Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 721 insertions, 0 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
new file mode 100644
index 0000000000..d48ecf6ea6
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
@@ -0,0 +1,721 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* solveConstraintRowsCL= \
+"/*\n"
+"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
+"This software is provided 'as-is', without any express or implied warranty.\n"
+"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+"Permission is granted to anyone to use this software for any purpose, \n"
+"including commercial applications, and to alter it and redistribute it freely, \n"
+"subject to the following restrictions:\n"
+"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+"3. This notice may not be removed or altered from any source distribution.\n"
+"*/\n"
+"//Originally written by Erwin Coumans\n"
+"#define B3_CONSTRAINT_FLAG_ENABLED 1\n"
+"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
+"#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n"
+"#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails\n"
+"#define B3_INFINITY 1e30f\n"
+"#define mymake_float4 (float4)\n"
+"__inline float dot3F4(float4 a, float4 b)\n"
+"{\n"
+"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
+"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
+"	return dot(a1, b1);\n"
+"}\n"
+"typedef float4 Quaternion;\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_row[3];\n"
+"}Matrix3x3;\n"
+"__inline\n"
+"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+"__inline\n"
+"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+"__inline\n"
+"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+"{\n"
+"	float4 ans;\n"
+"	ans.x = dot3F4( a.m_row[0], b );\n"
+"	ans.y = dot3F4( a.m_row[1], b );\n"
+"	ans.z = dot3F4( a.m_row[2], b );\n"
+"	ans.w = 0.f;\n"
+"	return ans;\n"
+"}\n"
+"__inline\n"
+"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+"{\n"
+"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+"	float4 ans;\n"
+"	ans.x = dot3F4( a, colx );\n"
+"	ans.y = dot3F4( a, coly );\n"
+"	ans.z = dot3F4( a, colz );\n"
+"	return ans;\n"
+"}\n"
+"typedef struct\n"
+"{\n"
+"	Matrix3x3 m_invInertiaWorld;\n"
+"	Matrix3x3 m_initInvInertia;\n"
+"} BodyInertia;\n"
+"typedef struct\n"
+"{\n"
+"	Matrix3x3 m_basis;//orientation\n"
+"	float4	m_origin;//transform\n"
+"}b3Transform;\n"
+"typedef struct\n"
+"{\n"
+"//	b3Transform		m_worldTransformUnused;\n"
+"	float4		m_deltaLinearVelocity;\n"
+"	float4		m_deltaAngularVelocity;\n"
+"	float4		m_angularFactor;\n"
+"	float4		m_linearFactor;\n"
+"	float4		m_invMass;\n"
+"	float4		m_pushVelocity;\n"
+"	float4		m_turnVelocity;\n"
+"	float4		m_linearVelocity;\n"
+"	float4		m_angularVelocity;\n"
+"	union \n"
+"	{\n"
+"		void*	m_originalBody;\n"
+"		int		m_originalBodyIndex;\n"
+"	};\n"
+"	int padding[3];\n"
+"} b3GpuSolverBody;\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_pos;\n"
+"	Quaternion m_quat;\n"
+"	float4 m_linVel;\n"
+"	float4 m_angVel;\n"
+"	unsigned int m_shapeIdx;\n"
+"	float m_invMass;\n"
+"	float m_restituitionCoeff;\n"
+"	float m_frictionCoeff;\n"
+"} b3RigidBodyCL;\n"
+"typedef struct\n"
+"{\n"
+"	float4		m_relpos1CrossNormal;\n"
+"	float4		m_contactNormal;\n"
+"	float4		m_relpos2CrossNormal;\n"
+"	//float4		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n"
+"	float4		m_angularComponentA;\n"
+"	float4		m_angularComponentB;\n"
+"	\n"
+"	float	m_appliedPushImpulse;\n"
+"	float	m_appliedImpulse;\n"
+"	int	m_padding1;\n"
+"	int	m_padding2;\n"
+"	float	m_friction;\n"
+"	float	m_jacDiagABInv;\n"
+"	float		m_rhs;\n"
+"	float		m_cfm;\n"
+"	\n"
+"    float		m_lowerLimit;\n"
+"	float		m_upperLimit;\n"
+"	float		m_rhsPenetration;\n"
+"	int			m_originalConstraint;\n"
+"	int	m_overrideNumSolverIterations;\n"
+"    int			m_frictionIndex;\n"
+"	int m_solverBodyIdA;\n"
+"	int m_solverBodyIdB;\n"
+"} b3SolverConstraint;\n"
+"typedef struct \n"
+"{\n"
+"	int m_bodyAPtrAndSignBit;\n"
+"	int m_bodyBPtrAndSignBit;\n"
+"	int m_originalConstraintIndex;\n"
+"	int m_batchId;\n"
+"} b3BatchConstraint;\n"
+"typedef struct \n"
+"{\n"
+"	int				m_constraintType;\n"
+"	int				m_rbA;\n"
+"	int				m_rbB;\n"
+"	float			m_breakingImpulseThreshold;\n"
+"	float4 m_pivotInA;\n"
+"	float4 m_pivotInB;\n"
+"	Quaternion m_relTargetAB;\n"
+"	int	m_flags;\n"
+"	int m_padding[3];\n"
+"} b3GpuGenericConstraint;\n"
+"/*b3Transform	getWorldTransform(b3RigidBodyCL* rb)\n"
+"{\n"
+"	b3Transform newTrans;\n"
+"	newTrans.setOrigin(rb->m_pos);\n"
+"	newTrans.setRotation(rb->m_quat);\n"
+"	return newTrans;\n"
+"}*/\n"
+"__inline\n"
+"float4 cross3(float4 a, float4 b)\n"
+"{\n"
+"	return cross(a,b);\n"
+"}\n"
+"__inline\n"
+"float4 fastNormalize4(float4 v)\n"
+"{\n"
+"	v = mymake_float4(v.xyz,0.f);\n"
+"	return fast_normalize(v);\n"
+"}\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 void internalApplyImpulse(__global b3GpuSolverBody* body,  float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
+"{\n"
+"	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
+"	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
+"}\n"
+"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
+"{\n"
+"	float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
+"	float deltaVel1Dotn	=	dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
+"	float deltaVel2Dotn	=	-dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
+"	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;\n"
+"	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;\n"
+"	float sum = c->m_appliedImpulse + deltaImpulse;\n"
+"	if (sum < c->m_lowerLimit)\n"
+"	{\n"
+"		deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
+"		c->m_appliedImpulse = c->m_lowerLimit;\n"
+"	}\n"
+"	else if (sum > c->m_upperLimit) \n"
+"	{\n"
+"		deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
+"		c->m_appliedImpulse = c->m_upperLimit;\n"
+"	}\n"
+"	else\n"
+"	{\n"
+"		c->m_appliedImpulse = sum;\n"
+"	}\n"
+"	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
+"	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
+"}\n"
+"__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n"
+"					  __global b3BatchConstraint* batchConstraints,\n"
+"					  	__global b3SolverConstraint* rows,\n"
+"						__global unsigned int* numConstraintRowsInfo1, \n"
+"						__global unsigned int* rowOffsets,\n"
+"						__global b3GpuGenericConstraint* constraints,\n"
+"						int batchOffset,\n"
+"						int numConstraintsInBatch\n"
+"                      )\n"
+"{\n"
+"	int b = get_global_id(0);\n"
+"	if (b>=numConstraintsInBatch)\n"
+"		return;\n"
+"	__global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n"
+"	int originalConstraintIndex = c->m_originalConstraintIndex;\n"
+"	if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)\n"
+"	{\n"
+"		int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];\n"
+"		int rowOffset = rowOffsets[originalConstraintIndex];\n"
+"		for (int jj=0;jj<numConstraintRows;jj++)\n"
+"		{\n"
+"			__global b3SolverConstraint* constraint = &rows[rowOffset+jj];\n"
+"			resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
+"		}\n"
+"	}\n"
+"};\n"
+"__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numBodies)\n"
+"		return;\n"
+"	__global b3GpuSolverBody* solverBody = &solverBodies[i];\n"
+"	__global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n"
+"	solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
+"	solverBody->m_deltaAngularVelocity  = (float4)(0.f,0.f,0.f,0.f);\n"
+"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
+"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
+"	solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n"
+"	solverBody->m_originalBodyIndex = i;\n"
+"	solverBody->m_angularFactor = (float4)(1,1,1,0);\n"
+"	solverBody->m_linearFactor = (float4) (1,1,1,0);\n"
+"	solverBody->m_linearVelocity = bodyCL->m_linVel;\n"
+"	solverBody->m_angularVelocity = bodyCL->m_angVel;\n"
+"}\n"
+"__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)\n"
+"{\n"
+"	int cid = get_global_id(0);\n"
+"	if (cid>=numConstraints)\n"
+"		return;\n"
+"	int numRows = numConstraintRows[cid];\n"
+"	if (numRows)\n"
+"	{\n"
+"		for (int i=0;i<numRows;i++)\n"
+"		{\n"
+"			int rowIndex = rowOffsets[cid]+i;\n"
+"			float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
+"			if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
+"			{\n"
+"				constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numConstraints)\n"
+"		return;\n"
+"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
+"	switch (constraint->m_constraintType)\n"
+"	{\n"
+"		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
+"		{\n"
+"			infos[i] = 3;\n"
+"			break;\n"
+"		}\n"
+"		case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
+"		{\n"
+"			infos[i] = 6;\n"
+"			break;\n"
+"		}\n"
+"		default:\n"
+"		{\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, \n"
+"										__global b3BatchConstraint* batchConstraints, \n"
+"										__global b3GpuGenericConstraint* constraints,\n"
+"										__global b3RigidBodyCL* bodies,\n"
+"										int numConstraints)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numConstraints)\n"
+"		return;\n"
+"	int rbA = constraints[i].m_rbA;\n"
+"	int rbB = constraints[i].m_rbB;\n"
+"	batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;\n"
+"	batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;\n"
+"	batchConstraints[i].m_batchId = -1;\n"
+"	batchConstraints[i].m_originalConstraintIndex = i;\n"
+"}\n"
+"typedef struct\n"
+"{\n"
+"	// integrator parameters: frames per second (1/stepsize), default error\n"
+"	// reduction parameter (0..1).\n"
+"	float fps,erp;\n"
+"	// for the first and second body, pointers to two (linear and angular)\n"
+"	// n*3 jacobian sub matrices, stored by rows. these matrices will have\n"
+"	// been initialized to 0 on entry. if the second body is zero then the\n"
+"	// J2xx pointers may be 0.\n"
+"	union \n"
+"	{\n"
+"		__global float4* m_J1linearAxisFloat4;\n"
+"		__global float* m_J1linearAxis;\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"		__global float4* m_J1angularAxisFloat4;\n"
+"		__global float* m_J1angularAxis;\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"	__global float4* m_J2linearAxisFloat4;\n"
+"	__global float* m_J2linearAxis;\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"		__global float4* m_J2angularAxisFloat4;\n"
+"		__global float* m_J2angularAxis;\n"
+"	};\n"
+"	// elements to jump from one row to the next in J's\n"
+"	int rowskip;\n"
+"	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n"
+"	// \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n"
+"	// set to a constant value (typically very small or zero) value on entry.\n"
+"	__global float* m_constraintError;\n"
+"	__global float* cfm;\n"
+"	// lo and hi limits for variables (set to -/+ infinity on entry).\n"
+"	__global float* m_lowerLimit;\n"
+"	__global float* m_upperLimit;\n"
+"	// findex vector for variables. see the LCP solver interface for a\n"
+"	// description of what this does. this is set to -1 on entry.\n"
+"	// note that the returned indexes are relative to the first index of\n"
+"	// the constraint.\n"
+"	__global int *findex;\n"
+"	// number of solver iterations\n"
+"	int m_numIterations;\n"
+"	//damping of the velocity\n"
+"	float	m_damping;\n"
+"} b3GpuConstraintInfo2;\n"
+"void	getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n"
+"{\n"
+"	*v0 = (float4)(0.		,-vecIn.z		,vecIn.y,0.f);\n"
+"	*v1 = (float4)(vecIn.z	,0.			,-vecIn.x,0.f);\n"
+"	*v2 = (float4)(-vecIn.y	,vecIn.x	,0.f,0.f);\n"
+"}\n"
+"void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n"
+"{\n"
+"	float4 posA = bodies[constraint->m_rbA].m_pos;\n"
+"	Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n"
+"	float4 posB = bodies[constraint->m_rbB].m_pos;\n"
+"	Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n"
+"		// anchor points in global coordinates with respect to body PORs.\n"
+"   \n"
+"    // set jacobian\n"
+"    info->m_J1linearAxis[0] = 1;\n"
+"	info->m_J1linearAxis[info->rowskip+1] = 1;\n"
+"	info->m_J1linearAxis[2*info->rowskip+2] = 1;\n"
+"	float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n"
+"	{\n"
+"		__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n"
+"		__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n"
+"		__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n"
+"		float4 a1neg = -a1;\n"
+"		getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n"
+"	}\n"
+"	if (info->m_J2linearAxis)\n"
+"	{\n"
+"		info->m_J2linearAxis[0] = -1;\n"
+"		info->m_J2linearAxis[info->rowskip+1] = -1;\n"
+"		info->m_J2linearAxis[2*info->rowskip+2] = -1;\n"
+"	}\n"
+"	\n"
+"	float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n"
+"   \n"
+"	{\n"
+"	//	float4 a2n = -a2;\n"
+"		__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n"
+"		__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n"
+"		__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n"
+"		getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n"
+"	}\n"
+"    \n"
+"    // set right hand side\n"
+"//	float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n"
+"	float currERP = info->erp;\n"
+"	float k = info->fps * currERP;\n"
+"    int j;\n"
+"	float4 result = a2 + posB - a1 - posA;\n"
+"	float* resultPtr = &result;\n"
+"	for (j=0; j<3; j++)\n"
+"    {\n"
+"        info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n"
+"    }\n"
+"}\n"
+"Quaternion nearest( Quaternion first, Quaternion qd)\n"
+"{\n"
+"	Quaternion diff,sum;\n"
+"	diff = first- qd;\n"
+"	sum = first + qd;\n"
+"	\n"
+"	if( dot(diff,diff) < dot(sum,sum) )\n"
+"		return qd;\n"
+"	return (-qd);\n"
+"}\n"
+"float b3Acos(float x) \n"
+"{ \n"
+"	if (x<-1)	\n"
+"		x=-1; \n"
+"	if (x>1)	\n"
+"		x=1;\n"
+"	return acos(x); \n"
+"}\n"
+"float getAngle(Quaternion orn)\n"
+"{\n"
+"	if (orn.w>=1.f)\n"
+"		orn.w=1.f;\n"
+"	float s = 2.f * b3Acos(orn.w);\n"
+"	return s;\n"
+"}\n"
+"void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)\n"
+"{\n"
+"	Quaternion orn1 = nearest(orn0,orn1a);\n"
+"	\n"
+"	Quaternion dorn = qtMul(orn1,qtInvert(orn0));\n"
+"	*angle = getAngle(dorn);\n"
+"	*axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);\n"
+"	\n"
+"	//check for axis length\n"
+"	float len = dot3F4(*axis,*axis);\n"
+"	if (len < FLT_EPSILON*FLT_EPSILON)\n"
+"		*axis = (float4)(1,0,0,0);\n"
+"	else\n"
+"		*axis /= sqrt(len);\n"
+"}\n"
+"void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n"
+"{\n"
+"	Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n"
+"	Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n"
+"	int s = info->rowskip;\n"
+"	int start_index = start_row * s;\n"
+"	// 3 rows to make body rotations equal\n"
+"	info->m_J1angularAxis[start_index] = 1;\n"
+"	info->m_J1angularAxis[start_index + s + 1] = 1;\n"
+"	info->m_J1angularAxis[start_index + s*2+2] = 1;\n"
+"	if ( info->m_J2angularAxis)\n"
+"	{\n"
+"		info->m_J2angularAxis[start_index] = -1;\n"
+"		info->m_J2angularAxis[start_index + s+1] = -1;\n"
+"		info->m_J2angularAxis[start_index + s*2+2] = -1;\n"
+"	}\n"
+"	\n"
+"	float currERP = info->erp;\n"
+"	float k = info->fps * currERP;\n"
+"	float4 diff;\n"
+"	float angle;\n"
+"	float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));\n"
+"	\n"
+"	calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);\n"
+"	diff*=-angle;\n"
+"		\n"
+"	float* resultPtr = &diff;\n"
+"	\n"
+"	for (int j=0; j<3; j++)\n"
+"    {\n"
+"        info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];\n"
+"    }\n"
+"	\n"
+"}\n"
+"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numBodies)\n"
+"		return;\n"
+"	if (bodies[i].m_invMass)\n"
+"	{\n"
+"//		if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)\n"
+"		{\n"
+"			bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n"
+"		}\n"
+"//		if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)\n"
+"		{\n"
+"			bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n"
+"		} \n"
+"	}\n"
+"}\n"
+"__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n"
+"							__global unsigned int* infos, \n"
+"							__global unsigned int* constraintRowOffsets, \n"
+"							__global b3GpuGenericConstraint* constraints, \n"
+"							__global b3BatchConstraint* batchConstraints, \n"
+"							__global b3RigidBodyCL* bodies,\n"
+"							__global BodyInertia* inertias,\n"
+"							__global b3GpuSolverBody* solverBodies,\n"
+"							float timeStep,\n"
+"							float globalErp,\n"
+"							float globalCfm,\n"
+"							float globalDamping,\n"
+"							int globalNumIterations,\n"
+"							int numConstraints)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numConstraints)\n"
+"		return;\n"
+"		\n"
+"	//for now, always initialize the batch info\n"
+"	int info1 = infos[i];\n"
+"			\n"
+"	__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];\n"
+"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
+"	__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n"
+"	__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n"
+"	int solverBodyIdA = constraint->m_rbA;\n"
+"	int solverBodyIdB = constraint->m_rbB;\n"
+"	__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n"
+"	__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n"
+"	if (rbA->m_invMass)\n"
+"	{\n"
+"		batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n"
+"	} else\n"
+"	{\n"
+"//			if (!solverBodyIdA)\n"
+"//				m_staticIdx = 0;\n"
+"		batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n"
+"	}\n"
+"	if (rbB->m_invMass)\n"
+"	{\n"
+"		batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n"
+"	} else\n"
+"	{\n"
+"//			if (!solverBodyIdB)\n"
+"//				m_staticIdx = 0;\n"
+"		batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n"
+"	}\n"
+"	if (info1)\n"
+"	{\n"
+"		int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n"
+"//		if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n"
+"	//		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n"
+"		int j;\n"
+"		for ( j=0;j<info1;j++)\n"
+"		{\n"
+"//			memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));\n"
+"			currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n"
+"			currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n"
+"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
+"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
+"			currentConstraintRow[j].m_cfm = 0.f;\n"
+"			currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n"
+"			currentConstraintRow[j].m_friction = 0.f;\n"
+"			currentConstraintRow[j].m_frictionIndex = 0;\n"
+"			currentConstraintRow[j].m_jacDiagABInv = 0.f;\n"
+"			currentConstraintRow[j].m_lowerLimit = 0.f;\n"
+"			currentConstraintRow[j].m_upperLimit = 0.f;\n"
+"			currentConstraintRow[j].m_originalConstraint = i;\n"
+"			currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n"
+"			currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n"
+"			currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n"
+"			currentConstraintRow[j].m_rhs = 0.f;\n"
+"			currentConstraintRow[j].m_rhsPenetration = 0.f;\n"
+"			currentConstraintRow[j].m_solverBodyIdA = 0;\n"
+"			currentConstraintRow[j].m_solverBodyIdB = 0;\n"
+"							\n"
+"			currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n"
+"			currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n"
+"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
+"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
+"			currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n"
+"			currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n"
+"			currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;		\n"
+"		}\n"
+"		bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
+"		bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
+"		bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
+"		bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
+"		bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
+"		bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
+"		bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
+"		bodyBPtr->m_turnVelocity  = (float4)(0,0,0,0);\n"
+"		int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
+"		\n"
+"		b3GpuConstraintInfo2 info2;\n"
+"		info2.fps = 1.f/timeStep;\n"
+"		info2.erp = globalErp;\n"
+"		info2.m_J1linearAxisFloat4 = &currentConstraintRow->m_contactNormal;\n"
+"		info2.m_J1angularAxisFloat4 = &currentConstraintRow->m_relpos1CrossNormal;\n"
+"		info2.m_J2linearAxisFloat4 = 0;\n"
+"		info2.m_J2angularAxisFloat4 = &currentConstraintRow->m_relpos2CrossNormal;\n"
+"		info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
+"		///the size of b3SolverConstraint needs be a multiple of float\n"
+"//		b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n"
+"		info2.m_constraintError = &currentConstraintRow->m_rhs;\n"
+"		currentConstraintRow->m_cfm = globalCfm;\n"
+"		info2.m_damping = globalDamping;\n"
+"		info2.cfm = &currentConstraintRow->m_cfm;\n"
+"		info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;\n"
+"		info2.m_upperLimit = &currentConstraintRow->m_upperLimit;\n"
+"		info2.m_numIterations = globalNumIterations;\n"
+"		switch (constraint->m_constraintType)\n"
+"		{\n"
+"			case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
+"			{\n"
+"				getInfo2Point2Point(constraint,&info2,bodies);\n"
+"				break;\n"
+"			}\n"
+"			case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
+"			{\n"
+"				getInfo2Point2Point(constraint,&info2,bodies);\n"
+"				getInfo2FixedOrientation(constraint,&info2,bodies,3);\n"
+"				break;\n"
+"			}\n"
+"			default:\n"
+"			{\n"
+"			}\n"
+"		}\n"
+"		///finalize the constraint setup\n"
+"		for ( j=0;j<info1;j++)\n"
+"		{\n"
+"			__global b3SolverConstraint* solverConstraint = &currentConstraintRow[j];\n"
+"			if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n"
+"			{\n"
+"				solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n"
+"			}\n"
+"			if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n"
+"			{\n"
+"				solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n"
+"			}\n"
+"//						solverConstraint->m_originalContactPoint = constraint;\n"
+"							\n"
+"			Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n"
+"			{\n"
+"				//float4 angularFactorA(1,1,1);\n"
+"				float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n"
+"				solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n"
+"			}\n"
+"						\n"
+"			Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n"
+"			{\n"
+"				float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n"
+"				solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n"
+"			}\n"
+"			{\n"
+"				//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n"
+"				//because it gets multiplied iMJlB\n"
+"				float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n"
+"				float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n"
+"				float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n"
+"				float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n"
+"				float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n"
+"				sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n"
+"				sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n"
+"				sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n"
+"				float fsum = fabs(sum);\n"
+"				if (fsum>FLT_EPSILON)\n"
+"				{\n"
+"					solverConstraint->m_jacDiagABInv = 1.f/sum;\n"
+"				} else\n"
+"				{\n"
+"					solverConstraint->m_jacDiagABInv = 0.f;\n"
+"				}\n"
+"			}\n"
+"			///fix rhs\n"
+"			///todo: add force/torque accelerators\n"
+"			{\n"
+"				float rel_vel;\n"
+"				float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n"
+"				float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n"
+"				rel_vel = vel1Dotn+vel2Dotn;\n"
+"				float restitution = 0.f;\n"
+"				float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n"
+"				float	velocityError = restitution - rel_vel * info2.m_damping;\n"
+"				float	penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n"
+"				float	velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n"
+"				solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n"
+"				solverConstraint->m_appliedImpulse = 0.f;\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"}\n"
+;