Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 1457 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h b/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
new file mode 100644
index 0000000000..611569cacf
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
@@ -0,0 +1,1457 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* satConcaveKernelsCL= \
+"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
+"//written by Erwin Coumans\n"
+"#define SHAPE_CONVEX_HULL 3\n"
+"#define SHAPE_CONCAVE_TRIMESH 5\n"
+"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
+"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
+"#define B3_MAX_STACK_DEPTH 256\n"
+"typedef unsigned int u32;\n"
+"///keep this in sync with btCollidable.h\n"
+"typedef struct\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"
+"	\n"
+"	int m_shapeType;\n"
+"	int m_shapeIndex;\n"
+"	\n"
+"} btCollidableGpu;\n"
+"#define MAX_NUM_PARTS_IN_BITS 10\n"
+"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
+"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
+"typedef struct\n"
+"{\n"
+"	//12 bytes\n"
+"	unsigned short int	m_quantizedAabbMin[3];\n"
+"	unsigned short int	m_quantizedAabbMax[3];\n"
+"	//4 bytes\n"
+"	int	m_escapeIndexOrTriangleIndex;\n"
+"} b3QuantizedBvhNode;\n"
+"typedef struct\n"
+"{\n"
+"	float4		m_aabbMin;\n"
+"	float4		m_aabbMax;\n"
+"	float4		m_quantization;\n"
+"	int			m_numNodes;\n"
+"	int			m_numSubTrees;\n"
+"	int			m_nodeOffset;\n"
+"	int			m_subTreeOffset;\n"
+"} b3BvhInfo;\n"
+"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
+"{\n"
+"	unsigned int x=0;\n"
+"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+"	// Get only the lower bits where the triangle index is stored\n"
+"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+"}\n"
+"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+"{\n"
+"	unsigned int x=0;\n"
+"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+"	// Get only the lower bits where the triangle index is stored\n"
+"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+"}\n"
+"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
+"{\n"
+"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+"}\n"
+"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+"{\n"
+"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+"}\n"
+"	\n"
+"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
+"{\n"
+"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+"}\n"
+"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+"{\n"
+"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+"}\n"
+"typedef struct\n"
+"{\n"
+"	//12 bytes\n"
+"	unsigned short int	m_quantizedAabbMin[3];\n"
+"	unsigned short int	m_quantizedAabbMax[3];\n"
+"	//4 bytes, points to the root of the subtree\n"
+"	int			m_rootNodeIndex;\n"
+"	//4 bytes\n"
+"	int			m_subtreeSize;\n"
+"	int			m_padding[3];\n"
+"} b3BvhSubtreeInfo;\n"
+"typedef struct\n"
+"{\n"
+"	float4	m_childPosition;\n"
+"	float4	m_childOrientation;\n"
+"	int m_shapeIndex;\n"
+"	int m_unused0;\n"
+"	int m_unused1;\n"
+"	int m_unused2;\n"
+"} btGpuChildShape;\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_pos;\n"
+"	float4 m_quat;\n"
+"	float4 m_linVel;\n"
+"	float4 m_angVel;\n"
+"	u32 m_collidableIdx;\n"
+"	float m_invMass;\n"
+"	float m_restituitionCoeff;\n"
+"	float m_frictionCoeff;\n"
+"} BodyData;\n"
+"typedef struct  \n"
+"{\n"
+"	float4		m_localCenter;\n"
+"	float4		m_extents;\n"
+"	float4		mC;\n"
+"	float4		mE;\n"
+"	\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"
+"} ConvexPolyhedronCL;\n"
+"typedef struct \n"
+"{\n"
+"	union\n"
+"	{\n"
+"		float4	m_min;\n"
+"		float   m_minElems[4];\n"
+"		int			m_minIndices[4];\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"		float4	m_max;\n"
+"		float   m_maxElems[4];\n"
+"		int			m_maxIndices[4];\n"
+"	};\n"
+"} btAabbCL;\n"
+"#ifndef B3_AABB_H\n"
+"#define B3_AABB_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"
+"#ifndef B3_MAT3x3_H\n"
+"#define B3_MAT3x3_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"
+"#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 b3Aabb b3Aabb_t;\n"
+"struct b3Aabb\n"
+"{\n"
+"	union\n"
+"	{\n"
+"		float m_min[4];\n"
+"		b3Float4 m_minVec;\n"
+"		int m_minIndices[4];\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"		float	m_max[4];\n"
+"		b3Float4 m_maxVec;\n"
+"		int m_signedMaxIndices[4];\n"
+"	};\n"
+"};\n"
+"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
+"						b3Float4ConstArg pos,\n"
+"						b3QuatConstArg orn,\n"
+"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
+"{\n"
+"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
+"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
+"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
+"		b3Mat3x3 m;\n"
+"		m = b3QuatGetRotationMatrix(orn);\n"
+"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
+"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
+"		\n"
+"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
+"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
+"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
+"										 0.f);\n"
+"		*aabbMinOut = center-extent;\n"
+"		*aabbMaxOut = center+extent;\n"
+"}\n"
+"/// conservative test for overlap between two aabbs\n"
+"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
+"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
+"{\n"
+"	bool overlap = true;\n"
+"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
+"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
+"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
+"	return overlap;\n"
+"}\n"
+"#endif //B3_AABB_H\n"
+"/*\n"
+"Bullet Continuous Collision Detection and Physics Library\n"
+"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\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"
+"#ifndef B3_INT2_H\n"
+"#define B3_INT2_H\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3UnsignedInt2 uint2\n"
+"#define b3Int2 int2\n"
+"#define b3MakeInt2 (int2)\n"
+"#endif //__cplusplus\n"
+"#endif\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_plane;\n"
+"	int m_indexOffset;\n"
+"	int m_numIndices;\n"
+"} btGpuFace;\n"
+"#define make_float4 (float4)\n"
+"__inline\n"
+"float4 cross3(float4 a, float4 b)\n"
+"{\n"
+"	return cross(a,b);\n"
+"	\n"
+"//	float4 a1 = make_float4(a.xyz,0.f);\n"
+"//	float4 b1 = make_float4(b.xyz,0.f);\n"
+"//	return cross(a1,b1);\n"
+"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
+"	\n"
+"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
+"	\n"
+"	//return c;\n"
+"}\n"
+"__inline\n"
+"float dot3F4(float4 a, float4 b)\n"
+"{\n"
+"	float4 a1 = make_float4(a.xyz,0.f);\n"
+"	float4 b1 = make_float4(b.xyz,0.f);\n"
+"	return dot(a1, b1);\n"
+"}\n"
+"__inline\n"
+"float4 fastNormalize4(float4 v)\n"
+"{\n"
+"	v = make_float4(v.xyz,0.f);\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 void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
+"const float4* dir, const float4* vertices, float* min, float* max)\n"
+"{\n"
+"	min[0] = FLT_MAX;\n"
+"	max[0] = -FLT_MAX;\n"
+"	int numVerts = hull->m_numVertices;\n"
+"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+"	float offset = dot(pos,*dir);\n"
+"	for(int i=0;i<numVerts;i++)\n"
+"	{\n"
+"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+"		if(dp < min[0])	\n"
+"			min[0] = dp;\n"
+"		if(dp > max[0])	\n"
+"			max[0] = dp;\n"
+"	}\n"
+"	if(min[0]>max[0])\n"
+"	{\n"
+"		float tmp = min[0];\n"
+"		min[0] = max[0];\n"
+"		max[0] = tmp;\n"
+"	}\n"
+"	min[0] += offset;\n"
+"	max[0] += offset;\n"
+"}\n"
+"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
+"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
+"{\n"
+"	min[0] = FLT_MAX;\n"
+"	max[0] = -FLT_MAX;\n"
+"	int numVerts = hull->m_numVertices;\n"
+"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+"	float offset = dot(pos,*dir);\n"
+"	for(int i=0;i<numVerts;i++)\n"
+"	{\n"
+"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+"		if(dp < min[0])	\n"
+"			min[0] = dp;\n"
+"		if(dp > max[0])	\n"
+"			max[0] = dp;\n"
+"	}\n"
+"	if(min[0]>max[0])\n"
+"	{\n"
+"		float tmp = min[0];\n"
+"		min[0] = max[0];\n"
+"		max[0] = tmp;\n"
+"	}\n"
+"	min[0] += offset;\n"
+"	max[0] += offset;\n"
+"}\n"
+"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+"	const float4 posA,const float4 ornA,\n"
+"	const float4 posB,const float4 ornB,\n"
+"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
+"{\n"
+"	float Min0,Max0;\n"
+"	float Min1,Max1;\n"
+"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
+"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
+"	if(Max0<Min1 || Max1<Min0)\n"
+"		return false;\n"
+"	float d0 = Max0 - Min1;\n"
+"	float d1 = Max1 - Min0;\n"
+"	*depth = d0<d1 ? d0:d1;\n"
+"	return true;\n"
+"}\n"
+"inline bool IsAlmostZero(const float4 v)\n"
+"{\n"
+"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
+"		return false;\n"
+"	return true;\n"
+"}\n"
+"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+"	const float4 posA1,\n"
+"	const float4 ornA,\n"
+"	const float4 posB1,\n"
+"	const float4 ornB,\n"
+"	const float4 DeltaC2,\n"
+"	\n"
+"	const float4* verticesA, \n"
+"	const float4* uniqueEdgesA, \n"
+"	const btGpuFace* facesA,\n"
+"	const int*  indicesA,\n"
+"	__global const float4* verticesB, \n"
+"	__global const float4* uniqueEdgesB, \n"
+"	__global const btGpuFace* facesB,\n"
+"	__global const int*  indicesB,\n"
+"	float4* sep,\n"
+"	float* dmin)\n"
+"{\n"
+"	\n"
+"	float4 posA = posA1;\n"
+"	posA.w = 0.f;\n"
+"	float4 posB = posB1;\n"
+"	posB.w = 0.f;\n"
+"	int curPlaneTests=0;\n"
+"	{\n"
+"		int numFacesA = hullA->m_numFaces;\n"
+"		// Test normals from hullA\n"
+"		for(int i=0;i<numFacesA;i++)\n"
+"		{\n"
+"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
+"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+"				faceANormalWS*=-1.f;\n"
+"			curPlaneTests++;\n"
+"			float d;\n"
+"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
+"				return false;\n"
+"			if(d<*dmin)\n"
+"			{\n"
+"				*dmin = d;\n"
+"				*sep = faceANormalWS;\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+"	{\n"
+"		*sep = -(*sep);\n"
+"	}\n"
+"	return true;\n"
+"}\n"
+"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
+"	const float4 posA1,\n"
+"	const float4 ornA,\n"
+"	const float4 posB1,\n"
+"	const float4 ornB,\n"
+"	const float4 DeltaC2,\n"
+"	__global const float4* verticesA, \n"
+"	__global const float4* uniqueEdgesA, \n"
+"	__global const btGpuFace* facesA,\n"
+"	__global const int*  indicesA,\n"
+"	const float4* verticesB,\n"
+"	const float4* uniqueEdgesB, \n"
+"	const btGpuFace* facesB,\n"
+"	const int*  indicesB,\n"
+"	float4* sep,\n"
+"	float* dmin)\n"
+"{\n"
+"	float4 posA = posA1;\n"
+"	posA.w = 0.f;\n"
+"	float4 posB = posB1;\n"
+"	posB.w = 0.f;\n"
+"	int curPlaneTests=0;\n"
+"	{\n"
+"		int numFacesA = hullA->m_numFaces;\n"
+"		// Test normals from hullA\n"
+"		for(int i=0;i<numFacesA;i++)\n"
+"		{\n"
+"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
+"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+"				faceANormalWS *= -1.f;\n"
+"			curPlaneTests++;\n"
+"			float d;\n"
+"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
+"				return false;\n"
+"			if(d<*dmin)\n"
+"			{\n"
+"				*dmin = d;\n"
+"				*sep = faceANormalWS;\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+"	{\n"
+"		*sep = -(*sep);\n"
+"	}\n"
+"	return true;\n"
+"}\n"
+"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+"	const float4 posA1,\n"
+"	const float4 ornA,\n"
+"	const float4 posB1,\n"
+"	const float4 ornB,\n"
+"	const float4 DeltaC2,\n"
+"	const float4* verticesA, \n"
+"	const float4* uniqueEdgesA, \n"
+"	const btGpuFace* facesA,\n"
+"	const int*  indicesA,\n"
+"	__global const float4* verticesB, \n"
+"	__global const float4* uniqueEdgesB, \n"
+"	__global const btGpuFace* facesB,\n"
+"	__global const int*  indicesB,\n"
+"		float4* sep,\n"
+"	float* dmin)\n"
+"{\n"
+"	float4 posA = posA1;\n"
+"	posA.w = 0.f;\n"
+"	float4 posB = posB1;\n"
+"	posB.w = 0.f;\n"
+"	int curPlaneTests=0;\n"
+"	int curEdgeEdge = 0;\n"
+"	// Test edges\n"
+"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
+"	{\n"
+"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
+"		float4 edge0World = qtRotate(ornA,edge0);\n"
+"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
+"		{\n"
+"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
+"			float4 edge1World = qtRotate(ornB,edge1);\n"
+"			float4 crossje = cross3(edge0World,edge1World);\n"
+"			curEdgeEdge++;\n"
+"			if(!IsAlmostZero(crossje))\n"
+"			{\n"
+"				crossje = normalize3(crossje);\n"
+"				if (dot3F4(DeltaC2,crossje)<0)\n"
+"					crossje *= -1.f;\n"
+"				float dist;\n"
+"				bool result = true;\n"
+"				{\n"
+"					float Min0,Max0;\n"
+"					float Min1,Max1;\n"
+"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
+"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
+"				\n"
+"					if(Max0<Min1 || Max1<Min0)\n"
+"						result = false;\n"
+"				\n"
+"					float d0 = Max0 - Min1;\n"
+"					float d1 = Max1 - Min0;\n"
+"					dist = d0<d1 ? d0:d1;\n"
+"					result = true;\n"
+"				}\n"
+"				\n"
+"				if(dist<*dmin)\n"
+"				{\n"
+"					*dmin = dist;\n"
+"					*sep = crossje;\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"	\n"
+"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+"	{\n"
+"		*sep = -(*sep);\n"
+"	}\n"
+"	return true;\n"
+"}\n"
+"inline int	findClippingFaces(const float4 separatingNormal,\n"
+"                      const ConvexPolyhedronCL* hullA, \n"
+"					  __global const ConvexPolyhedronCL* 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"
+"					  const float4* verticesA,\n"
+"                      const btGpuFace* facesA,\n"
+"                      const int* indicesA,\n"
+"					  __global const float4* verticesB,\n"
+"                      __global const btGpuFace* facesB,\n"
+"                      __global const int* indicesB,\n"
+"                      __global int4* clippingFaces, int pairIndex)\n"
+"{\n"
+"	int numContactsOut = 0;\n"
+"	int numWorldVertsB1= 0;\n"
+"    \n"
+"    \n"
+"	int closestFaceB=0;\n"
+"	float dmax = -FLT_MAX;\n"
+"    \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"
+"	{\n"
+"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
+"		int numVertices = polyB.m_numIndices;\n"
+"        if (numVertices>capacityWorldVerts)\n"
+"            numVertices = capacityWorldVerts;\n"
+"        if (numVertices<0)\n"
+"            numVertices = 0;\n"
+"        \n"
+"		for(int e0=0;e0<numVertices;e0++)\n"
+"		{\n"
+"            if (e0<capacityWorldVerts)\n"
+"            {\n"
+"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
+"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
+"            }\n"
+"		}\n"
+"	}\n"
+"    \n"
+"    int closestFaceA=0;\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,\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 = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
+"    if (numVerticesA>capacityWorldVerts)\n"
+"       numVerticesA = capacityWorldVerts;\n"
+"    if (numVerticesA<0)\n"
+"        numVerticesA=0;\n"
+"    \n"
+"	for(int e0=0;e0<numVerticesA;e0++)\n"
+"	{\n"
+"        if (e0<capacityWorldVerts)\n"
+"        {\n"
+"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
+"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
+"        }\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"
+"// work-in-progress\n"
+"__kernel void   findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,\n"
+"                                                __global const BodyData* rigidBodies,\n"
+"                                                __global const btCollidableGpu* collidables,\n"
+"                                                __global const ConvexPolyhedronCL* convexShapes,\n"
+"                                                __global const float4* vertices,\n"
+"                                                __global const float4* uniqueEdges,\n"
+"                                                __global const btGpuFace* faces,\n"
+"                                                __global const int* indices,\n"
+"                                                __global const btGpuChildShape* gpuChildShapes,\n"
+"                                                __global btAabbCL* aabbs,\n"
+"                                                __global float4* concaveSeparatingNormalsOut,\n"
+"                                                __global int* concaveHasSeparatingNormals,\n"
+"                                                __global int4* clippingFacesOut,\n"
+"                                                __global float4* worldVertsA1GPU,\n"
+"                                                __global float4*  worldNormalsAGPU,\n"
+"                                                __global float4* worldVertsB1GPU,\n"
+"                                                __global float* dmins,\n"
+"                                                int vertexFaceCapacity,\n"
+"                                                int numConcavePairs\n"
+"                                                )\n"
+"{\n"
+"    \n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numConcavePairs)\n"
+"		return;\n"
+"    \n"
+"	concaveHasSeparatingNormals[i] = 0;\n"
+"    \n"
+"	int pairIdx = i;\n"
+"    \n"
+"	int bodyIndexA = concavePairs[i].x;\n"
+"	int bodyIndexB = concavePairs[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"
+"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
+"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+"	{\n"
+"		concavePairs[pairIdx].w = -1;\n"
+"		return;\n"
+"	}\n"
+"    \n"
+"    \n"
+"    \n"
+"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+"	int numActualConcaveConvexTests = 0;\n"
+"	\n"
+"	int f = concavePairs[i].z;\n"
+"	\n"
+"	bool overlap = false;\n"
+"	\n"
+"	ConvexPolyhedronCL convexPolyhedronA;\n"
+"    \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"
+"    \n"
+"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+"	float4 triMinAabb, triMaxAabb;\n"
+"	btAabbCL triAabb;\n"
+"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
+"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.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"
+"		triAabb.m_min = min(triAabb.m_min,vert);\n"
+"		triAabb.m_max = max(triAabb.m_max,vert);\n"
+"        \n"
+"	}\n"
+"    \n"
+"	overlap = true;\n"
+"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
+"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
+"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
+"    \n"
+"	if (overlap)\n"
+"	{\n"
+"		float dmin = FLT_MAX;\n"
+"		int hasSeparatingAxis=5;\n"
+"		float4 sepAxis=make_float4(1,2,3,4);\n"
+"        \n"
+"		int localCC=0;\n"
+"		numActualConcaveConvexTests++;\n"
+"        \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"
+"        \n"
+"        \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"
+"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
+"		int indicesA[3+3+2+2+2];\n"
+"		int curUsedIndices=0;\n"
+"		int fidx=0;\n"
+"        \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 = dot(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"
+"        \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 = -dot(edgeNormal,v0);\n"
+"                \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"
+"        \n"
+"        \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"
+"        \n"
+"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+"        \n"
+"		\n"
+"        \n"
+"        \n"
+"		///////////////////\n"
+"		///compound shape support\n"
+"        \n"
+"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+"		{\n"
+"			int compoundChild = concavePairs[pairIdx].w;\n"
+"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
+"			int childColIndexB = 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"
+"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+"		}\n"
+"		//////////////////\n"
+"        \n"
+"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
+"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+"		const float4 DeltaC2 = c0 - c1;\n"
+"        \n"
+"        \n"
+"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+"                                             posA,ornA,\n"
+"                                             posB,ornB,\n"
+"                                             DeltaC2,\n"
+"                                             verticesA,uniqueEdgesA,facesA,indicesA,\n"
+"                                             vertices,uniqueEdges,faces,indices,\n"
+"                                             &sepAxis,&dmin);\n"
+"		hasSeparatingAxis = 4;\n"
+"		if (!sepA)\n"
+"		{\n"
+"			hasSeparatingAxis = 0;\n"
+"		} else\n"
+"		{\n"
+"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
+"                                                 posB,ornB,\n"
+"                                                 posA,ornA,\n"
+"                                                 DeltaC2,\n"
+"                                                 vertices,uniqueEdges,faces,indices,\n"
+"                                                 verticesA,uniqueEdgesA,facesA,indicesA,\n"
+"                                                 &sepAxis,&dmin);\n"
+"            \n"
+"			if (!sepB)\n"
+"			{\n"
+"				hasSeparatingAxis = 0;\n"
+"			} else\n"
+"			{\n"
+"				hasSeparatingAxis = 1;\n"
+"			}\n"
+"		}	\n"
+"		\n"
+"		if (hasSeparatingAxis)\n"
+"		{\n"
+"            dmins[i] = dmin;\n"
+"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
+"			concaveHasSeparatingNormals[i]=1;\n"
+"            \n"
+"		} else\n"
+"		{	\n"
+"			//mark this pair as in-active\n"
+"			concavePairs[pairIdx].w = -1;\n"
+"		}\n"
+"	}\n"
+"	else\n"
+"	{	\n"
+"		//mark this pair as in-active\n"
+"		concavePairs[pairIdx].w = -1;\n"
+"	}\n"
+"}\n"
+"// work-in-progress\n"
+"__kernel void   findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,\n"
+"                                                          __global const BodyData* rigidBodies,\n"
+"                                                          __global const btCollidableGpu* collidables,\n"
+"                                                          __global const ConvexPolyhedronCL* convexShapes,\n"
+"                                                          __global const float4* vertices,\n"
+"                                                          __global const float4* uniqueEdges,\n"
+"                                                          __global const btGpuFace* faces,\n"
+"                                                          __global const int* indices,\n"
+"                                                          __global const btGpuChildShape* gpuChildShapes,\n"
+"                                                          __global btAabbCL* aabbs,\n"
+"                                                          __global float4* concaveSeparatingNormalsOut,\n"
+"                                                          __global int* concaveHasSeparatingNormals,\n"
+"                                                          __global int4* clippingFacesOut,\n"
+"                                                          __global float4* worldVertsA1GPU,\n"
+"                                                          __global float4*  worldNormalsAGPU,\n"
+"                                                          __global float4* worldVertsB1GPU,\n"
+"                                                          __global float* dmins,\n"
+"                                                          int vertexFaceCapacity,\n"
+"                                                          int numConcavePairs\n"
+"                                                          )\n"
+"{\n"
+"    \n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numConcavePairs)\n"
+"		return;\n"
+"    \n"
+"	if (!concaveHasSeparatingNormals[i])\n"
+"        return;\n"
+"    \n"
+"	int pairIdx = i;\n"
+"    \n"
+"	int bodyIndexA = concavePairs[i].x;\n"
+"	int bodyIndexB = concavePairs[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"
+"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+"	int numActualConcaveConvexTests = 0;\n"
+"	\n"
+"	int f = concavePairs[i].z;\n"
+"	\n"
+"	bool overlap = false;\n"
+"	\n"
+"	ConvexPolyhedronCL convexPolyhedronA;\n"
+"    \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"
+"    \n"
+"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+"	float4 triMinAabb, triMaxAabb;\n"
+"	btAabbCL triAabb;\n"
+"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
+"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.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"
+"		triAabb.m_min = min(triAabb.m_min,vert);\n"
+"		triAabb.m_max = max(triAabb.m_max,vert);\n"
+"        \n"
+"	}\n"
+"    \n"
+"	overlap = true;\n"
+"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
+"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
+"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
+"    \n"
+"	if (overlap)\n"
+"	{\n"
+"		float dmin = dmins[i];\n"
+"		int hasSeparatingAxis=5;\n"
+"		float4 sepAxis=make_float4(1,2,3,4);\n"
+"        sepAxis = concaveSeparatingNormalsOut[pairIdx];\n"
+"        \n"
+"		int localCC=0;\n"
+"		numActualConcaveConvexTests++;\n"
+"        \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"
+"        \n"
+"        \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"
+"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
+"		int indicesA[3+3+2+2+2];\n"
+"		int curUsedIndices=0;\n"
+"		int fidx=0;\n"
+"        \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 = dot(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"
+"        \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 = -dot(edgeNormal,v0);\n"
+"                \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"
+"        \n"
+"        \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"
+"        \n"
+"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+"        \n"
+"		\n"
+"        \n"
+"        \n"
+"		///////////////////\n"
+"		///compound shape support\n"
+"        \n"
+"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+"		{\n"
+"			int compoundChild = concavePairs[pairIdx].w;\n"
+"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
+"			int childColIndexB = 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"
+"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+"		}\n"
+"		//////////////////\n"
+"        \n"
+"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
+"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+"		const float4 DeltaC2 = c0 - c1;\n"
+"        \n"
+"        \n"
+"		{\n"
+"			bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+"                                                              posA,ornA,\n"
+"                                                              posB,ornB,\n"
+"                                                              DeltaC2,\n"
+"                                                              verticesA,uniqueEdgesA,facesA,indicesA,\n"
+"                                                              vertices,uniqueEdges,faces,indices,\n"
+"                                                              &sepAxis,&dmin);\n"
+"                \n"
+"			if (!sepEE)\n"
+"			{\n"
+"				hasSeparatingAxis = 0;\n"
+"			} else\n"
+"			{\n"
+"				hasSeparatingAxis = 1;\n"
+"			}\n"
+"		}\n"
+"		\n"
+"		\n"
+"		if (hasSeparatingAxis)\n"
+"		{\n"
+"			sepAxis.w = dmin;\n"
+"            dmins[i] = dmin;\n"
+"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
+"			concaveHasSeparatingNormals[i]=1;\n"
+"           \n"
+" 	float minDist = -1e30f;\n"
+"			float maxDist = 0.02f;\n"
+"            \n"
+"            findClippingFaces(sepAxis,\n"
+"                              &convexPolyhedronA,\n"
+"                              &convexShapes[shapeIndexB],\n"
+"                              posA,ornA,\n"
+"                              posB,ornB,\n"
+"                              worldVertsA1GPU,\n"
+"                              worldNormalsAGPU,\n"
+"                              worldVertsB1GPU,\n"
+"                              vertexFaceCapacity,\n"
+"                              minDist, maxDist,\n"
+"                              verticesA,\n"
+"                              facesA,\n"
+"                              indicesA,\n"
+"                              vertices,\n"
+"                              faces,\n"
+"                              indices,\n"
+"                              clippingFacesOut, pairIdx);\n"
+"	           \n"
+"            \n"
+"		} else\n"
+"		{	\n"
+"			//mark this pair as in-active\n"
+"			concavePairs[pairIdx].w = -1;\n"
+"		}\n"
+"	}\n"
+"	else\n"
+"	{	\n"
+"		//mark this pair as in-active\n"
+"		concavePairs[pairIdx].w = -1;\n"
+"	}\n"
+"	\n"
+"	concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points\n"
+"}\n"
+;