;\n" -" clippingFaces[pairIndex].z = numVerticesA;\n" -" clippingFaces[pairIndex].w = numWorldVertsB1;\n" -" \n" -" \n" -" return numContactsOut;\n" -"}\n" -"int clipFaces(__global float4* worldVertsA1,\n" -" __global float4* worldNormalsA1,\n" -" __global float4* worldVertsB1,\n" -" __global float4* worldVertsB2, \n" -" int capacityWorldVertsB2,\n" -" const float minDist, float maxDist,\n" -" __global int4* clippingFaces,\n" -" int pairIndex)\n" -"{\n" -" int numContactsOut = 0;\n" -" \n" -" int closestFaceA = clippingFaces[pairIndex].x;\n" -" int closestFaceB = clippingFaces[pairIndex].y;\n" -" int numVertsInA = clippingFaces[pairIndex].z;\n" -" int numVertsInB = clippingFaces[pairIndex].w;\n" -" \n" -" int numVertsOut = 0;\n" -" \n" -" if (closestFaceA<0)\n" -" return numContactsOut;\n" -" \n" -" __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n" -" __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n" -" \n" -" \n" -" \n" -" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" -" \n" -" for(int e0=0;e0<numVertsInA;e0++)\n" -" {\n" -" const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n" -" const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n" -" const float4 WorldEdge0 = aw - bw;\n" -" float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n" -" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" -" float4 worldA1 = aw;\n" -" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" -" float4 planeNormalWS = planeNormalWS1;\n" -" float planeEqWS=planeEqWS1;\n" -" numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n" -" __global float4* tmp = pVtxOut;\n" -" pVtxOut = pVtxIn;\n" -" pVtxIn = tmp;\n" -" numVertsInB = numVertsOut;\n" -" numVertsOut = 0;\n" -" }\n" -" \n" -" //float4 planeNormalWS = worldNormalsA1[pairIndex];\n" -" //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" -" \n" -" /*for (int i=0;i<numVertsInB;i++)\n" -" {\n" -" pVtxOut[i] = pVtxIn[i];\n" -" }*/\n" -" \n" -" \n" -" \n" -" \n" -" //numVertsInB=0;\n" -" \n" -" float4 planeNormalWS = worldNormalsA1[pairIndex];\n" -" float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" -" for (int i=0;i<numVertsInB;i++)\n" -" {\n" -" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" -" if (depth <=minDist)\n" -" {\n" -" depth = minDist;\n" -" }\n" -" \n" -" if (depth <=maxDist)\n" -" {\n" -" float4 pointInWorld = pVtxIn[i];\n" -" pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" -" }\n" -" }\n" -" \n" -" clippingFaces[pairIndex].w =numContactsOut;\n" -" \n" -" \n" -" return numContactsOut;\n" -"}\n" -"__kernel void findClippingFacesKernel( __global const int4* pairs,\n" -" __global const b3RigidBodyData_t* rigidBodies,\n" -" __global const b3Collidable_t* collidables,\n" -" __global const b3ConvexPolyhedronData_t* convexShapes,\n" -" __global const float4* vertices,\n" -" __global const float4* uniqueEdges,\n" -" __global const b3GpuFace_t* faces,\n" -" __global const int* indices,\n" -" __global const float4* separatingNormals,\n" -" __global const int* hasSeparatingAxis,\n" -" __global int4* clippingFacesOut,\n" -" __global float4* worldVertsA1,\n" -" __global float4* worldNormalsA1,\n" -" __global float4* worldVertsB1,\n" -" int capacityWorldVerts,\n" -" int numPairs\n" -" )\n" -"{\n" -" \n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" \n" -" float minDist = -1e30f;\n" -" float maxDist = 0.02f;\n" -" \n" -" if (i<numPairs)\n" -" {\n" -" \n" -" if (hasSeparatingAxis[i])\n" -" {\n" -" \n" -" int bodyIndexA = pairs[i].x;\n" -" int bodyIndexB = pairs[i].y;\n" -" \n" -" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" -" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" -" \n" -" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" -" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" -" \n" -" \n" -" \n" -" int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n" -" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" -" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n" -" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n" -" worldVertsA1,\n" -" worldNormalsA1,\n" -" worldVertsB1,capacityWorldVerts,\n" -" minDist, maxDist,\n" -" vertices,faces,indices,\n" -" clippingFacesOut,i);\n" -" \n" -" \n" -" }// if (hasSeparatingAxis[i])\n" -" }// if (i<numPairs)\n" -" \n" -"}\n" -"__kernel void clipFacesAndFindContactsKernel( __global const float4* separatingNormals,\n" -" __global const int* hasSeparatingAxis,\n" -" __global int4* clippingFacesOut,\n" -" __global float4* worldVertsA1,\n" -" __global float4* worldNormalsA1,\n" -" __global float4* worldVertsB1,\n" -" __global float4* worldVertsB2,\n" -" int vertexFaceCapacity,\n" -" int numPairs,\n" -" int debugMode\n" -" )\n" -"{\n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" \n" -" float minDist = -1e30f;\n" -" float maxDist = 0.02f;\n" -" \n" -" if (i<numPairs)\n" -" {\n" -" \n" -" if (hasSeparatingAxis[i])\n" -" {\n" -" \n" -"// int bodyIndexA = pairs[i].x;\n" -" // int bodyIndexB = pairs[i].y;\n" -" \n" -" int numLocalContactsOut = 0;\n" -" int capacityWorldVertsB2 = vertexFaceCapacity;\n" -" \n" -" __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n" -" __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n" -" \n" -" {\n" -" __global int4* clippingFaces = clippingFacesOut;\n" -" \n" -" \n" -" int closestFaceA = clippingFaces[pairIndex].x;\n" -" int closestFaceB = clippingFaces[pairIndex].y;\n" -" int numVertsInA = clippingFaces[pairIndex].z;\n" -" int numVertsInB = clippingFaces[pairIndex].w;\n" -" \n" -" int numVertsOut = 0;\n" -" \n" -" if (closestFaceA>=0)\n" -" {\n" -" \n" -" \n" -" \n" -" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" -" \n" -" for(int e0=0;e0<numVertsInA;e0++)\n" -" {\n" -" const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n" -" const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n" -" const float4 WorldEdge0 = aw - bw;\n" -" float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n" -" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" -" float4 worldA1 = aw;\n" -" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" -" float4 planeNormalWS = planeNormalWS1;\n" -" float planeEqWS=planeEqWS1;\n" -" numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n" -" __global float4* tmp = pVtxOut;\n" -" pVtxOut = pVtxIn;\n" -" pVtxIn = tmp;\n" -" numVertsInB = numVertsOut;\n" -" numVertsOut = 0;\n" -" }\n" -" \n" -" float4 planeNormalWS = worldNormalsA1[pairIndex];\n" -" float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" -" \n" -" for (int i=0;i<numVertsInB;i++)\n" -" {\n" -" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" -" if (depth <=minDist)\n" -" {\n" -" depth = minDist;\n" -" }\n" -" \n" -" if (depth <=maxDist)\n" -" {\n" -" float4 pointInWorld = pVtxIn[i];\n" -" pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" -" }\n" -" }\n" -" \n" -" }\n" -" clippingFaces[pairIndex].w =numLocalContactsOut;\n" -" \n" -" }\n" -" \n" -" for (int i=0;i<numLocalContactsOut;i++)\n" -" pVtxIn[i] = pVtxOut[i];\n" -" \n" -" }// if (hasSeparatingAxis[i])\n" -" }// if (i<numPairs)\n" -" \n" -"}\n" -"__kernel void newContactReductionKernel( __global int4* pairs,\n" -" __global const b3RigidBodyData_t* rigidBodies,\n" -" __global const float4* separatingNormals,\n" -" __global const int* hasSeparatingAxis,\n" -" __global struct b3Contact4Data* globalContactsOut,\n" -" __global int4* clippingFaces,\n" -" __global float4* worldVertsB2,\n" -" volatile __global int* nGlobalContactsOut,\n" -" int vertexFaceCapacity,\n" -" int contactCapacity,\n" -" int numPairs\n" -" )\n" -"{\n" -" int i = get_global_id(0);\n" -" int pairIndex = i;\n" -" \n" -" int4 contactIdx;\n" -" contactIdx=make_int4(0,1,2,3);\n" -" \n" -" if (i<numPairs)\n" -" {\n" -" \n" -" if (hasSeparatingAxis[i])\n" -" {\n" -" \n" -" \n" -" \n" -" \n" -" int nPoints = clippingFaces[pairIndex].w;\n" -" \n" -" if (nPoints>0)\n" -" {\n" -" __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n" -" float4 normal = -separatingNormals[i];\n" -" \n" -" int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n" -" \n" -" int mprContactIndex = pairs[pairIndex].z;\n" -" int dstIdx = mprContactIndex;\n" -" if (dstIdx<0)\n" -" {\n" -" AppendInc( nGlobalContactsOut, dstIdx );\n" -" }\n" -"//#if 0\n" -" \n" -" if (dstIdx < contactCapacity)\n" -" {\n" -" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" -" c->m_worldNormalOnB = -normal;\n" -" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" -" c->m_batchIdx = pairIndex;\n" -" int bodyA = pairs[pairIndex].x;\n" -" int bodyB = pairs[pairIndex].y;\n" -" pairs[pairIndex].w = dstIdx;\n" -" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" -" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" -" c->m_childIndexA =-1;\n" -" c->m_childIndexB =-1;\n" -" switch (nReducedContacts)\n" -" {\n" -" case 4:\n" -" c->m_worldPosB[3] = pointsIn[contactIdx.w];\n" -" case 3:\n" -" c->m_worldPosB[2] = pointsIn[contactIdx.z];\n" -" case 2:\n" -" c->m_worldPosB[1] = pointsIn[contactIdx.y];\n" -" case 1:\n" -" if (mprContactIndex<0)//test\n" -" c->m_worldPosB[0] = pointsIn[contactIdx.x];\n" -" default:\n" -" {\n" -" }\n" -" };\n" -" \n" -" GET_NPOINTS(*c) = nReducedContacts;\n" -" \n" -" }\n" -" \n" -" \n" -"//#endif\n" -" \n" -" }// if (numContactsOut>0)\n" -" }// if (hasSeparatingAxis[i])\n" -" }// if (i<numPairs)\n" -" \n" -" \n" -"}\n" -; +static const char* satClipKernelsCL = + "#define TRIANGLE_NUM_CONVEX_FACES 5\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" + "#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 max2 max\n" + "#define min2 min\n" + "typedef unsigned int u32;\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_CONVEX_POLYHEDRON_DATA_H\n" + "#define B3_CONVEX_POLYHEDRON_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" + "typedef struct b3GpuFace b3GpuFace_t;\n" + "struct b3GpuFace\n" + "{\n" + " b3Float4 m_plane;\n" + " int m_indexOffset;\n" + " int m_numIndices;\n" + " int m_unusedPadding1;\n" + " int m_unusedPadding2;\n" + "};\n" + "typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n" + "struct b3ConvexPolyhedronData\n" + "{\n" + " b3Float4 m_localCenter;\n" + " b3Float4 m_extents;\n" + " b3Float4 mC;\n" + " b3Float4 mE;\n" + " float m_radius;\n" + " int m_faceOffset;\n" + " int m_numFaces;\n" + " int m_numVertices;\n" + " int m_vertexOffset;\n" + " int m_uniqueEdgesOffset;\n" + " int m_numUniqueEdges;\n" + " int m_unused;\n" + "};\n" + "#endif //B3_CONVEX_POLYHEDRON_DATA_H\n" + "#ifndef B3_COLLIDABLE_H\n" + "#define B3_COLLIDABLE_H\n" + "#ifndef B3_FLOAT4_H\n" + "#ifdef __cplusplus\n" + "#else\n" + "#endif \n" + "#endif //B3_FLOAT4_H\n" + "#ifndef B3_QUAT_H\n" + "#ifdef __cplusplus\n" + "#else\n" + "#endif \n" + "#endif //B3_QUAT_H\n" + "enum b3ShapeTypes\n" + "{\n" + " SHAPE_HEIGHT_FIELD=1,\n" + " SHAPE_CONVEX_HULL=3,\n" + " SHAPE_PLANE=4,\n" + " SHAPE_CONCAVE_TRIMESH=5,\n" + " SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n" + " SHAPE_SPHERE=7,\n" + " MAX_NUM_SHAPE_TYPES,\n" + "};\n" + "typedef struct b3Collidable b3Collidable_t;\n" + "struct b3Collidable\n" + "{\n" + " union {\n" + " int m_numChildShapes;\n" + " int m_bvhIndex;\n" + " };\n" + " union\n" + " {\n" + " float m_radius;\n" + " int m_compoundBvhIndex;\n" + " };\n" + " int m_shapeType;\n" + " int m_shapeIndex;\n" + "};\n" + "typedef struct b3GpuChildShape b3GpuChildShape_t;\n" + "struct b3GpuChildShape\n" + "{\n" + " b3Float4 m_childPosition;\n" + " b3Quat m_childOrientation;\n" + " int m_shapeIndex;\n" + " int m_unused0;\n" + " int m_unused1;\n" + " int m_unused2;\n" + "};\n" + "struct b3CompoundOverlappingPair\n" + "{\n" + " int m_bodyIndexA;\n" + " int m_bodyIndexB;\n" + "// int m_pairType;\n" + " int m_childShapeIndexA;\n" + " int m_childShapeIndexB;\n" + "};\n" + "#endif //B3_COLLIDABLE_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" + "#ifdef __cplusplus\n" + "#else\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" + "#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\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" + "__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" + "float4 cross3(float4 a, float4 b)\n" + "{\n" + " return cross(a,b);\n" + "}\n" + "//#define dot3F4 dot\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" + "float4 fastNormalize4(float4 v)\n" + "{\n" + " return fast_normalize(v);\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" + "__inline\n" + "float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n" + "{\n" + " return qtRotate( *orientation, *p ) + (*translation);\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" + "}\n" + "__inline float4 lerp3(const float4 a,const float4 b, float t)\n" + "{\n" + " return make_float4( a.x + (b.x - a.x) * t,\n" + " a.y + (b.y - a.y) * t,\n" + " a.z + (b.z - a.z) * t,\n" + " 0.f);\n" + "}\n" + "// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n" + "int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n" + "{\n" + " \n" + " int ve;\n" + " float ds, de;\n" + " int numVertsOut = 0;\n" + " //double-check next test\n" + " if (numVertsIn < 2)\n" + " return 0;\n" + " \n" + " float4 firstVertex=pVtxIn[numVertsIn-1];\n" + " float4 endVertex = pVtxIn[0];\n" + " \n" + " ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n" + " \n" + " for (ve = 0; ve < numVertsIn; ve++)\n" + " {\n" + " endVertex=pVtxIn[ve];\n" + " de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n" + " if (ds<0)\n" + " {\n" + " if (de<0)\n" + " {\n" + " // Start < 0, end < 0, so output endVertex\n" + " ppVtxOut[numVertsOut++] = endVertex;\n" + " }\n" + " else\n" + " {\n" + " // Start < 0, end >= 0, so output intersection\n" + " ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" + " }\n" + " }\n" + " else\n" + " {\n" + " if (de<0)\n" + " {\n" + " // Start >= 0, end < 0 so output intersection and end\n" + " ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" + " ppVtxOut[numVertsOut++] = endVertex;\n" + " }\n" + " }\n" + " firstVertex = endVertex;\n" + " ds = de;\n" + " }\n" + " return numVertsOut;\n" + "}\n" + "// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n" + "int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n" + "{\n" + " \n" + " int ve;\n" + " float ds, de;\n" + " int numVertsOut = 0;\n" + "//double-check next test\n" + " if (numVertsIn < 2)\n" + " return 0;\n" + " float4 firstVertex=pVtxIn[numVertsIn-1];\n" + " float4 endVertex = pVtxIn[0];\n" + " \n" + " ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n" + " for (ve = 0; ve < numVertsIn; ve++)\n" + " {\n" + " endVertex=pVtxIn[ve];\n" + " de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n" + " if (ds<0)\n" + " {\n" + " if (de<0)\n" + " {\n" + " // Start < 0, end < 0, so output endVertex\n" + " ppVtxOut[numVertsOut++] = endVertex;\n" + " }\n" + " else\n" + " {\n" + " // Start < 0, end >= 0, so output intersection\n" + " ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" + " }\n" + " }\n" + " else\n" + " {\n" + " if (de<0)\n" + " {\n" + " // Start >= 0, end < 0 so output intersection and end\n" + " ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" + " ppVtxOut[numVertsOut++] = endVertex;\n" + " }\n" + " }\n" + " firstVertex = endVertex;\n" + " ds = de;\n" + " }\n" + " return numVertsOut;\n" + "}\n" + "int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA, \n" + " const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n" + " float4* worldVertsB2, int capacityWorldVertsB2,\n" + " const float minDist, float maxDist,\n" + " __global const float4* vertices,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " float4* contactsOut,\n" + " int contactCapacity)\n" + "{\n" + " int numContactsOut = 0;\n" + " float4* pVtxIn = worldVertsB1;\n" + " float4* pVtxOut = worldVertsB2;\n" + " \n" + " int numVertsIn = numWorldVertsB1;\n" + " int numVertsOut = 0;\n" + " int closestFaceA=-1;\n" + " {\n" + " float dmin = FLT_MAX;\n" + " for(int face=0;face<hullA->m_numFaces;face++)\n" + " {\n" + " const float4 Normal = make_float4(\n" + " faces[hullA->m_faceOffset+face].m_plane.x, \n" + " faces[hullA->m_faceOffset+face].m_plane.y, \n" + " faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n" + " const float4 faceANormalWS = qtRotate(ornA,Normal);\n" + " \n" + " float d = dot3F4(faceANormalWS,separatingNormal);\n" + " if (d < dmin)\n" + " {\n" + " dmin = d;\n" + " closestFaceA = face;\n" + " }\n" + " }\n" + " }\n" + " if (closestFaceA<0)\n" + " return numContactsOut;\n" + " b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n" + " // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" + " int numVerticesA = polyA.m_numIndices;\n" + " for(int e0=0;e0<numVerticesA;e0++)\n" + " {\n" + " const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n" + " const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n" + " const float4 edge0 = a - b;\n" + " const float4 WorldEdge0 = qtRotate(ornA,edge0);\n" + " float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" + " float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n" + " float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" + " float4 worldA1 = transform(&a,&posA,&ornA);\n" + " float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" + " \n" + " float4 planeNormalWS = planeNormalWS1;\n" + " float planeEqWS=planeEqWS1;\n" + " \n" + " //clip face\n" + " //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n" + " numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n" + " //btSwap(pVtxIn,pVtxOut);\n" + " float4* tmp = pVtxOut;\n" + " pVtxOut = pVtxIn;\n" + " pVtxIn = tmp;\n" + " numVertsIn = numVertsOut;\n" + " numVertsOut = 0;\n" + " }\n" + " \n" + " // only keep points that are behind the witness face\n" + " {\n" + " float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" + " float localPlaneEq = polyA.m_plane.w;\n" + " float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n" + " float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n" + " for (int i=0;i<numVertsIn;i++)\n" + " {\n" + " float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" + " if (depth <=minDist)\n" + " {\n" + " depth = minDist;\n" + " }\n" + " if (depth <=maxDist)\n" + " {\n" + " float4 pointInWorld = pVtxIn[i];\n" + " //resultOut.addContactPoint(separatingNormal,point,depth);\n" + " contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" + " }\n" + " }\n" + " }\n" + " return numContactsOut;\n" + "}\n" + "int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA, \n" + " const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n" + " float4* worldVertsB2, int capacityWorldVertsB2,\n" + " const float minDist, float maxDist,\n" + " const float4* verticesA,\n" + " const b3GpuFace_t* facesA,\n" + " const int* indicesA,\n" + " __global const float4* verticesB,\n" + " __global const b3GpuFace_t* facesB,\n" + " __global const int* indicesB,\n" + " float4* contactsOut,\n" + " int contactCapacity)\n" + "{\n" + " int numContactsOut = 0;\n" + " float4* pVtxIn = worldVertsB1;\n" + " float4* pVtxOut = worldVertsB2;\n" + " \n" + " int numVertsIn = numWorldVertsB1;\n" + " int numVertsOut = 0;\n" + " int closestFaceA=-1;\n" + " {\n" + " float dmin = FLT_MAX;\n" + " for(int face=0;face<hullA->m_numFaces;face++)\n" + " {\n" + " const float4 Normal = make_float4(\n" + " facesA[hullA->m_faceOffset+face].m_plane.x, \n" + " facesA[hullA->m_faceOffset+face].m_plane.y, \n" + " facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n" + " const float4 faceANormalWS = qtRotate(ornA,Normal);\n" + " \n" + " float d = dot3F4(faceANormalWS,separatingNormal);\n" + " if (d < dmin)\n" + " {\n" + " dmin = d;\n" + " closestFaceA = face;\n" + " }\n" + " }\n" + " }\n" + " if (closestFaceA<0)\n" + " return numContactsOut;\n" + " b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n" + " // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" + " int numVerticesA = polyA.m_numIndices;\n" + " for(int e0=0;e0<numVerticesA;e0++)\n" + " {\n" + " const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n" + " const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n" + " const float4 edge0 = a - b;\n" + " const float4 WorldEdge0 = qtRotate(ornA,edge0);\n" + " float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" + " float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n" + " float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" + " float4 worldA1 = transform(&a,&posA,&ornA);\n" + " float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" + " \n" + " float4 planeNormalWS = planeNormalWS1;\n" + " float planeEqWS=planeEqWS1;\n" + " \n" + " //clip face\n" + " //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n" + " numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n" + " //btSwap(pVtxIn,pVtxOut);\n" + " float4* tmp = pVtxOut;\n" + " pVtxOut = pVtxIn;\n" + " pVtxIn = tmp;\n" + " numVertsIn = numVertsOut;\n" + " numVertsOut = 0;\n" + " }\n" + " \n" + " // only keep points that are behind the witness face\n" + " {\n" + " float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" + " float localPlaneEq = polyA.m_plane.w;\n" + " float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n" + " float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n" + " for (int i=0;i<numVertsIn;i++)\n" + " {\n" + " float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" + " if (depth <=minDist)\n" + " {\n" + " depth = minDist;\n" + " }\n" + " if (depth <=maxDist)\n" + " {\n" + " float4 pointInWorld = pVtxIn[i];\n" + " //resultOut.addContactPoint(separatingNormal,point,depth);\n" + " contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" + " }\n" + " }\n" + " }\n" + " return numContactsOut;\n" + "}\n" + "int clipHullAgainstHull(const float4 separatingNormal,\n" + " __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n" + " const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n" + " float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n" + " const float minDist, float maxDist,\n" + " __global const float4* vertices,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " float4* localContactsOut,\n" + " int localContactCapacity)\n" + "{\n" + " int numContactsOut = 0;\n" + " int numWorldVertsB1= 0;\n" + " int closestFaceB=-1;\n" + " float dmax = -FLT_MAX;\n" + " {\n" + " for(int face=0;face<hullB->m_numFaces;face++)\n" + " {\n" + " const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n" + " faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n" + " const float4 WorldNormal = qtRotate(ornB, Normal);\n" + " float d = dot3F4(WorldNormal,separatingNormal);\n" + " if (d > dmax)\n" + " {\n" + " dmax = d;\n" + " closestFaceB = face;\n" + " }\n" + " }\n" + " }\n" + " {\n" + " const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n" + " const int numVertices = polyB.m_numIndices;\n" + " for(int e0=0;e0<numVertices;e0++)\n" + " {\n" + " const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n" + " worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" + " }\n" + " }\n" + " if (closestFaceB>=0)\n" + " {\n" + " numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n" + " posA,ornA,\n" + " worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n" + " faces,\n" + " indices,localContactsOut,localContactCapacity);\n" + " }\n" + " return numContactsOut;\n" + "}\n" + "int clipHullAgainstHullLocalA(const float4 separatingNormal,\n" + " const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n" + " const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n" + " float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n" + " const float minDist, float maxDist,\n" + " const float4* verticesA,\n" + " const b3GpuFace_t* facesA,\n" + " const int* indicesA,\n" + " __global const float4* verticesB,\n" + " __global const b3GpuFace_t* facesB,\n" + " __global const int* indicesB,\n" + " float4* localContactsOut,\n" + " int localContactCapacity)\n" + "{\n" + " int numContactsOut = 0;\n" + " int numWorldVertsB1= 0;\n" + " int closestFaceB=-1;\n" + " float dmax = -FLT_MAX;\n" + " {\n" + " for(int face=0;face<hullB->m_numFaces;face++)\n" + " {\n" + " const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n" + " facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n" + " const float4 WorldNormal = qtRotate(ornB, Normal);\n" + " float d = dot3F4(WorldNormal,separatingNormal);\n" + " if (d > dmax)\n" + " {\n" + " dmax = d;\n" + " closestFaceB = face;\n" + " }\n" + " }\n" + " }\n" + " {\n" + " const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n" + " const int numVertices = polyB.m_numIndices;\n" + " for(int e0=0;e0<numVertices;e0++)\n" + " {\n" + " const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n" + " worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" + " }\n" + " }\n" + " if (closestFaceB>=0)\n" + " {\n" + " numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n" + " posA,ornA,\n" + " worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n" + " verticesA,facesA,indicesA,\n" + " verticesB,facesB,indicesB,\n" + " localContactsOut,localContactCapacity);\n" + " }\n" + " return numContactsOut;\n" + "}\n" + "#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n" + "#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n" + "#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n" + "#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n" + "int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n" + "{\n" + " if( nPoints == 0 )\n" + " return 0;\n" + " \n" + " if (nPoints <=4)\n" + " return nPoints;\n" + " \n" + " \n" + " if (nPoints >64)\n" + " nPoints = 64;\n" + " \n" + " float4 center = make_float4(0.f);\n" + " {\n" + " \n" + " for (int i=0;i<nPoints;i++)\n" + " center += p[i];\n" + " center /= (float)nPoints;\n" + " }\n" + " \n" + " \n" + " \n" + " // sample 4 directions\n" + " \n" + " float4 aVector = p[0] - center;\n" + " float4 u = cross3( nearNormal, aVector );\n" + " float4 v = cross3( nearNormal, u );\n" + " u = normalize3( u );\n" + " v = normalize3( v );\n" + " \n" + " \n" + " //keep point with deepest penetration\n" + " float minW= FLT_MAX;\n" + " \n" + " int minIndex=-1;\n" + " \n" + " float4 maxDots;\n" + " maxDots.x = FLT_MIN;\n" + " maxDots.y = FLT_MIN;\n" + " maxDots.z = FLT_MIN;\n" + " maxDots.w = FLT_MIN;\n" + " \n" + " // idx, distance\n" + " for(int ie = 0; ie<nPoints; ie++ )\n" + " {\n" + " if (p[ie].w<minW)\n" + " {\n" + " minW = p[ie].w;\n" + " minIndex=ie;\n" + " }\n" + " float f;\n" + " float4 r = p[ie]-center;\n" + " f = dot3F4( u, r );\n" + " if (f<maxDots.x)\n" + " {\n" + " maxDots.x = f;\n" + " contactIdx[0].x = ie;\n" + " }\n" + " \n" + " f = dot3F4( -u, r );\n" + " if (f<maxDots.y)\n" + " {\n" + " maxDots.y = f;\n" + " contactIdx[0].y = ie;\n" + " }\n" + " \n" + " \n" + " f = dot3F4( v, r );\n" + " if (f<maxDots.z)\n" + " {\n" + " maxDots.z = f;\n" + " contactIdx[0].z = ie;\n" + " }\n" + " \n" + " f = dot3F4( -v, r );\n" + " if (f<maxDots.w)\n" + " {\n" + " maxDots.w = f;\n" + " contactIdx[0].w = ie;\n" + " }\n" + " \n" + " }\n" + " \n" + " if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n" + " {\n" + " //replace the first contact with minimum (todo: replace contact with least penetration)\n" + " contactIdx[0].x = minIndex;\n" + " }\n" + " \n" + " return 4;\n" + " \n" + "}\n" + "int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n" + "{\n" + " contactIdx[0] = 0;\n" + " contactIdx[1] = 1;\n" + " contactIdx[2] = 2;\n" + " contactIdx[3] = 3;\n" + " \n" + " if( nPoints == 0 ) return 0;\n" + " \n" + " nPoints = min2( nPoints, 4 );\n" + " return nPoints;\n" + " \n" + "}\n" + "int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n" + "{\n" + " if( nPoints == 0 ) return 0;\n" + " nPoints = min2( nPoints, 64 );\n" + " float4 center = make_float4(0.f);\n" + " {\n" + " float4 v[64];\n" + " for (int i=0;i<nPoints;i++)\n" + " v[i] = p[i];\n" + " //memcpy( v, p, nPoints*sizeof(float4) );\n" + " PARALLEL_SUM( v, nPoints );\n" + " center = v[0]/(float)nPoints;\n" + " }\n" + " \n" + " { // sample 4 directions\n" + " if( nPoints < 4 )\n" + " {\n" + " for(int i=0; i<nPoints; i++) \n" + " contactIdx[i] = i;\n" + " return nPoints;\n" + " }\n" + " float4 aVector = p[0] - center;\n" + " float4 u = cross3( nearNormal, aVector );\n" + " float4 v = cross3( nearNormal, u );\n" + " u = normalize3( u );\n" + " v = normalize3( v );\n" + " int idx[4];\n" + " float2 max00 = make_float2(0,FLT_MAX);\n" + " {\n" + " // idx, distance\n" + " {\n" + " {\n" + " int4 a[64];\n" + " for(int ie = 0; ie<nPoints; ie++ )\n" + " {\n" + " \n" + " \n" + " float f;\n" + " float4 r = p[ie]-center;\n" + " f = dot3F4( u, r );\n" + " a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" + " f = dot3F4( -u, r );\n" + " a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" + " f = dot3F4( v, r );\n" + " a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" + " f = dot3F4( -v, r );\n" + " a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" + " }\n" + " for(int ie=0; ie<nPoints; ie++)\n" + " {\n" + " a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n" + " a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n" + " a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n" + " a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n" + " }\n" + " idx[0] = (int)a[0].x & 0xff;\n" + " idx[1] = (int)a[0].y & 0xff;\n" + " idx[2] = (int)a[0].z & 0xff;\n" + " idx[3] = (int)a[0].w & 0xff;\n" + " }\n" + " }\n" + " {\n" + " float2 h[64];\n" + " PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n" + " REDUCE_MIN( h, nPoints );\n" + " max00 = h[0];\n" + " }\n" + " }\n" + " contactIdx[0] = idx[0];\n" + " contactIdx[1] = idx[1];\n" + " contactIdx[2] = idx[2];\n" + " contactIdx[3] = idx[3];\n" + " return 4;\n" + " }\n" + "}\n" + "__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n" + " __global const b3RigidBodyData_t* rigidBodies, \n" + " __global const float4* closestPointsWorld,\n" + " __global const float4* separatingNormalsWorld,\n" + " __global const int* contactCounts,\n" + " __global const int* contactOffsets,\n" + " __global struct b3Contact4Data* restrict contactsOut,\n" + " counter32_t nContactsOut,\n" + " int contactCapacity,\n" + " int numPairs,\n" + " int pairIndex\n" + " )\n" + "{\n" + " int idx = get_global_id(0);\n" + " \n" + " if (idx<numPairs)\n" + " {\n" + " float4 normal = separatingNormalsWorld[idx];\n" + " int nPoints = contactCounts[idx];\n" + " __global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n" + " float4 localPoints[64];\n" + " for (int i=0;i<nPoints;i++)\n" + " {\n" + " localPoints[i] = pointsIn[i];\n" + " }\n" + " int contactIdx[4];// = {-1,-1,-1,-1};\n" + " contactIdx[0] = -1;\n" + " contactIdx[1] = -1;\n" + " contactIdx[2] = -1;\n" + " contactIdx[3] = -1;\n" + " int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n" + " int dstIdx;\n" + " AppendInc( nContactsOut, dstIdx );\n" + " if (dstIdx<contactCapacity)\n" + " {\n" + " __global struct b3Contact4Data* c = contactsOut + dstIdx;\n" + " c->m_worldNormalOnB = -normal;\n" + " c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" + " c->m_batchIdx = idx;\n" + " int bodyA = pairs[pairIndex].x;\n" + " int bodyB = pairs[pairIndex].y;\n" + " c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n" + " c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n" + " c->m_childIndexA = -1;\n" + " c->m_childIndexB = -1;\n" + " for (int i=0;i<nContacts;i++)\n" + " {\n" + " c->m_worldPosB[i] = localPoints[contactIdx[i]];\n" + " }\n" + " GET_NPOINTS(*c) = nContacts;\n" + " }\n" + " }\n" + "}\n" + "void trInverse(float4 translationIn, Quaternion orientationIn,\n" + " float4* translationOut, Quaternion* orientationOut)\n" + "{\n" + " *orientationOut = qtInvert(orientationIn);\n" + " *translationOut = qtRotate(*orientationOut, -translationIn);\n" + "}\n" + "void trMul(float4 translationA, Quaternion orientationA,\n" + " float4 translationB, Quaternion orientationB,\n" + " float4* translationOut, Quaternion* orientationOut)\n" + "{\n" + " *orientationOut = qtMul(orientationA,orientationB);\n" + " *translationOut = transform(&translationB,&translationA,&orientationA);\n" + "}\n" + "__kernel void clipHullHullKernel( __global int4* pairs, \n" + " __global const b3RigidBodyData_t* rigidBodies, \n" + " __global const b3Collidable_t* collidables,\n" + " __global const b3ConvexPolyhedronData_t* convexShapes, \n" + " __global const float4* vertices,\n" + " __global const float4* uniqueEdges,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " __global const float4* separatingNormals,\n" + " __global const int* hasSeparatingAxis,\n" + " __global struct b3Contact4Data* restrict globalContactsOut,\n" + " counter32_t nGlobalContactsOut,\n" + " int numPairs,\n" + " int contactCapacity)\n" + "{\n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " float4 worldVertsB1[64];\n" + " float4 worldVertsB2[64];\n" + " int capacityWorldVerts = 64; \n" + " float4 localContactsOut[64];\n" + " int localContactCapacity=64;\n" + " \n" + " float minDist = -1e30f;\n" + " float maxDist = 0.02f;\n" + " if (i<numPairs)\n" + " {\n" + " int bodyIndexA = pairs[i].x;\n" + " int bodyIndexB = pairs[i].y;\n" + " \n" + " int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" + " int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" + " if (hasSeparatingAxis[i])\n" + " {\n" + " \n" + " int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" + " int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" + " \n" + " \n" + " int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n" + " &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" + " rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n" + " rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n" + " worldVertsB1,worldVertsB2,capacityWorldVerts,\n" + " minDist, maxDist,\n" + " vertices,faces,indices,\n" + " localContactsOut,localContactCapacity);\n" + " \n" + " if (numLocalContactsOut>0)\n" + " {\n" + " float4 normal = -separatingNormals[i];\n" + " int nPoints = numLocalContactsOut;\n" + " float4* pointsIn = localContactsOut;\n" + " int contactIdx[4];// = {-1,-1,-1,-1};\n" + " contactIdx[0] = -1;\n" + " contactIdx[1] = -1;\n" + " contactIdx[2] = -1;\n" + " contactIdx[3] = -1;\n" + " \n" + " int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" + " \n" + " \n" + " int mprContactIndex = pairs[pairIndex].z;\n" + " int dstIdx = mprContactIndex;\n" + " if (dstIdx<0)\n" + " {\n" + " AppendInc( nGlobalContactsOut, dstIdx );\n" + " }\n" + " if (dstIdx<contactCapacity)\n" + " {\n" + " pairs[pairIndex].z = dstIdx;\n" + " __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" + " c->m_worldNormalOnB = -normal;\n" + " c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" + " c->m_batchIdx = pairIndex;\n" + " int bodyA = pairs[pairIndex].x;\n" + " int bodyB = pairs[pairIndex].y;\n" + " c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" + " c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" + " c->m_childIndexA = -1;\n" + " c->m_childIndexB = -1;\n" + " for (int i=0;i<nReducedContacts;i++)\n" + " {\n" + " //this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n" + " if (i>0||(mprContactIndex<0))\n" + " {\n" + " c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" + " }\n" + " }\n" + " GET_NPOINTS(*c) = nReducedContacts;\n" + " }\n" + " \n" + " }// if (numContactsOut>0)\n" + " }// if (hasSeparatingAxis[i])\n" + " }// if (i<numPairs)\n" + "}\n" + "__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n" + " __global const b3RigidBodyData_t* rigidBodies, \n" + " __global const b3Collidable_t* collidables,\n" + " __global const b3ConvexPolyhedronData_t* convexShapes, \n" + " __global const float4* vertices,\n" + " __global const float4* uniqueEdges,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " __global const b3GpuChildShape_t* gpuChildShapes,\n" + " __global const float4* gpuCompoundSepNormalsOut,\n" + " __global const int* gpuHasCompoundSepNormalsOut,\n" + " __global struct b3Contact4Data* restrict globalContactsOut,\n" + " counter32_t nGlobalContactsOut,\n" + " int numCompoundPairs, int maxContactCapacity)\n" + "{\n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " float4 worldVertsB1[64];\n" + " float4 worldVertsB2[64];\n" + " int capacityWorldVerts = 64; \n" + " float4 localContactsOut[64];\n" + " int localContactCapacity=64;\n" + " \n" + " float minDist = -1e30f;\n" + " float maxDist = 0.02f;\n" + " if (i<numCompoundPairs)\n" + " {\n" + " if (gpuHasCompoundSepNormalsOut[i])\n" + " {\n" + " int bodyIndexA = gpuCompoundPairs[i].x;\n" + " int bodyIndexB = gpuCompoundPairs[i].y;\n" + " \n" + " int childShapeIndexA = gpuCompoundPairs[i].z;\n" + " int childShapeIndexB = gpuCompoundPairs[i].w;\n" + " \n" + " int collidableIndexA = -1;\n" + " int collidableIndexB = -1;\n" + " \n" + " float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" + " float4 posA = rigidBodies[bodyIndexA].m_pos;\n" + " \n" + " float4 ornB = rigidBodies[bodyIndexB].m_quat;\n" + " float4 posB = rigidBodies[bodyIndexB].m_pos;\n" + " \n" + " if (childShapeIndexA >= 0)\n" + " {\n" + " collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n" + " float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n" + " float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n" + " float4 newPosA = qtRotate(ornA,childPosA)+posA;\n" + " float4 newOrnA = qtMul(ornA,childOrnA);\n" + " posA = newPosA;\n" + " ornA = newOrnA;\n" + " } else\n" + " {\n" + " collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" + " }\n" + " \n" + " if (childShapeIndexB>=0)\n" + " {\n" + " collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" + " float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" + " float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" + " float4 newPosB = transform(&childPosB,&posB,&ornB);\n" + " float4 newOrnB = qtMul(ornB,childOrnB);\n" + " posB = newPosB;\n" + " ornB = newOrnB;\n" + " } else\n" + " {\n" + " collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; \n" + " }\n" + " \n" + " int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" + " int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" + " \n" + " int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n" + " &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" + " posA,ornA,\n" + " posB,ornB,\n" + " worldVertsB1,worldVertsB2,capacityWorldVerts,\n" + " minDist, maxDist,\n" + " vertices,faces,indices,\n" + " localContactsOut,localContactCapacity);\n" + " \n" + " if (numLocalContactsOut>0)\n" + " {\n" + " float4 normal = -gpuCompoundSepNormalsOut[i];\n" + " int nPoints = numLocalContactsOut;\n" + " float4* pointsIn = localContactsOut;\n" + " int contactIdx[4];// = {-1,-1,-1,-1};\n" + " contactIdx[0] = -1;\n" + " contactIdx[1] = -1;\n" + " contactIdx[2] = -1;\n" + " contactIdx[3] = -1;\n" + " \n" + " int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" + " \n" + " int dstIdx;\n" + " AppendInc( nGlobalContactsOut, dstIdx );\n" + " if ((dstIdx+nReducedContacts) < maxContactCapacity)\n" + " {\n" + " __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" + " c->m_worldNormalOnB = -normal;\n" + " c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" + " c->m_batchIdx = pairIndex;\n" + " int bodyA = gpuCompoundPairs[pairIndex].x;\n" + " int bodyB = gpuCompoundPairs[pairIndex].y;\n" + " c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" + " c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" + " c->m_childIndexA = childShapeIndexA;\n" + " c->m_childIndexB = childShapeIndexB;\n" + " for (int i=0;i<nReducedContacts;i++)\n" + " {\n" + " c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" + " }\n" + " GET_NPOINTS(*c) = nReducedContacts;\n" + " }\n" + " \n" + " }// if (numContactsOut>0)\n" + " }// if (gpuHasCompoundSepNormalsOut[i])\n" + " }// if (i<numCompoundPairs)\n" + "}\n" + "__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n" + " __global const b3RigidBodyData_t* rigidBodies, \n" + " __global const b3Collidable_t* collidables,\n" + " __global const float4* separatingNormals,\n" + " __global const int* hasSeparatingAxis,\n" + " __global struct b3Contact4Data* restrict globalContactsOut,\n" + " counter32_t nGlobalContactsOut,\n" + " int contactCapacity,\n" + " int numPairs)\n" + "{\n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " if (i<numPairs)\n" + " {\n" + " int bodyIndexA = pairs[i].x;\n" + " int bodyIndexB = pairs[i].y;\n" + " \n" + " int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" + " int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" + " if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n" + " collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n" + " {\n" + " //sphere-sphere\n" + " float radiusA = collidables[collidableIndexA].m_radius;\n" + " float radiusB = collidables[collidableIndexB].m_radius;\n" + " float4 posA = rigidBodies[bodyIndexA].m_pos;\n" + " float4 posB = rigidBodies[bodyIndexB].m_pos;\n" + " float4 diff = posA-posB;\n" + " float len = length(diff);\n" + " \n" + " ///iff distance positive, don't generate a new contact\n" + " if ( len <= (radiusA+radiusB))\n" + " {\n" + " ///distance (negative means penetration)\n" + " float dist = len - (radiusA+radiusB);\n" + " float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n" + " if (len > 0.00001)\n" + " {\n" + " normalOnSurfaceB = diff / len;\n" + " }\n" + " float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n" + " contactPosB.w = dist;\n" + " \n" + " int dstIdx;\n" + " AppendInc( nGlobalContactsOut, dstIdx );\n" + " if (dstIdx < contactCapacity)\n" + " {\n" + " __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" + " c->m_worldNormalOnB = -normalOnSurfaceB;\n" + " c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" + " c->m_batchIdx = pairIndex;\n" + " int bodyA = pairs[pairIndex].x;\n" + " int bodyB = pairs[pairIndex].y;\n" + " c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" + " c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" + " c->m_worldPosB[0] = contactPosB;\n" + " c->m_childIndexA = -1;\n" + " c->m_childIndexB = -1;\n" + " GET_NPOINTS(*c) = 1;\n" + " }//if (dstIdx < numPairs)\n" + " }//if ( len <= (radiusA+radiusB))\n" + " }//SHAPE_SPHERE SHAPE_SPHERE\n" + " }//if (i<numPairs)\n" + "} \n" + "__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n" + " __global const b3RigidBodyData_t* rigidBodies, \n" + " __global const b3Collidable_t* collidables,\n" + " __global const b3ConvexPolyhedronData_t* convexShapes, \n" + " __global const float4* vertices,\n" + " __global const float4* uniqueEdges,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " __global const b3GpuChildShape_t* gpuChildShapes,\n" + " __global const float4* separatingNormals,\n" + " __global struct b3Contact4Data* restrict globalContactsOut,\n" + " counter32_t nGlobalContactsOut,\n" + " int contactCapacity,\n" + " int numConcavePairs)\n" + "{\n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " float4 worldVertsB1[64];\n" + " float4 worldVertsB2[64];\n" + " int capacityWorldVerts = 64; \n" + " float4 localContactsOut[64];\n" + " int localContactCapacity=64;\n" + " \n" + " float minDist = -1e30f;\n" + " float maxDist = 0.02f;\n" + " if (i<numConcavePairs)\n" + " {\n" + " //negative value means that the pair is invalid\n" + " if (concavePairsIn[i].w<0)\n" + " return;\n" + " int bodyIndexA = concavePairsIn[i].x;\n" + " int bodyIndexB = concavePairsIn[i].y;\n" + " int f = concavePairsIn[i].z;\n" + " int childShapeIndexA = f;\n" + " \n" + " int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" + " int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" + " \n" + " int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" + " int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" + " \n" + " ///////////////////////////////////////////////////////////////\n" + " \n" + " \n" + " bool overlap = false;\n" + " \n" + " b3ConvexPolyhedronData_t convexPolyhedronA;\n" + " //add 3 vertices of the triangle\n" + " convexPolyhedronA.m_numVertices = 3;\n" + " convexPolyhedronA.m_vertexOffset = 0;\n" + " float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n" + " b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n" + " \n" + " float4 verticesA[3];\n" + " for (int i=0;i<3;i++)\n" + " {\n" + " int index = indices[face.m_indexOffset+i];\n" + " float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n" + " verticesA[i] = vert;\n" + " localCenter += vert;\n" + " }\n" + " float dmin = FLT_MAX;\n" + " int localCC=0;\n" + " //a triangle has 3 unique edges\n" + " convexPolyhedronA.m_numUniqueEdges = 3;\n" + " convexPolyhedronA.m_uniqueEdgesOffset = 0;\n" + " float4 uniqueEdgesA[3];\n" + " \n" + " uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n" + " uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n" + " uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n" + " convexPolyhedronA.m_faceOffset = 0;\n" + " \n" + " float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n" + " \n" + " b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n" + " int indicesA[3+3+2+2+2];\n" + " int curUsedIndices=0;\n" + " int fidx=0;\n" + " //front size of triangle\n" + " {\n" + " facesA[fidx].m_indexOffset=curUsedIndices;\n" + " indicesA[0] = 0;\n" + " indicesA[1] = 1;\n" + " indicesA[2] = 2;\n" + " curUsedIndices+=3;\n" + " float c = face.m_plane.w;\n" + " facesA[fidx].m_plane.x = normal.x;\n" + " facesA[fidx].m_plane.y = normal.y;\n" + " facesA[fidx].m_plane.z = normal.z;\n" + " facesA[fidx].m_plane.w = c;\n" + " facesA[fidx].m_numIndices=3;\n" + " }\n" + " fidx++;\n" + " //back size of triangle\n" + " {\n" + " facesA[fidx].m_indexOffset=curUsedIndices;\n" + " indicesA[3]=2;\n" + " indicesA[4]=1;\n" + " indicesA[5]=0;\n" + " curUsedIndices+=3;\n" + " float c = dot3F4(normal,verticesA[0]);\n" + " float c1 = -face.m_plane.w;\n" + " facesA[fidx].m_plane.x = -normal.x;\n" + " facesA[fidx].m_plane.y = -normal.y;\n" + " facesA[fidx].m_plane.z = -normal.z;\n" + " facesA[fidx].m_plane.w = c;\n" + " facesA[fidx].m_numIndices=3;\n" + " }\n" + " fidx++;\n" + " bool addEdgePlanes = true;\n" + " if (addEdgePlanes)\n" + " {\n" + " int numVertices=3;\n" + " int prevVertex = numVertices-1;\n" + " for (int i=0;i<numVertices;i++)\n" + " {\n" + " float4 v0 = verticesA[i];\n" + " float4 v1 = verticesA[prevVertex];\n" + " \n" + " float4 edgeNormal = normalize(cross(normal,v1-v0));\n" + " float c = -dot3F4(edgeNormal,v0);\n" + " facesA[fidx].m_numIndices = 2;\n" + " facesA[fidx].m_indexOffset=curUsedIndices;\n" + " indicesA[curUsedIndices++]=i;\n" + " indicesA[curUsedIndices++]=prevVertex;\n" + " \n" + " facesA[fidx].m_plane.x = edgeNormal.x;\n" + " facesA[fidx].m_plane.y = edgeNormal.y;\n" + " facesA[fidx].m_plane.z = edgeNormal.z;\n" + " facesA[fidx].m_plane.w = c;\n" + " fidx++;\n" + " prevVertex = i;\n" + " }\n" + " }\n" + " convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n" + " convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n" + " float4 posA = rigidBodies[bodyIndexA].m_pos;\n" + " posA.w = 0.f;\n" + " float4 posB = rigidBodies[bodyIndexB].m_pos;\n" + " posB.w = 0.f;\n" + " float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" + " float4 ornB =rigidBodies[bodyIndexB].m_quat;\n" + " float4 sepAxis = separatingNormals[i];\n" + " \n" + " int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n" + " int childShapeIndexB =-1;\n" + " if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n" + " {\n" + " ///////////////////\n" + " ///compound shape support\n" + " \n" + " childShapeIndexB = concavePairsIn[pairIndex].w;\n" + " int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" + " shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n" + " float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" + " float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" + " float4 newPosB = transform(&childPosB,&posB,&ornB);\n" + " float4 newOrnB = qtMul(ornB,childOrnB);\n" + " posB = newPosB;\n" + " ornB = newOrnB;\n" + " \n" + " }\n" + " \n" + " ////////////////////////////////////////\n" + " \n" + " \n" + " \n" + " int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n" + " &convexPolyhedronA, &convexShapes[shapeIndexB],\n" + " posA,ornA,\n" + " posB,ornB,\n" + " worldVertsB1,worldVertsB2,capacityWorldVerts,\n" + " minDist, maxDist,\n" + " &verticesA,&facesA,&indicesA,\n" + " vertices,faces,indices,\n" + " localContactsOut,localContactCapacity);\n" + " \n" + " if (numLocalContactsOut>0)\n" + " {\n" + " float4 normal = -separatingNormals[i];\n" + " int nPoints = numLocalContactsOut;\n" + " float4* pointsIn = localContactsOut;\n" + " int contactIdx[4];// = {-1,-1,-1,-1};\n" + " contactIdx[0] = -1;\n" + " contactIdx[1] = -1;\n" + " contactIdx[2] = -1;\n" + " contactIdx[3] = -1;\n" + " \n" + " int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" + " \n" + " int dstIdx;\n" + " AppendInc( nGlobalContactsOut, dstIdx );\n" + " if (dstIdx<contactCapacity)\n" + " {\n" + " __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" + " c->m_worldNormalOnB = -normal;\n" + " c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" + " c->m_batchIdx = pairIndex;\n" + " int bodyA = concavePairsIn[pairIndex].x;\n" + " int bodyB = concavePairsIn[pairIndex].y;\n" + " c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" + " c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" + " c->m_childIndexA = childShapeIndexA;\n" + " c->m_childIndexB = childShapeIndexB;\n" + " for (int i=0;i<nReducedContacts;i++)\n" + " {\n" + " c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" + " }\n" + " GET_NPOINTS(*c) = nReducedContacts;\n" + " }\n" + " \n" + " }// if (numContactsOut>0)\n" + " }// if (i<numPairs)\n" + "}\n" + "int findClippingFaces(const float4 separatingNormal,\n" + " __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n" + " const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n" + " __global float4* worldVertsA1,\n" + " __global float4* worldNormalsA1,\n" + " __global float4* worldVertsB1,\n" + " int capacityWorldVerts,\n" + " const float minDist, float maxDist,\n" + " __global const float4* vertices,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " __global int4* clippingFaces, int pairIndex)\n" + "{\n" + " int numContactsOut = 0;\n" + " int numWorldVertsB1= 0;\n" + " \n" + " \n" + " int closestFaceB=-1;\n" + " float dmax = -FLT_MAX;\n" + " \n" + " {\n" + " for(int face=0;face<hullB->m_numFaces;face++)\n" + " {\n" + " const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n" + " faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n" + " const float4 WorldNormal = qtRotate(ornB, Normal);\n" + " float d = dot3F4(WorldNormal,separatingNormal);\n" + " if (d > dmax)\n" + " {\n" + " dmax = d;\n" + " closestFaceB = face;\n" + " }\n" + " }\n" + " }\n" + " \n" + " {\n" + " const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n" + " const int numVertices = polyB.m_numIndices;\n" + " for(int e0=0;e0<numVertices;e0++)\n" + " {\n" + " const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n" + " worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" + " }\n" + " }\n" + " \n" + " int closestFaceA=-1;\n" + " {\n" + " float dmin = FLT_MAX;\n" + " for(int face=0;face<hullA->m_numFaces;face++)\n" + " {\n" + " const float4 Normal = make_float4(\n" + " faces[hullA->m_faceOffset+face].m_plane.x,\n" + " faces[hullA->m_faceOffset+face].m_plane.y,\n" + " faces[hullA->m_faceOffset+face].m_plane.z,\n" + " 0.f);\n" + " const float4 faceANormalWS = qtRotate(ornA,Normal);\n" + " \n" + " float d = dot3F4(faceANormalWS,separatingNormal);\n" + " if (d < dmin)\n" + " {\n" + " dmin = d;\n" + " closestFaceA = face;\n" + " worldNormalsA1[pairIndex] = faceANormalWS;\n" + " }\n" + " }\n" + " }\n" + " \n" + " int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n" + " for(int e0=0;e0<numVerticesA;e0++)\n" + " {\n" + " const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n" + " worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n" + " }\n" + " \n" + " clippingFaces[pairIndex].x = closestFaceA;\n" + " clippingFaces[pairIndex].y = closestFaceB;\n" + " clippingFaces[pairIndex].z = numVerticesA;\n" + " clippingFaces[pairIndex].w = numWorldVertsB1;\n" + " \n" + " \n" + " return numContactsOut;\n" + "}\n" + "int clipFaces(__global float4* worldVertsA1,\n" + " __global float4* worldNormalsA1,\n" + " __global float4* worldVertsB1,\n" + " __global float4* worldVertsB2, \n" + " int capacityWorldVertsB2,\n" + " const float minDist, float maxDist,\n" + " __global int4* clippingFaces,\n" + " int pairIndex)\n" + "{\n" + " int numContactsOut = 0;\n" + " \n" + " int closestFaceA = clippingFaces[pairIndex].x;\n" + " int closestFaceB = clippingFaces[pairIndex].y;\n" + " int numVertsInA = clippingFaces[pairIndex].z;\n" + " int numVertsInB = clippingFaces[pairIndex].w;\n" + " \n" + " int numVertsOut = 0;\n" + " \n" + " if (closestFaceA<0)\n" + " return numContactsOut;\n" + " \n" + " __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n" + " __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n" + " \n" + " \n" + " \n" + " // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" + " \n" + " for(int e0=0;e0<numVertsInA;e0++)\n" + " {\n" + " const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n" + " const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n" + " const float4 WorldEdge0 = aw - bw;\n" + " float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n" + " float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" + " float4 worldA1 = aw;\n" + " float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" + " float4 planeNormalWS = planeNormalWS1;\n" + " float planeEqWS=planeEqWS1;\n" + " numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n" + " __global float4* tmp = pVtxOut;\n" + " pVtxOut = pVtxIn;\n" + " pVtxIn = tmp;\n" + " numVertsInB = numVertsOut;\n" + " numVertsOut = 0;\n" + " }\n" + " \n" + " //float4 planeNormalWS = worldNormalsA1[pairIndex];\n" + " //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" + " \n" + " /*for (int i=0;i<numVertsInB;i++)\n" + " {\n" + " pVtxOut[i] = pVtxIn[i];\n" + " }*/\n" + " \n" + " \n" + " \n" + " \n" + " //numVertsInB=0;\n" + " \n" + " float4 planeNormalWS = worldNormalsA1[pairIndex];\n" + " float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" + " for (int i=0;i<numVertsInB;i++)\n" + " {\n" + " float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" + " if (depth <=minDist)\n" + " {\n" + " depth = minDist;\n" + " }\n" + " \n" + " if (depth <=maxDist)\n" + " {\n" + " float4 pointInWorld = pVtxIn[i];\n" + " pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" + " }\n" + " }\n" + " \n" + " clippingFaces[pairIndex].w =numContactsOut;\n" + " \n" + " \n" + " return numContactsOut;\n" + "}\n" + "__kernel void findClippingFacesKernel( __global const int4* pairs,\n" + " __global const b3RigidBodyData_t* rigidBodies,\n" + " __global const b3Collidable_t* collidables,\n" + " __global const b3ConvexPolyhedronData_t* convexShapes,\n" + " __global const float4* vertices,\n" + " __global const float4* uniqueEdges,\n" + " __global const b3GpuFace_t* faces,\n" + " __global const int* indices,\n" + " __global const float4* separatingNormals,\n" + " __global const int* hasSeparatingAxis,\n" + " __global int4* clippingFacesOut,\n" + " __global float4* worldVertsA1,\n" + " __global float4* worldNormalsA1,\n" + " __global float4* worldVertsB1,\n" + " int capacityWorldVerts,\n" + " int numPairs\n" + " )\n" + "{\n" + " \n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " \n" + " float minDist = -1e30f;\n" + " float maxDist = 0.02f;\n" + " \n" + " if (i<numPairs)\n" + " {\n" + " \n" + " if (hasSeparatingAxis[i])\n" + " {\n" + " \n" + " int bodyIndexA = pairs[i].x;\n" + " int bodyIndexB = pairs[i].y;\n" + " \n" + " int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" + " int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" + " \n" + " int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" + " int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" + " \n" + " \n" + " \n" + " int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n" + " &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" + " rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n" + " rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n" + " worldVertsA1,\n" + " worldNormalsA1,\n" + " worldVertsB1,capacityWorldVerts,\n" + " minDist, maxDist,\n" + " vertices,faces,indices,\n" + " clippingFacesOut,i);\n" + " \n" + " \n" + " }// if (hasSeparatingAxis[i])\n" + " }// if (i<numPairs)\n" + " \n" + "}\n" + "__kernel void clipFacesAndFindContactsKernel( __global const float4* separatingNormals,\n" + " __global const int* hasSeparatingAxis,\n" + " __global int4* clippingFacesOut,\n" + " __global float4* worldVertsA1,\n" + " __global float4* worldNormalsA1,\n" + " __global float4* worldVertsB1,\n" + " __global float4* worldVertsB2,\n" + " int vertexFaceCapacity,\n" + " int numPairs,\n" + " int debugMode\n" + " )\n" + "{\n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " \n" + " float minDist = -1e30f;\n" + " float maxDist = 0.02f;\n" + " \n" + " if (i<numPairs)\n" + " {\n" + " \n" + " if (hasSeparatingAxis[i])\n" + " {\n" + " \n" + "// int bodyIndexA = pairs[i].x;\n" + " // int bodyIndexB = pairs[i].y;\n" + " \n" + " int numLocalContactsOut = 0;\n" + " int capacityWorldVertsB2 = vertexFaceCapacity;\n" + " \n" + " __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n" + " __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n" + " \n" + " {\n" + " __global int4* clippingFaces = clippingFacesOut;\n" + " \n" + " \n" + " int closestFaceA = clippingFaces[pairIndex].x;\n" + " int closestFaceB = clippingFaces[pairIndex].y;\n" + " int numVertsInA = clippingFaces[pairIndex].z;\n" + " int numVertsInB = clippingFaces[pairIndex].w;\n" + " \n" + " int numVertsOut = 0;\n" + " \n" + " if (closestFaceA>=0)\n" + " {\n" + " \n" + " \n" + " \n" + " // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" + " \n" + " for(int e0=0;e0<numVertsInA;e0++)\n" + " {\n" + " const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n" + " const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n" + " const float4 WorldEdge0 = aw - bw;\n" + " float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n" + " float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" + " float4 worldA1 = aw;\n" + " float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" + " float4 planeNormalWS = planeNormalWS1;\n" + " float planeEqWS=planeEqWS1;\n" + " numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n" + " __global float4* tmp = pVtxOut;\n" + " pVtxOut = pVtxIn;\n" + " pVtxIn = tmp;\n" + " numVertsInB = numVertsOut;\n" + " numVertsOut = 0;\n" + " }\n" + " \n" + " float4 planeNormalWS = worldNormalsA1[pairIndex];\n" + " float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" + " \n" + " for (int i=0;i<numVertsInB;i++)\n" + " {\n" + " float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" + " if (depth <=minDist)\n" + " {\n" + " depth = minDist;\n" + " }\n" + " \n" + " if (depth <=maxDist)\n" + " {\n" + " float4 pointInWorld = pVtxIn[i];\n" + " pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" + " }\n" + " }\n" + " \n" + " }\n" + " clippingFaces[pairIndex].w =numLocalContactsOut;\n" + " \n" + " }\n" + " \n" + " for (int i=0;i<numLocalContactsOut;i++)\n" + " pVtxIn[i] = pVtxOut[i];\n" + " \n" + " }// if (hasSeparatingAxis[i])\n" + " }// if (i<numPairs)\n" + " \n" + "}\n" + "__kernel void newContactReductionKernel( __global int4* pairs,\n" + " __global const b3RigidBodyData_t* rigidBodies,\n" + " __global const float4* separatingNormals,\n" + " __global const int* hasSeparatingAxis,\n" + " __global struct b3Contact4Data* globalContactsOut,\n" + " __global int4* clippingFaces,\n" + " __global float4* worldVertsB2,\n" + " volatile __global int* nGlobalContactsOut,\n" + " int vertexFaceCapacity,\n" + " int contactCapacity,\n" + " int numPairs\n" + " )\n" + "{\n" + " int i = get_global_id(0);\n" + " int pairIndex = i;\n" + " \n" + " int4 contactIdx;\n" + " contactIdx=make_int4(0,1,2,3);\n" + " \n" + " if (i<numPairs)\n" + " {\n" + " \n" + " if (hasSeparatingAxis[i])\n" + " {\n" + " \n" + " \n" + " \n" + " \n" + " int nPoints = clippingFaces[pairIndex].w;\n" + " \n" + " if (nPoints>0)\n" + " {\n" + " __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n" + " float4 normal = -separatingNormals[i];\n" + " \n" + " int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n" + " \n" + " int mprContactIndex = pairs[pairIndex].z;\n" + " int dstIdx = mprContactIndex;\n" + " if (dstIdx<0)\n" + " {\n" + " AppendInc( nGlobalContactsOut, dstIdx );\n" + " }\n" + "//#if 0\n" + " \n" + " if (dstIdx < contactCapacity)\n" + " {\n" + " __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" + " c->m_worldNormalOnB = -normal;\n" + " c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" + " c->m_batchIdx = pairIndex;\n" + " int bodyA = pairs[pairIndex].x;\n" + " int bodyB = pairs[pairIndex].y;\n" + " pairs[pairIndex].w = dstIdx;\n" + " c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" + " c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" + " c->m_childIndexA =-1;\n" + " c->m_childIndexB =-1;\n" + " switch (nReducedContacts)\n" + " {\n" + " case 4:\n" + " c->m_worldPosB[3] = pointsIn[contactIdx.w];\n" + " case 3:\n" + " c->m_worldPosB[2] = pointsIn[contactIdx.z];\n" + " case 2:\n" + " c->m_worldPosB[1] = pointsIn[contactIdx.y];\n" + " case 1:\n" + " if (mprContactIndex<0)//test\n" + " c->m_worldPosB[0] = pointsIn[contactIdx.x];\n" + " default:\n" + " {\n" + " }\n" + " };\n" + " \n" + " GET_NPOINTS(*c) = nReducedContacts;\n" + " \n" + " }\n" + " \n" + " \n" + "//#endif\n" + " \n" + " }// if (numContactsOut>0)\n" + " }// if (hasSeparatingAxis[i])\n" + " }// if (i<numPairs)\n" + " \n" + " \n" + "}\n"; |