Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 601 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
new file mode 100644
index 0000000000..1b5819f6cf
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
@@ -0,0 +1,601 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* solverSetup2CL= \
+"/*\n"
+"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+"This software is provided 'as-is', without any express or implied warranty.\n"
+"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+"Permission is granted to anyone to use this software for any purpose, \n"
+"including commercial applications, and to alter it and redistribute it freely, \n"
+"subject to the following restrictions:\n"
+"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+"3. This notice may not be removed or altered from any source distribution.\n"
+"*/\n"
+"//Originally written by Takahiro Harada\n"
+"#ifndef B3_CONTACT4DATA_H\n"
+"#define B3_CONTACT4DATA_H\n"
+"#ifndef B3_FLOAT4_H\n"
+"#define B3_FLOAT4_H\n"
+"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+"#define B3_PLATFORM_DEFINITIONS_H\n"
+"struct MyTest\n"
+"{\n"
+"	int bla;\n"
+"};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+"#define B3_LARGE_FLOAT 1e18f\n"
+"#define B3_INFINITY 1e18f\n"
+"#define b3Assert(a)\n"
+"#define b3ConstArray(a) __global const a*\n"
+"#define b3AtomicInc atomic_inc\n"
+"#define b3AtomicAdd atomic_add\n"
+"#define b3Fabs fabs\n"
+"#define b3Sqrt native_sqrt\n"
+"#define b3Sin native_sin\n"
+"#define b3Cos native_cos\n"
+"#define B3_STATIC\n"
+"#endif\n"
+"#endif\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"	typedef float4	b3Float4;\n"
+"	#define b3Float4ConstArg const b3Float4\n"
+"	#define b3MakeFloat4 (float4)\n"
+"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+"	{\n"
+"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+"		return dot(a1, b1);\n"
+"	}\n"
+"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+"	{\n"
+"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+"		return cross(a1, b1);\n"
+"	}\n"
+"	#define b3MinFloat4 min\n"
+"	#define b3MaxFloat4 max\n"
+"	#define b3Normalized(a) normalize(a)\n"
+"#endif \n"
+"		\n"
+"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+"{\n"
+"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+"		return false;\n"
+"	return true;\n"
+"}\n"
+"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+"{\n"
+"    float maxDot = -B3_INFINITY;\n"
+"    int i = 0;\n"
+"    int ptIndex = -1;\n"
+"    for( i = 0; i < vecLen; i++ )\n"
+"    {\n"
+"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+"            \n"
+"        if( dot > maxDot )\n"
+"        {\n"
+"            maxDot = dot;\n"
+"            ptIndex = i;\n"
+"        }\n"
+"    }\n"
+"	b3Assert(ptIndex>=0);\n"
+"    if (ptIndex<0)\n"
+"	{\n"
+"		ptIndex = 0;\n"
+"	}\n"
+"    *dotOut = maxDot;\n"
+"    return ptIndex;\n"
+"}\n"
+"#endif //B3_FLOAT4_H\n"
+"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+"struct b3Contact4Data\n"
+"{\n"
+"	b3Float4	m_worldPosB[4];\n"
+"//	b3Float4	m_localPosA[4];\n"
+"//	b3Float4	m_localPosB[4];\n"
+"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+"	unsigned short  m_restituitionCoeffCmp;\n"
+"	unsigned short  m_frictionCoeffCmp;\n"
+"	int m_batchIdx;\n"
+"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+"	int m_bodyBPtrAndSignBit;\n"
+"	int	m_childIndexA;\n"
+"	int	m_childIndexB;\n"
+"	int m_unused1;\n"
+"	int m_unused2;\n"
+"};\n"
+"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+"{\n"
+"	return (int)contact->m_worldNormalOnB.w;\n"
+"};\n"
+"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+"{\n"
+"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+"};\n"
+"#endif //B3_CONTACT4DATA_H\n"
+"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+"#ifdef cl_ext_atomic_counters_32\n"
+"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+"#else\n"
+"#define counter32_t volatile global int*\n"
+"#endif\n"
+"typedef unsigned int u32;\n"
+"typedef unsigned short u16;\n"
+"typedef unsigned char u8;\n"
+"#define GET_GROUP_IDX get_group_id(0)\n"
+"#define GET_LOCAL_IDX get_local_id(0)\n"
+"#define GET_GLOBAL_IDX get_global_id(0)\n"
+"#define GET_GROUP_SIZE get_local_size(0)\n"
+"#define GET_NUM_GROUPS get_num_groups(0)\n"
+"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+"#define AtomInc(x) atom_inc(&(x))\n"
+"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+"#define AppendInc(x, out) out = atomic_inc(x)\n"
+"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+"#define make_float4 (float4)\n"
+"#define make_float2 (float2)\n"
+"#define make_uint4 (uint4)\n"
+"#define make_int4 (int4)\n"
+"#define make_uint2 (uint2)\n"
+"#define make_int2 (int2)\n"
+"#define max2 max\n"
+"#define min2 min\n"
+"///////////////////////////////////////\n"
+"//	Vector\n"
+"///////////////////////////////////////\n"
+"__inline\n"
+"float fastDiv(float numerator, float denominator)\n"
+"{\n"
+"	return native_divide(numerator, denominator);	\n"
+"//	return numerator/denominator;	\n"
+"}\n"
+"__inline\n"
+"float4 fastDiv4(float4 numerator, float4 denominator)\n"
+"{\n"
+"	return native_divide(numerator, denominator);	\n"
+"}\n"
+"__inline\n"
+"float fastSqrtf(float f2)\n"
+"{\n"
+"	return native_sqrt(f2);\n"
+"//	return sqrt(f2);\n"
+"}\n"
+"__inline\n"
+"float fastRSqrt(float f2)\n"
+"{\n"
+"	return native_rsqrt(f2);\n"
+"}\n"
+"__inline\n"
+"float fastLength4(float4 v)\n"
+"{\n"
+"	return fast_length(v);\n"
+"}\n"
+"__inline\n"
+"float4 fastNormalize4(float4 v)\n"
+"{\n"
+"	return fast_normalize(v);\n"
+"}\n"
+"__inline\n"
+"float sqrtf(float a)\n"
+"{\n"
+"//	return sqrt(a);\n"
+"	return native_sqrt(a);\n"
+"}\n"
+"__inline\n"
+"float4 cross3(float4 a, float4 b)\n"
+"{\n"
+"	return cross(a,b);\n"
+"}\n"
+"__inline\n"
+"float dot3F4(float4 a, float4 b)\n"
+"{\n"
+"	float4 a1 = make_float4(a.xyz,0.f);\n"
+"	float4 b1 = make_float4(b.xyz,0.f);\n"
+"	return dot(a1, b1);\n"
+"}\n"
+"__inline\n"
+"float length3(const float4 a)\n"
+"{\n"
+"	return sqrtf(dot3F4(a,a));\n"
+"}\n"
+"__inline\n"
+"float dot4(const float4 a, const float4 b)\n"
+"{\n"
+"	return dot( a, b );\n"
+"}\n"
+"//	for height\n"
+"__inline\n"
+"float dot3w1(const float4 point, const float4 eqn)\n"
+"{\n"
+"	return dot3F4(point,eqn) + eqn.w;\n"
+"}\n"
+"__inline\n"
+"float4 normalize3(const float4 a)\n"
+"{\n"
+"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+"	return fastNormalize4( n );\n"
+"//	float length = sqrtf(dot3F4(a, a));\n"
+"//	return 1.f/length * a;\n"
+"}\n"
+"__inline\n"
+"float4 normalize4(const float4 a)\n"
+"{\n"
+"	float length = sqrtf(dot4(a, a));\n"
+"	return 1.f/length * a;\n"
+"}\n"
+"__inline\n"
+"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
+"{\n"
+"	float4 eqn;\n"
+"	float4 ab = b-a;\n"
+"	float4 ac = c-a;\n"
+"	eqn = normalize3( cross3(ab, ac) );\n"
+"	eqn.w = -dot3F4(eqn,a);\n"
+"	return eqn;\n"
+"}\n"
+"///////////////////////////////////////\n"
+"//	Matrix3x3\n"
+"///////////////////////////////////////\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_row[3];\n"
+"}Matrix3x3;\n"
+"__inline\n"
+"Matrix3x3 mtZero();\n"
+"__inline\n"
+"Matrix3x3 mtIdentity();\n"
+"__inline\n"
+"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
+"__inline\n"
+"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
+"__inline\n"
+"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+"__inline\n"
+"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+"__inline\n"
+"Matrix3x3 mtZero()\n"
+"{\n"
+"	Matrix3x3 m;\n"
+"	m.m_row[0] = (float4)(0.f);\n"
+"	m.m_row[1] = (float4)(0.f);\n"
+"	m.m_row[2] = (float4)(0.f);\n"
+"	return m;\n"
+"}\n"
+"__inline\n"
+"Matrix3x3 mtIdentity()\n"
+"{\n"
+"	Matrix3x3 m;\n"
+"	m.m_row[0] = (float4)(1,0,0,0);\n"
+"	m.m_row[1] = (float4)(0,1,0,0);\n"
+"	m.m_row[2] = (float4)(0,0,1,0);\n"
+"	return m;\n"
+"}\n"
+"__inline\n"
+"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
+"{\n"
+"	Matrix3x3 out;\n"
+"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+"	return out;\n"
+"}\n"
+"__inline\n"
+"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
+"{\n"
+"	Matrix3x3 transB;\n"
+"	transB = mtTranspose( b );\n"
+"	Matrix3x3 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 = dot3F4(a.m_row[i],transB.m_row[0]);\n"
+"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
+"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
+"		ans.m_row[i].w = 0.f;\n"
+"	}\n"
+"	return ans;\n"
+"}\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 = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+"	float4 colz = make_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"
+"///////////////////////////////////////\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"
+"#define WG_SIZE 64\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_pos;\n"
+"	Quaternion m_quat;\n"
+"	float4 m_linVel;\n"
+"	float4 m_angVel;\n"
+"	u32 m_shapeIdx;\n"
+"	float m_invMass;\n"
+"	float m_restituitionCoeff;\n"
+"	float m_frictionCoeff;\n"
+"} Body;\n"
+"typedef struct\n"
+"{\n"
+"	Matrix3x3 m_invInertia;\n"
+"	Matrix3x3 m_initInvInertia;\n"
+"} Shape;\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_linear;\n"
+"	float4 m_worldPos[4];\n"
+"	float4 m_center;	\n"
+"	float m_jacCoeffInv[4];\n"
+"	float m_b[4];\n"
+"	float m_appliedRambdaDt[4];\n"
+"	float m_fJacCoeffInv[2];	\n"
+"	float m_fAppliedRambdaDt[2];	\n"
+"	u32 m_bodyA;\n"
+"	u32 m_bodyB;\n"
+"	int m_batchIdx;\n"
+"	u32 m_paddings[1];\n"
+"} Constraint4;\n"
+"typedef struct\n"
+"{\n"
+"	int m_nConstraints;\n"
+"	int m_start;\n"
+"	int m_batchIdx;\n"
+"	int m_nSplit;\n"
+"//	int m_paddings[1];\n"
+"} ConstBuffer;\n"
+"typedef struct\n"
+"{\n"
+"	int m_solveFriction;\n"
+"	int m_maxBatch;	//	long batch really kills the performance\n"
+"	int m_batchIdx;\n"
+"	int m_nSplit;\n"
+"//	int m_paddings[1];\n"
+"} ConstBufferBatchSolve;\n"
+" \n"
+"typedef struct \n"
+"{\n"
+"	int m_valInt0;\n"
+"	int m_valInt1;\n"
+"	int m_valInt2;\n"
+"	int m_valInt3;\n"
+"	float m_val0;\n"
+"	float m_val1;\n"
+"	float m_val2;\n"
+"	float m_val3;\n"
+"} SolverDebugInfo;\n"
+"//	others\n"
+"__kernel\n"
+"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n"
+"{\n"
+"	int nContacts = cb.x;\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	if( gIdx < nContacts )\n"
+"	{\n"
+"		int srcIdx = sortData[gIdx].y;\n"
+"		out[gIdx] = in[srcIdx];\n"
+"	}\n"
+"}\n"
+"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)\n"
+"{\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	if( gIdx < nContacts )\n"
+"	{\n"
+"		int2 sd;\n"
+"		sd.x = contactsIn[gIdx].m_childIndexB;\n"
+"		sd.y = gIdx;\n"
+"		sortDataOut[gIdx] = sd;\n"
+"	}\n"
+"}\n"
+"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+"{\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	if( gIdx < nContacts )\n"
+"	{\n"
+"		int2 sdIn;\n"
+"		sdIn = sortDataInOut[gIdx];\n"
+"		int2 sdOut;\n"
+"		sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n"
+"		sdOut.y = sdIn.y;\n"
+"		sortDataInOut[gIdx] = sdOut;\n"
+"	}\n"
+"}\n"
+"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+"{\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	if( gIdx < nContacts )\n"
+"	{\n"
+"		int2 sdIn;\n"
+"		sdIn = sortDataInOut[gIdx];\n"
+"		int2 sdOut;\n"
+"		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n"
+"		sdOut.y = sdIn.y;\n"
+"		sortDataInOut[gIdx] = sdOut;\n"
+"	}\n"
+"}\n"
+"__kernel\n"
+"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+"{\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	if( gIdx < nContacts )\n"
+"	{\n"
+"		int2 sdIn;\n"
+"		sdIn = sortDataInOut[gIdx];\n"
+"		int2 sdOut;\n"
+"		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;\n"
+"		sdOut.y = sdIn.y;\n"
+"		sortDataInOut[gIdx] = sdOut;\n"
+"	}\n"
+"}\n"
+"typedef struct\n"
+"{\n"
+"	int m_nContacts;\n"
+"	int m_staticIdx;\n"
+"	float m_scale;\n"
+"	int m_nSplit;\n"
+"} ConstBufferSSD;\n"
+"__constant const int gridTable4x4[] = \n"
+"{\n"
+"    0,1,17,16,\n"
+"	1,2,18,19,\n"
+"	17,18,32,3,\n"
+"	16,19,3,34\n"
+"};\n"
+"__constant const int gridTable8x8[] = \n"
+"{\n"
+"	  0,  2,  3, 16, 17, 18, 19,  1,\n"
+"	 66, 64, 80, 67, 82, 81, 65, 83,\n"
+"	131,144,128,130,147,129,145,146,\n"
+"	208,195,194,192,193,211,210,209,\n"
+"	 21, 22, 23,  5,  4,  6,  7, 20,\n"
+"	 86, 85, 69, 87, 70, 68, 84, 71,\n"
+"	151,133,149,150,135,148,132,134,\n"
+"	197,27,214,213,212,199,198,196\n"
+"	\n"
+"};\n"
+"#define USE_SPATIAL_BATCHING 1\n"
+"#define USE_4x4_GRID 1\n"
+"__kernel\n"
+"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n"
+"int nContacts,float scale,int4 nSplit,int staticIdx)\n"
+"{\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	\n"
+"	if( gIdx < nContacts )\n"
+"	{\n"
+"		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;\n"
+"		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;\n"
+"		int aIdx = abs(aPtrAndSignBit );\n"
+"		int bIdx = abs(bPtrAndSignBit);\n"
+"		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n"
+"		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);\n"
+"#if USE_SPATIAL_BATCHING		\n"
+"		int idx = (aStatic)? bIdx: aIdx;\n"
+"		float4 p = gBodies[idx].m_pos;\n"
+"		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);\n"
+"		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);\n"
+"		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);\n"
+"		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);\n"
+"		\n"
+"#else//USE_SPATIAL_BATCHING\n"
+"	#if USE_4x4_GRID\n"
+"		int aa = aIdx&3;\n"
+"		int bb = bIdx&3;\n"
+"		if (aStatic)\n"
+"			aa = bb;\n"
+"		if (bStatic)\n"
+"			bb = aa;\n"
+"		int gridIndex = aa + bb*4;\n"
+"		int newIndex = gridTable4x4[gridIndex];\n"
+"	#else//USE_4x4_GRID\n"
+"		int aa = aIdx&7;\n"
+"		int bb = bIdx&7;\n"
+"		if (aStatic)\n"
+"			aa = bb;\n"
+"		if (bStatic)\n"
+"			bb = aa;\n"
+"		int gridIndex = aa + bb*8;\n"
+"		int newIndex = gridTable8x8[gridIndex];\n"
+"	#endif//USE_4x4_GRID\n"
+"#endif//USE_SPATIAL_BATCHING\n"
+"		gSortDataOut[gIdx].x = newIndex;\n"
+"		gSortDataOut[gIdx].y = gIdx;\n"
+"	}\n"
+"	else\n"
+"	{\n"
+"		gSortDataOut[gIdx].x = 0xffffffff;\n"
+"	}\n"
+"}\n"
+"__kernel\n"
+"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )\n"
+"{\n"
+"	int gIdx = GET_GLOBAL_IDX;\n"
+"	if( gIdx < cb.x )\n"
+"	{\n"
+"		gOut[gIdx] = gIn[gIdx];\n"
+"	}\n"
+"}\n"
+;