diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h | 2099 |
1 files changed, 2099 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h new file mode 100644 index 0000000000..f0ecfc7851 --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h @@ -0,0 +1,2099 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* satClipKernelsCL= \ +"#define TRIANGLE_NUM_CONVEX_FACES 5\n" +"#pragma OPENCL EXTENSION cl_amd_printf : enable\n" +"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n" +"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n" +"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n" +"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n" +"#ifdef cl_ext_atomic_counters_32\n" +"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n" +"#else\n" +"#define counter32_t volatile __global int*\n" +"#endif\n" +"#define GET_GROUP_IDX get_group_id(0)\n" +"#define GET_LOCAL_IDX get_local_id(0)\n" +"#define GET_GLOBAL_IDX get_global_id(0)\n" +"#define GET_GROUP_SIZE get_local_size(0)\n" +"#define GET_NUM_GROUPS get_num_groups(0)\n" +"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n" +"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n" +"#define AtomInc(x) atom_inc(&(x))\n" +"#define AtomInc1(x, out) out = atom_inc(&(x))\n" +"#define AppendInc(x, out) out = atomic_inc(x)\n" +"#define AtomAdd(x, value) atom_add(&(x), value)\n" +"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n" +"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n" +"#define max2 max\n" +"#define min2 min\n" +"typedef unsigned int u32;\n" +"#ifndef B3_CONTACT4DATA_H\n" +"#define B3_CONTACT4DATA_H\n" +"#ifndef B3_FLOAT4_H\n" +"#define B3_FLOAT4_H\n" +"#ifndef B3_PLATFORM_DEFINITIONS_H\n" +"#define B3_PLATFORM_DEFINITIONS_H\n" +"struct MyTest\n" +"{\n" +" int bla;\n" +"};\n" +"#ifdef __cplusplus\n" +"#else\n" +"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n" +"#define B3_LARGE_FLOAT 1e18f\n" +"#define B3_INFINITY 1e18f\n" +"#define b3Assert(a)\n" +"#define b3ConstArray(a) __global const a*\n" +"#define b3AtomicInc atomic_inc\n" +"#define b3AtomicAdd atomic_add\n" +"#define b3Fabs fabs\n" +"#define b3Sqrt native_sqrt\n" +"#define b3Sin native_sin\n" +"#define b3Cos native_cos\n" +"#define B3_STATIC\n" +"#endif\n" +"#endif\n" +"#ifdef __cplusplus\n" +"#else\n" +" typedef float4 b3Float4;\n" +" #define b3Float4ConstArg const b3Float4\n" +" #define b3MakeFloat4 (float4)\n" +" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n" +" {\n" +" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n" +" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n" +" return dot(a1, b1);\n" +" }\n" +" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n" +" {\n" +" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n" +" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n" +" return cross(a1, b1);\n" +" }\n" +" #define b3MinFloat4 min\n" +" #define b3MaxFloat4 max\n" +" #define b3Normalized(a) normalize(a)\n" +"#endif \n" +" \n" +"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n" +"{\n" +" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n" +" return false;\n" +" return true;\n" +"}\n" +"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n" +"{\n" +" float maxDot = -B3_INFINITY;\n" +" int i = 0;\n" +" int ptIndex = -1;\n" +" for( i = 0; i < vecLen; i++ )\n" +" {\n" +" float dot = b3Dot3F4(vecArray[i],vec);\n" +" \n" +" if( dot > maxDot )\n" +" {\n" +" maxDot = dot;\n" +" ptIndex = i;\n" +" }\n" +" }\n" +" b3Assert(ptIndex>=0);\n" +" if (ptIndex<0)\n" +" {\n" +" ptIndex = 0;\n" +" }\n" +" *dotOut = maxDot;\n" +" return ptIndex;\n" +"}\n" +"#endif //B3_FLOAT4_H\n" +"typedef struct b3Contact4Data b3Contact4Data_t;\n" +"struct b3Contact4Data\n" +"{\n" +" b3Float4 m_worldPosB[4];\n" +"// b3Float4 m_localPosA[4];\n" +"// b3Float4 m_localPosB[4];\n" +" b3Float4 m_worldNormalOnB; // w: m_nPoints\n" +" unsigned short m_restituitionCoeffCmp;\n" +" unsigned short m_frictionCoeffCmp;\n" +" int m_batchIdx;\n" +" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n" +" int m_bodyBPtrAndSignBit;\n" +" int m_childIndexA;\n" +" int m_childIndexB;\n" +" int m_unused1;\n" +" int m_unused2;\n" +"};\n" +"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n" +"{\n" +" return (int)contact->m_worldNormalOnB.w;\n" +"};\n" +"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n" +"{\n" +" contact->m_worldNormalOnB.w = (float)numPoints;\n" +"};\n" +"#endif //B3_CONTACT4DATA_H\n" +"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n" +"#define B3_CONVEX_POLYHEDRON_DATA_H\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"#ifndef B3_QUAT_H\n" +"#define B3_QUAT_H\n" +"#ifndef B3_PLATFORM_DEFINITIONS_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif\n" +"#endif\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +" typedef float4 b3Quat;\n" +" #define b3QuatConstArg const b3Quat\n" +" \n" +" \n" +"inline float4 b3FastNormalize4(float4 v)\n" +"{\n" +" v = (float4)(v.xyz,0.f);\n" +" return fast_normalize(v);\n" +"}\n" +" \n" +"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n" +"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n" +"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n" +"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n" +"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n" +"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n" +"{\n" +" b3Quat ans;\n" +" ans = b3Cross3( a, b );\n" +" ans += a.w*b+b.w*a;\n" +"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n" +" ans.w = a.w*b.w - b3Dot3F4(a, b);\n" +" return ans;\n" +"}\n" +"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n" +"{\n" +" b3Quat q;\n" +" q=in;\n" +" //return b3FastNormalize4(in);\n" +" float len = native_sqrt(dot(q, q));\n" +" if(len > 0.f)\n" +" {\n" +" q *= 1.f / len;\n" +" }\n" +" else\n" +" {\n" +" q.x = q.y = q.z = 0.f;\n" +" q.w = 1.f;\n" +" }\n" +" return q;\n" +"}\n" +"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n" +"{\n" +" b3Quat qInv = b3QuatInvert( q );\n" +" float4 vcpy = vec;\n" +" vcpy.w = 0.f;\n" +" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n" +" return out;\n" +"}\n" +"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n" +"{\n" +" return (b3Quat)(-q.xyz, q.w);\n" +"}\n" +"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n" +"{\n" +" return (b3Quat)(-q.xyz, q.w);\n" +"}\n" +"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n" +"{\n" +" return b3QuatRotate( b3QuatInvert( q ), vec );\n" +"}\n" +"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n" +"{\n" +" return b3QuatRotate( orientation, point ) + (translation);\n" +"}\n" +" \n" +"#endif \n" +"#endif //B3_QUAT_H\n" +"typedef struct b3GpuFace b3GpuFace_t;\n" +"struct b3GpuFace\n" +"{\n" +" b3Float4 m_plane;\n" +" int m_indexOffset;\n" +" int m_numIndices;\n" +" int m_unusedPadding1;\n" +" int m_unusedPadding2;\n" +"};\n" +"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n" +"struct b3ConvexPolyhedronData\n" +"{\n" +" b3Float4 m_localCenter;\n" +" b3Float4 m_extents;\n" +" b3Float4 mC;\n" +" b3Float4 mE;\n" +" float m_radius;\n" +" int m_faceOffset;\n" +" int m_numFaces;\n" +" int m_numVertices;\n" +" int m_vertexOffset;\n" +" int m_uniqueEdgesOffset;\n" +" int m_numUniqueEdges;\n" +" int m_unused;\n" +"};\n" +"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n" +"#ifndef B3_COLLIDABLE_H\n" +"#define B3_COLLIDABLE_H\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"#ifndef B3_QUAT_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_QUAT_H\n" +"enum b3ShapeTypes\n" +"{\n" +" SHAPE_HEIGHT_FIELD=1,\n" +" SHAPE_CONVEX_HULL=3,\n" +" SHAPE_PLANE=4,\n" +" SHAPE_CONCAVE_TRIMESH=5,\n" +" SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n" +" SHAPE_SPHERE=7,\n" +" MAX_NUM_SHAPE_TYPES,\n" +"};\n" +"typedef struct b3Collidable b3Collidable_t;\n" +"struct b3Collidable\n" +"{\n" +" union {\n" +" int m_numChildShapes;\n" +" int m_bvhIndex;\n" +" };\n" +" union\n" +" {\n" +" float m_radius;\n" +" int m_compoundBvhIndex;\n" +" };\n" +" int m_shapeType;\n" +" int m_shapeIndex;\n" +"};\n" +"typedef struct b3GpuChildShape b3GpuChildShape_t;\n" +"struct b3GpuChildShape\n" +"{\n" +" b3Float4 m_childPosition;\n" +" b3Quat m_childOrientation;\n" +" int m_shapeIndex;\n" +" int m_unused0;\n" +" int m_unused1;\n" +" int m_unused2;\n" +"};\n" +"struct b3CompoundOverlappingPair\n" +"{\n" +" int m_bodyIndexA;\n" +" int m_bodyIndexB;\n" +"// int m_pairType;\n" +" int m_childShapeIndexA;\n" +" int m_childShapeIndexB;\n" +"};\n" +"#endif //B3_COLLIDABLE_H\n" +"#ifndef B3_RIGIDBODY_DATA_H\n" +"#define B3_RIGIDBODY_DATA_H\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"#ifndef B3_QUAT_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_QUAT_H\n" +"#ifndef B3_MAT3x3_H\n" +"#define B3_MAT3x3_H\n" +"#ifndef B3_QUAT_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_QUAT_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"typedef struct\n" +"{\n" +" b3Float4 m_row[3];\n" +"}b3Mat3x3;\n" +"#define b3Mat3x3ConstArg const b3Mat3x3\n" +"#define b3GetRow(m,row) (m.m_row[row])\n" +"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n" +"{\n" +" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n" +" b3Mat3x3 out;\n" +" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n" +" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n" +" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n" +" out.m_row[0].w = 0.f;\n" +" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n" +" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n" +" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n" +" out.m_row[1].w = 0.f;\n" +" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n" +" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n" +" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n" +" out.m_row[2].w = 0.f;\n" +" return out;\n" +"}\n" +"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n" +"{\n" +" b3Mat3x3 out;\n" +" out.m_row[0] = fabs(matIn.m_row[0]);\n" +" out.m_row[1] = fabs(matIn.m_row[1]);\n" +" out.m_row[2] = fabs(matIn.m_row[2]);\n" +" return out;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtZero();\n" +"__inline\n" +"b3Mat3x3 mtIdentity();\n" +"__inline\n" +"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n" +"__inline\n" +"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n" +"__inline\n" +"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n" +"__inline\n" +"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n" +"__inline\n" +"b3Mat3x3 mtZero()\n" +"{\n" +" b3Mat3x3 m;\n" +" m.m_row[0] = (b3Float4)(0.f);\n" +" m.m_row[1] = (b3Float4)(0.f);\n" +" m.m_row[2] = (b3Float4)(0.f);\n" +" return m;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtIdentity()\n" +"{\n" +" b3Mat3x3 m;\n" +" m.m_row[0] = (b3Float4)(1,0,0,0);\n" +" m.m_row[1] = (b3Float4)(0,1,0,0);\n" +" m.m_row[2] = (b3Float4)(0,0,1,0);\n" +" return m;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n" +"{\n" +" b3Mat3x3 out;\n" +" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n" +" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n" +" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n" +" return out;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n" +"{\n" +" b3Mat3x3 transB;\n" +" transB = mtTranspose( b );\n" +" b3Mat3x3 ans;\n" +" // why this doesn't run when 0ing in the for{}\n" +" a.m_row[0].w = 0.f;\n" +" a.m_row[1].w = 0.f;\n" +" a.m_row[2].w = 0.f;\n" +" for(int i=0; i<3; i++)\n" +" {\n" +"// a.m_row[i].w = 0.f;\n" +" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n" +" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n" +" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n" +" ans.m_row[i].w = 0.f;\n" +" }\n" +" return ans;\n" +"}\n" +"__inline\n" +"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n" +"{\n" +" b3Float4 ans;\n" +" ans.x = b3Dot3F4( a.m_row[0], b );\n" +" ans.y = b3Dot3F4( a.m_row[1], b );\n" +" ans.z = b3Dot3F4( a.m_row[2], b );\n" +" ans.w = 0.f;\n" +" return ans;\n" +"}\n" +"__inline\n" +"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n" +"{\n" +" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" +" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" +" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n" +" b3Float4 ans;\n" +" ans.x = b3Dot3F4( a, colx );\n" +" ans.y = b3Dot3F4( a, coly );\n" +" ans.z = b3Dot3F4( a, colz );\n" +" return ans;\n" +"}\n" +"#endif\n" +"#endif //B3_MAT3x3_H\n" +"typedef struct b3RigidBodyData b3RigidBodyData_t;\n" +"struct b3RigidBodyData\n" +"{\n" +" b3Float4 m_pos;\n" +" b3Quat m_quat;\n" +" b3Float4 m_linVel;\n" +" b3Float4 m_angVel;\n" +" int m_collidableIdx;\n" +" float m_invMass;\n" +" float m_restituitionCoeff;\n" +" float m_frictionCoeff;\n" +"};\n" +"typedef struct b3InertiaData b3InertiaData_t;\n" +"struct b3InertiaData\n" +"{\n" +" b3Mat3x3 m_invInertiaWorld;\n" +" b3Mat3x3 m_initInvInertia;\n" +"};\n" +"#endif //B3_RIGIDBODY_DATA_H\n" +" \n" +"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n" +"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n" +"#define make_float4 (float4)\n" +"#define make_float2 (float2)\n" +"#define make_uint4 (uint4)\n" +"#define make_int4 (int4)\n" +"#define make_uint2 (uint2)\n" +"#define make_int2 (int2)\n" +"__inline\n" +"float fastDiv(float numerator, float denominator)\n" +"{\n" +" return native_divide(numerator, denominator); \n" +"// return numerator/denominator; \n" +"}\n" +"__inline\n" +"float4 fastDiv4(float4 numerator, float4 denominator)\n" +"{\n" +" return native_divide(numerator, denominator); \n" +"}\n" +"__inline\n" +"float4 cross3(float4 a, float4 b)\n" +"{\n" +" return cross(a,b);\n" +"}\n" +"//#define dot3F4 dot\n" +"__inline\n" +"float dot3F4(float4 a, float4 b)\n" +"{\n" +" float4 a1 = make_float4(a.xyz,0.f);\n" +" float4 b1 = make_float4(b.xyz,0.f);\n" +" return dot(a1, b1);\n" +"}\n" +"__inline\n" +"float4 fastNormalize4(float4 v)\n" +"{\n" +" return fast_normalize(v);\n" +"}\n" +"///////////////////////////////////////\n" +"// Quaternion\n" +"///////////////////////////////////////\n" +"typedef float4 Quaternion;\n" +"__inline\n" +"Quaternion qtMul(Quaternion a, Quaternion b);\n" +"__inline\n" +"Quaternion qtNormalize(Quaternion in);\n" +"__inline\n" +"float4 qtRotate(Quaternion q, float4 vec);\n" +"__inline\n" +"Quaternion qtInvert(Quaternion q);\n" +"__inline\n" +"Quaternion qtMul(Quaternion a, Quaternion b)\n" +"{\n" +" Quaternion ans;\n" +" ans = cross3( a, b );\n" +" ans += a.w*b+b.w*a;\n" +"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n" +" ans.w = a.w*b.w - dot3F4(a, b);\n" +" return ans;\n" +"}\n" +"__inline\n" +"Quaternion qtNormalize(Quaternion in)\n" +"{\n" +" return fastNormalize4(in);\n" +"// in /= length( in );\n" +"// return in;\n" +"}\n" +"__inline\n" +"float4 qtRotate(Quaternion q, float4 vec)\n" +"{\n" +" Quaternion qInv = qtInvert( q );\n" +" float4 vcpy = vec;\n" +" vcpy.w = 0.f;\n" +" float4 out = qtMul(qtMul(q,vcpy),qInv);\n" +" return out;\n" +"}\n" +"__inline\n" +"Quaternion qtInvert(Quaternion q)\n" +"{\n" +" return (Quaternion)(-q.xyz, q.w);\n" +"}\n" +"__inline\n" +"float4 qtInvRotate(const Quaternion q, float4 vec)\n" +"{\n" +" return qtRotate( qtInvert( q ), vec );\n" +"}\n" +"__inline\n" +"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n" +"{\n" +" return qtRotate( *orientation, *p ) + (*translation);\n" +"}\n" +"__inline\n" +"float4 normalize3(const float4 a)\n" +"{\n" +" float4 n = make_float4(a.x, a.y, a.z, 0.f);\n" +" return fastNormalize4( n );\n" +"}\n" +"__inline float4 lerp3(const float4 a,const float4 b, float t)\n" +"{\n" +" return make_float4( a.x + (b.x - a.x) * t,\n" +" a.y + (b.y - a.y) * t,\n" +" a.z + (b.z - a.z) * t,\n" +" 0.f);\n" +"}\n" +"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n" +"int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n" +"{\n" +" \n" +" int ve;\n" +" float ds, de;\n" +" int numVertsOut = 0;\n" +" //double-check next test\n" +" if (numVertsIn < 2)\n" +" return 0;\n" +" \n" +" float4 firstVertex=pVtxIn[numVertsIn-1];\n" +" float4 endVertex = pVtxIn[0];\n" +" \n" +" ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n" +" \n" +" for (ve = 0; ve < numVertsIn; ve++)\n" +" {\n" +" endVertex=pVtxIn[ve];\n" +" de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n" +" if (ds<0)\n" +" {\n" +" if (de<0)\n" +" {\n" +" // Start < 0, end < 0, so output endVertex\n" +" ppVtxOut[numVertsOut++] = endVertex;\n" +" }\n" +" else\n" +" {\n" +" // Start < 0, end >= 0, so output intersection\n" +" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" +" }\n" +" }\n" +" else\n" +" {\n" +" if (de<0)\n" +" {\n" +" // Start >= 0, end < 0 so output intersection and end\n" +" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" +" ppVtxOut[numVertsOut++] = endVertex;\n" +" }\n" +" }\n" +" firstVertex = endVertex;\n" +" ds = de;\n" +" }\n" +" return numVertsOut;\n" +"}\n" +"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n" +"int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n" +"{\n" +" \n" +" int ve;\n" +" float ds, de;\n" +" int numVertsOut = 0;\n" +"//double-check next test\n" +" if (numVertsIn < 2)\n" +" return 0;\n" +" float4 firstVertex=pVtxIn[numVertsIn-1];\n" +" float4 endVertex = pVtxIn[0];\n" +" \n" +" ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n" +" for (ve = 0; ve < numVertsIn; ve++)\n" +" {\n" +" endVertex=pVtxIn[ve];\n" +" de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n" +" if (ds<0)\n" +" {\n" +" if (de<0)\n" +" {\n" +" // Start < 0, end < 0, so output endVertex\n" +" ppVtxOut[numVertsOut++] = endVertex;\n" +" }\n" +" else\n" +" {\n" +" // Start < 0, end >= 0, so output intersection\n" +" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" +" }\n" +" }\n" +" else\n" +" {\n" +" if (de<0)\n" +" {\n" +" // Start >= 0, end < 0 so output intersection and end\n" +" ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n" +" ppVtxOut[numVertsOut++] = endVertex;\n" +" }\n" +" }\n" +" firstVertex = endVertex;\n" +" ds = de;\n" +" }\n" +" return numVertsOut;\n" +"}\n" +"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA, \n" +" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n" +" float4* worldVertsB2, int capacityWorldVertsB2,\n" +" const float minDist, float maxDist,\n" +" __global const float4* vertices,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" float4* contactsOut,\n" +" int contactCapacity)\n" +"{\n" +" int numContactsOut = 0;\n" +" float4* pVtxIn = worldVertsB1;\n" +" float4* pVtxOut = worldVertsB2;\n" +" \n" +" int numVertsIn = numWorldVertsB1;\n" +" int numVertsOut = 0;\n" +" int closestFaceA=-1;\n" +" {\n" +" float dmin = FLT_MAX;\n" +" for(int face=0;face<hullA->m_numFaces;face++)\n" +" {\n" +" const float4 Normal = make_float4(\n" +" faces[hullA->m_faceOffset+face].m_plane.x, \n" +" faces[hullA->m_faceOffset+face].m_plane.y, \n" +" faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n" +" const float4 faceANormalWS = qtRotate(ornA,Normal);\n" +" \n" +" float d = dot3F4(faceANormalWS,separatingNormal);\n" +" if (d < dmin)\n" +" {\n" +" dmin = d;\n" +" closestFaceA = face;\n" +" }\n" +" }\n" +" }\n" +" if (closestFaceA<0)\n" +" return numContactsOut;\n" +" b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n" +" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" +" int numVerticesA = polyA.m_numIndices;\n" +" for(int e0=0;e0<numVerticesA;e0++)\n" +" {\n" +" const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n" +" const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n" +" const float4 edge0 = a - b;\n" +" const float4 WorldEdge0 = qtRotate(ornA,edge0);\n" +" float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" +" float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n" +" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" +" float4 worldA1 = transform(&a,&posA,&ornA);\n" +" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" +" \n" +" float4 planeNormalWS = planeNormalWS1;\n" +" float planeEqWS=planeEqWS1;\n" +" \n" +" //clip face\n" +" //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n" +" numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n" +" //btSwap(pVtxIn,pVtxOut);\n" +" float4* tmp = pVtxOut;\n" +" pVtxOut = pVtxIn;\n" +" pVtxIn = tmp;\n" +" numVertsIn = numVertsOut;\n" +" numVertsOut = 0;\n" +" }\n" +" \n" +" // only keep points that are behind the witness face\n" +" {\n" +" float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" +" float localPlaneEq = polyA.m_plane.w;\n" +" float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n" +" float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n" +" for (int i=0;i<numVertsIn;i++)\n" +" {\n" +" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" +" if (depth <=minDist)\n" +" {\n" +" depth = minDist;\n" +" }\n" +" if (depth <=maxDist)\n" +" {\n" +" float4 pointInWorld = pVtxIn[i];\n" +" //resultOut.addContactPoint(separatingNormal,point,depth);\n" +" contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" +" }\n" +" }\n" +" }\n" +" return numContactsOut;\n" +"}\n" +"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA, \n" +" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n" +" float4* worldVertsB2, int capacityWorldVertsB2,\n" +" const float minDist, float maxDist,\n" +" const float4* verticesA,\n" +" const b3GpuFace_t* facesA,\n" +" const int* indicesA,\n" +" __global const float4* verticesB,\n" +" __global const b3GpuFace_t* facesB,\n" +" __global const int* indicesB,\n" +" float4* contactsOut,\n" +" int contactCapacity)\n" +"{\n" +" int numContactsOut = 0;\n" +" float4* pVtxIn = worldVertsB1;\n" +" float4* pVtxOut = worldVertsB2;\n" +" \n" +" int numVertsIn = numWorldVertsB1;\n" +" int numVertsOut = 0;\n" +" int closestFaceA=-1;\n" +" {\n" +" float dmin = FLT_MAX;\n" +" for(int face=0;face<hullA->m_numFaces;face++)\n" +" {\n" +" const float4 Normal = make_float4(\n" +" facesA[hullA->m_faceOffset+face].m_plane.x, \n" +" facesA[hullA->m_faceOffset+face].m_plane.y, \n" +" facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n" +" const float4 faceANormalWS = qtRotate(ornA,Normal);\n" +" \n" +" float d = dot3F4(faceANormalWS,separatingNormal);\n" +" if (d < dmin)\n" +" {\n" +" dmin = d;\n" +" closestFaceA = face;\n" +" }\n" +" }\n" +" }\n" +" if (closestFaceA<0)\n" +" return numContactsOut;\n" +" b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n" +" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" +" int numVerticesA = polyA.m_numIndices;\n" +" for(int e0=0;e0<numVerticesA;e0++)\n" +" {\n" +" const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n" +" const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n" +" const float4 edge0 = a - b;\n" +" const float4 WorldEdge0 = qtRotate(ornA,edge0);\n" +" float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" +" float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n" +" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" +" float4 worldA1 = transform(&a,&posA,&ornA);\n" +" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" +" \n" +" float4 planeNormalWS = planeNormalWS1;\n" +" float planeEqWS=planeEqWS1;\n" +" \n" +" //clip face\n" +" //clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n" +" numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n" +" //btSwap(pVtxIn,pVtxOut);\n" +" float4* tmp = pVtxOut;\n" +" pVtxOut = pVtxIn;\n" +" pVtxIn = tmp;\n" +" numVertsIn = numVertsOut;\n" +" numVertsOut = 0;\n" +" }\n" +" \n" +" // only keep points that are behind the witness face\n" +" {\n" +" float4 localPlaneNormal = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n" +" float localPlaneEq = polyA.m_plane.w;\n" +" float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n" +" float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n" +" for (int i=0;i<numVertsIn;i++)\n" +" {\n" +" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" +" if (depth <=minDist)\n" +" {\n" +" depth = minDist;\n" +" }\n" +" if (depth <=maxDist)\n" +" {\n" +" float4 pointInWorld = pVtxIn[i];\n" +" //resultOut.addContactPoint(separatingNormal,point,depth);\n" +" contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" +" }\n" +" }\n" +" }\n" +" return numContactsOut;\n" +"}\n" +"int clipHullAgainstHull(const float4 separatingNormal,\n" +" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n" +" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n" +" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n" +" const float minDist, float maxDist,\n" +" __global const float4* vertices,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" float4* localContactsOut,\n" +" int localContactCapacity)\n" +"{\n" +" int numContactsOut = 0;\n" +" int numWorldVertsB1= 0;\n" +" int closestFaceB=-1;\n" +" float dmax = -FLT_MAX;\n" +" {\n" +" for(int face=0;face<hullB->m_numFaces;face++)\n" +" {\n" +" const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n" +" faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n" +" const float4 WorldNormal = qtRotate(ornB, Normal);\n" +" float d = dot3F4(WorldNormal,separatingNormal);\n" +" if (d > dmax)\n" +" {\n" +" dmax = d;\n" +" closestFaceB = face;\n" +" }\n" +" }\n" +" }\n" +" {\n" +" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n" +" const int numVertices = polyB.m_numIndices;\n" +" for(int e0=0;e0<numVertices;e0++)\n" +" {\n" +" const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n" +" worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" +" }\n" +" }\n" +" if (closestFaceB>=0)\n" +" {\n" +" numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n" +" posA,ornA,\n" +" worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n" +" faces,\n" +" indices,localContactsOut,localContactCapacity);\n" +" }\n" +" return numContactsOut;\n" +"}\n" +"int clipHullAgainstHullLocalA(const float4 separatingNormal,\n" +" const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n" +" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n" +" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n" +" const float minDist, float maxDist,\n" +" const float4* verticesA,\n" +" const b3GpuFace_t* facesA,\n" +" const int* indicesA,\n" +" __global const float4* verticesB,\n" +" __global const b3GpuFace_t* facesB,\n" +" __global const int* indicesB,\n" +" float4* localContactsOut,\n" +" int localContactCapacity)\n" +"{\n" +" int numContactsOut = 0;\n" +" int numWorldVertsB1= 0;\n" +" int closestFaceB=-1;\n" +" float dmax = -FLT_MAX;\n" +" {\n" +" for(int face=0;face<hullB->m_numFaces;face++)\n" +" {\n" +" const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n" +" facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n" +" const float4 WorldNormal = qtRotate(ornB, Normal);\n" +" float d = dot3F4(WorldNormal,separatingNormal);\n" +" if (d > dmax)\n" +" {\n" +" dmax = d;\n" +" closestFaceB = face;\n" +" }\n" +" }\n" +" }\n" +" {\n" +" const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n" +" const int numVertices = polyB.m_numIndices;\n" +" for(int e0=0;e0<numVertices;e0++)\n" +" {\n" +" const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n" +" worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" +" }\n" +" }\n" +" if (closestFaceB>=0)\n" +" {\n" +" numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n" +" posA,ornA,\n" +" worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n" +" verticesA,facesA,indicesA,\n" +" verticesB,facesB,indicesB,\n" +" localContactsOut,localContactCapacity);\n" +" }\n" +" return numContactsOut;\n" +"}\n" +"#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n" +"#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n" +"#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n" +"#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n" +"int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n" +"{\n" +" if( nPoints == 0 )\n" +" return 0;\n" +" \n" +" if (nPoints <=4)\n" +" return nPoints;\n" +" \n" +" \n" +" if (nPoints >64)\n" +" nPoints = 64;\n" +" \n" +" float4 center = make_float4(0.f);\n" +" {\n" +" \n" +" for (int i=0;i<nPoints;i++)\n" +" center += p[i];\n" +" center /= (float)nPoints;\n" +" }\n" +" \n" +" \n" +" \n" +" // sample 4 directions\n" +" \n" +" float4 aVector = p[0] - center;\n" +" float4 u = cross3( nearNormal, aVector );\n" +" float4 v = cross3( nearNormal, u );\n" +" u = normalize3( u );\n" +" v = normalize3( v );\n" +" \n" +" \n" +" //keep point with deepest penetration\n" +" float minW= FLT_MAX;\n" +" \n" +" int minIndex=-1;\n" +" \n" +" float4 maxDots;\n" +" maxDots.x = FLT_MIN;\n" +" maxDots.y = FLT_MIN;\n" +" maxDots.z = FLT_MIN;\n" +" maxDots.w = FLT_MIN;\n" +" \n" +" // idx, distance\n" +" for(int ie = 0; ie<nPoints; ie++ )\n" +" {\n" +" if (p[ie].w<minW)\n" +" {\n" +" minW = p[ie].w;\n" +" minIndex=ie;\n" +" }\n" +" float f;\n" +" float4 r = p[ie]-center;\n" +" f = dot3F4( u, r );\n" +" if (f<maxDots.x)\n" +" {\n" +" maxDots.x = f;\n" +" contactIdx[0].x = ie;\n" +" }\n" +" \n" +" f = dot3F4( -u, r );\n" +" if (f<maxDots.y)\n" +" {\n" +" maxDots.y = f;\n" +" contactIdx[0].y = ie;\n" +" }\n" +" \n" +" \n" +" f = dot3F4( v, r );\n" +" if (f<maxDots.z)\n" +" {\n" +" maxDots.z = f;\n" +" contactIdx[0].z = ie;\n" +" }\n" +" \n" +" f = dot3F4( -v, r );\n" +" if (f<maxDots.w)\n" +" {\n" +" maxDots.w = f;\n" +" contactIdx[0].w = ie;\n" +" }\n" +" \n" +" }\n" +" \n" +" if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n" +" {\n" +" //replace the first contact with minimum (todo: replace contact with least penetration)\n" +" contactIdx[0].x = minIndex;\n" +" }\n" +" \n" +" return 4;\n" +" \n" +"}\n" +"int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n" +"{\n" +" contactIdx[0] = 0;\n" +" contactIdx[1] = 1;\n" +" contactIdx[2] = 2;\n" +" contactIdx[3] = 3;\n" +" \n" +" if( nPoints == 0 ) return 0;\n" +" \n" +" nPoints = min2( nPoints, 4 );\n" +" return nPoints;\n" +" \n" +"}\n" +"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n" +"{\n" +" if( nPoints == 0 ) return 0;\n" +" nPoints = min2( nPoints, 64 );\n" +" float4 center = make_float4(0.f);\n" +" {\n" +" float4 v[64];\n" +" for (int i=0;i<nPoints;i++)\n" +" v[i] = p[i];\n" +" //memcpy( v, p, nPoints*sizeof(float4) );\n" +" PARALLEL_SUM( v, nPoints );\n" +" center = v[0]/(float)nPoints;\n" +" }\n" +" \n" +" { // sample 4 directions\n" +" if( nPoints < 4 )\n" +" {\n" +" for(int i=0; i<nPoints; i++) \n" +" contactIdx[i] = i;\n" +" return nPoints;\n" +" }\n" +" float4 aVector = p[0] - center;\n" +" float4 u = cross3( nearNormal, aVector );\n" +" float4 v = cross3( nearNormal, u );\n" +" u = normalize3( u );\n" +" v = normalize3( v );\n" +" int idx[4];\n" +" float2 max00 = make_float2(0,FLT_MAX);\n" +" {\n" +" // idx, distance\n" +" {\n" +" {\n" +" int4 a[64];\n" +" for(int ie = 0; ie<nPoints; ie++ )\n" +" {\n" +" \n" +" \n" +" float f;\n" +" float4 r = p[ie]-center;\n" +" f = dot3F4( u, r );\n" +" a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" +" f = dot3F4( -u, r );\n" +" a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" +" f = dot3F4( v, r );\n" +" a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" +" f = dot3F4( -v, r );\n" +" a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n" +" }\n" +" for(int ie=0; ie<nPoints; ie++)\n" +" {\n" +" a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n" +" a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n" +" a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n" +" a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n" +" }\n" +" idx[0] = (int)a[0].x & 0xff;\n" +" idx[1] = (int)a[0].y & 0xff;\n" +" idx[2] = (int)a[0].z & 0xff;\n" +" idx[3] = (int)a[0].w & 0xff;\n" +" }\n" +" }\n" +" {\n" +" float2 h[64];\n" +" PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n" +" REDUCE_MIN( h, nPoints );\n" +" max00 = h[0];\n" +" }\n" +" }\n" +" contactIdx[0] = idx[0];\n" +" contactIdx[1] = idx[1];\n" +" contactIdx[2] = idx[2];\n" +" contactIdx[3] = idx[3];\n" +" return 4;\n" +" }\n" +"}\n" +"__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n" +" __global const b3RigidBodyData_t* rigidBodies, \n" +" __global const float4* closestPointsWorld,\n" +" __global const float4* separatingNormalsWorld,\n" +" __global const int* contactCounts,\n" +" __global const int* contactOffsets,\n" +" __global struct b3Contact4Data* restrict contactsOut,\n" +" counter32_t nContactsOut,\n" +" int contactCapacity,\n" +" int numPairs,\n" +" int pairIndex\n" +" )\n" +"{\n" +" int idx = get_global_id(0);\n" +" \n" +" if (idx<numPairs)\n" +" {\n" +" float4 normal = separatingNormalsWorld[idx];\n" +" int nPoints = contactCounts[idx];\n" +" __global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n" +" float4 localPoints[64];\n" +" for (int i=0;i<nPoints;i++)\n" +" {\n" +" localPoints[i] = pointsIn[i];\n" +" }\n" +" int contactIdx[4];// = {-1,-1,-1,-1};\n" +" contactIdx[0] = -1;\n" +" contactIdx[1] = -1;\n" +" contactIdx[2] = -1;\n" +" contactIdx[3] = -1;\n" +" int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n" +" int dstIdx;\n" +" AppendInc( nContactsOut, dstIdx );\n" +" if (dstIdx<contactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = contactsOut + dstIdx;\n" +" c->m_worldNormalOnB = -normal;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = idx;\n" +" int bodyA = pairs[pairIndex].x;\n" +" int bodyB = pairs[pairIndex].y;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" for (int i=0;i<nContacts;i++)\n" +" {\n" +" c->m_worldPosB[i] = localPoints[contactIdx[i]];\n" +" }\n" +" GET_NPOINTS(*c) = nContacts;\n" +" }\n" +" }\n" +"}\n" +"void trInverse(float4 translationIn, Quaternion orientationIn,\n" +" float4* translationOut, Quaternion* orientationOut)\n" +"{\n" +" *orientationOut = qtInvert(orientationIn);\n" +" *translationOut = qtRotate(*orientationOut, -translationIn);\n" +"}\n" +"void trMul(float4 translationA, Quaternion orientationA,\n" +" float4 translationB, Quaternion orientationB,\n" +" float4* translationOut, Quaternion* orientationOut)\n" +"{\n" +" *orientationOut = qtMul(orientationA,orientationB);\n" +" *translationOut = transform(&translationB,&translationA,&orientationA);\n" +"}\n" +"__kernel void clipHullHullKernel( __global int4* pairs, \n" +" __global const b3RigidBodyData_t* rigidBodies, \n" +" __global const b3Collidable_t* collidables,\n" +" __global const b3ConvexPolyhedronData_t* convexShapes, \n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" __global const float4* separatingNormals,\n" +" __global const int* hasSeparatingAxis,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int numPairs,\n" +" int contactCapacity)\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" float4 worldVertsB1[64];\n" +" float4 worldVertsB2[64];\n" +" int capacityWorldVerts = 64; \n" +" float4 localContactsOut[64];\n" +" int localContactCapacity=64;\n" +" \n" +" float minDist = -1e30f;\n" +" float maxDist = 0.02f;\n" +" if (i<numPairs)\n" +" {\n" +" int bodyIndexA = pairs[i].x;\n" +" int bodyIndexB = pairs[i].y;\n" +" \n" +" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" +" if (hasSeparatingAxis[i])\n" +" {\n" +" \n" +" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" +" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" +" \n" +" \n" +" int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n" +" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" +" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n" +" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n" +" worldVertsB1,worldVertsB2,capacityWorldVerts,\n" +" minDist, maxDist,\n" +" vertices,faces,indices,\n" +" localContactsOut,localContactCapacity);\n" +" \n" +" if (numLocalContactsOut>0)\n" +" {\n" +" float4 normal = -separatingNormals[i];\n" +" int nPoints = numLocalContactsOut;\n" +" float4* pointsIn = localContactsOut;\n" +" int contactIdx[4];// = {-1,-1,-1,-1};\n" +" contactIdx[0] = -1;\n" +" contactIdx[1] = -1;\n" +" contactIdx[2] = -1;\n" +" contactIdx[3] = -1;\n" +" \n" +" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" +" \n" +" \n" +" int mprContactIndex = pairs[pairIndex].z;\n" +" int dstIdx = mprContactIndex;\n" +" if (dstIdx<0)\n" +" {\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" }\n" +" if (dstIdx<contactCapacity)\n" +" {\n" +" pairs[pairIndex].z = dstIdx;\n" +" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" +" c->m_worldNormalOnB = -normal;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" int bodyA = pairs[pairIndex].x;\n" +" int bodyB = pairs[pairIndex].y;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" for (int i=0;i<nReducedContacts;i++)\n" +" {\n" +" //this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n" +" if (i>0||(mprContactIndex<0))\n" +" {\n" +" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" +" }\n" +" }\n" +" GET_NPOINTS(*c) = nReducedContacts;\n" +" }\n" +" \n" +" }// if (numContactsOut>0)\n" +" }// if (hasSeparatingAxis[i])\n" +" }// if (i<numPairs)\n" +"}\n" +"__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n" +" __global const b3RigidBodyData_t* rigidBodies, \n" +" __global const b3Collidable_t* collidables,\n" +" __global const b3ConvexPolyhedronData_t* convexShapes, \n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" __global const b3GpuChildShape_t* gpuChildShapes,\n" +" __global const float4* gpuCompoundSepNormalsOut,\n" +" __global const int* gpuHasCompoundSepNormalsOut,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int numCompoundPairs, int maxContactCapacity)\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" float4 worldVertsB1[64];\n" +" float4 worldVertsB2[64];\n" +" int capacityWorldVerts = 64; \n" +" float4 localContactsOut[64];\n" +" int localContactCapacity=64;\n" +" \n" +" float minDist = -1e30f;\n" +" float maxDist = 0.02f;\n" +" if (i<numCompoundPairs)\n" +" {\n" +" if (gpuHasCompoundSepNormalsOut[i])\n" +" {\n" +" int bodyIndexA = gpuCompoundPairs[i].x;\n" +" int bodyIndexB = gpuCompoundPairs[i].y;\n" +" \n" +" int childShapeIndexA = gpuCompoundPairs[i].z;\n" +" int childShapeIndexB = gpuCompoundPairs[i].w;\n" +" \n" +" int collidableIndexA = -1;\n" +" int collidableIndexB = -1;\n" +" \n" +" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" +" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" +" \n" +" float4 ornB = rigidBodies[bodyIndexB].m_quat;\n" +" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" +" \n" +" if (childShapeIndexA >= 0)\n" +" {\n" +" collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n" +" float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n" +" float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n" +" float4 newPosA = qtRotate(ornA,childPosA)+posA;\n" +" float4 newOrnA = qtMul(ornA,childOrnA);\n" +" posA = newPosA;\n" +" ornA = newOrnA;\n" +" } else\n" +" {\n" +" collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" }\n" +" \n" +" if (childShapeIndexB>=0)\n" +" {\n" +" collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" +" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" +" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" +" float4 newPosB = transform(&childPosB,&posB,&ornB);\n" +" float4 newOrnB = qtMul(ornB,childOrnB);\n" +" posB = newPosB;\n" +" ornB = newOrnB;\n" +" } else\n" +" {\n" +" collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx; \n" +" }\n" +" \n" +" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" +" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" +" \n" +" int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n" +" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" +" posA,ornA,\n" +" posB,ornB,\n" +" worldVertsB1,worldVertsB2,capacityWorldVerts,\n" +" minDist, maxDist,\n" +" vertices,faces,indices,\n" +" localContactsOut,localContactCapacity);\n" +" \n" +" if (numLocalContactsOut>0)\n" +" {\n" +" float4 normal = -gpuCompoundSepNormalsOut[i];\n" +" int nPoints = numLocalContactsOut;\n" +" float4* pointsIn = localContactsOut;\n" +" int contactIdx[4];// = {-1,-1,-1,-1};\n" +" contactIdx[0] = -1;\n" +" contactIdx[1] = -1;\n" +" contactIdx[2] = -1;\n" +" contactIdx[3] = -1;\n" +" \n" +" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" +" \n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" if ((dstIdx+nReducedContacts) < maxContactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" +" c->m_worldNormalOnB = -normal;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" int bodyA = gpuCompoundPairs[pairIndex].x;\n" +" int bodyB = gpuCompoundPairs[pairIndex].y;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" +" c->m_childIndexA = childShapeIndexA;\n" +" c->m_childIndexB = childShapeIndexB;\n" +" for (int i=0;i<nReducedContacts;i++)\n" +" {\n" +" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" +" }\n" +" GET_NPOINTS(*c) = nReducedContacts;\n" +" }\n" +" \n" +" }// if (numContactsOut>0)\n" +" }// if (gpuHasCompoundSepNormalsOut[i])\n" +" }// if (i<numCompoundPairs)\n" +"}\n" +"__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n" +" __global const b3RigidBodyData_t* rigidBodies, \n" +" __global const b3Collidable_t* collidables,\n" +" __global const float4* separatingNormals,\n" +" __global const int* hasSeparatingAxis,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int contactCapacity,\n" +" int numPairs)\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" if (i<numPairs)\n" +" {\n" +" int bodyIndexA = pairs[i].x;\n" +" int bodyIndexB = pairs[i].y;\n" +" \n" +" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" +" if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n" +" collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n" +" {\n" +" //sphere-sphere\n" +" float radiusA = collidables[collidableIndexA].m_radius;\n" +" float radiusB = collidables[collidableIndexB].m_radius;\n" +" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" +" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" +" float4 diff = posA-posB;\n" +" float len = length(diff);\n" +" \n" +" ///iff distance positive, don't generate a new contact\n" +" if ( len <= (radiusA+radiusB))\n" +" {\n" +" ///distance (negative means penetration)\n" +" float dist = len - (radiusA+radiusB);\n" +" float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n" +" if (len > 0.00001)\n" +" {\n" +" normalOnSurfaceB = diff / len;\n" +" }\n" +" float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n" +" contactPosB.w = dist;\n" +" \n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" if (dstIdx < contactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = -normalOnSurfaceB;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" int bodyA = pairs[pairIndex].x;\n" +" int bodyB = pairs[pairIndex].y;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" +" c->m_worldPosB[0] = contactPosB;\n" +" c->m_childIndexA = -1;\n" +" c->m_childIndexB = -1;\n" +" GET_NPOINTS(*c) = 1;\n" +" }//if (dstIdx < numPairs)\n" +" }//if ( len <= (radiusA+radiusB))\n" +" }//SHAPE_SPHERE SHAPE_SPHERE\n" +" }//if (i<numPairs)\n" +"} \n" +"__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n" +" __global const b3RigidBodyData_t* rigidBodies, \n" +" __global const b3Collidable_t* collidables,\n" +" __global const b3ConvexPolyhedronData_t* convexShapes, \n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" __global const b3GpuChildShape_t* gpuChildShapes,\n" +" __global const float4* separatingNormals,\n" +" __global struct b3Contact4Data* restrict globalContactsOut,\n" +" counter32_t nGlobalContactsOut,\n" +" int contactCapacity,\n" +" int numConcavePairs)\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" float4 worldVertsB1[64];\n" +" float4 worldVertsB2[64];\n" +" int capacityWorldVerts = 64; \n" +" float4 localContactsOut[64];\n" +" int localContactCapacity=64;\n" +" \n" +" float minDist = -1e30f;\n" +" float maxDist = 0.02f;\n" +" if (i<numConcavePairs)\n" +" {\n" +" //negative value means that the pair is invalid\n" +" if (concavePairsIn[i].w<0)\n" +" return;\n" +" int bodyIndexA = concavePairsIn[i].x;\n" +" int bodyIndexB = concavePairsIn[i].y;\n" +" int f = concavePairsIn[i].z;\n" +" int childShapeIndexA = f;\n" +" \n" +" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" +" \n" +" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" +" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" +" \n" +" ///////////////////////////////////////////////////////////////\n" +" \n" +" \n" +" bool overlap = false;\n" +" \n" +" b3ConvexPolyhedronData_t convexPolyhedronA;\n" +" //add 3 vertices of the triangle\n" +" convexPolyhedronA.m_numVertices = 3;\n" +" convexPolyhedronA.m_vertexOffset = 0;\n" +" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n" +" b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n" +" \n" +" float4 verticesA[3];\n" +" for (int i=0;i<3;i++)\n" +" {\n" +" int index = indices[face.m_indexOffset+i];\n" +" float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n" +" verticesA[i] = vert;\n" +" localCenter += vert;\n" +" }\n" +" float dmin = FLT_MAX;\n" +" int localCC=0;\n" +" //a triangle has 3 unique edges\n" +" convexPolyhedronA.m_numUniqueEdges = 3;\n" +" convexPolyhedronA.m_uniqueEdgesOffset = 0;\n" +" float4 uniqueEdgesA[3];\n" +" \n" +" uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n" +" uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n" +" uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n" +" convexPolyhedronA.m_faceOffset = 0;\n" +" \n" +" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n" +" \n" +" b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n" +" int indicesA[3+3+2+2+2];\n" +" int curUsedIndices=0;\n" +" int fidx=0;\n" +" //front size of triangle\n" +" {\n" +" facesA[fidx].m_indexOffset=curUsedIndices;\n" +" indicesA[0] = 0;\n" +" indicesA[1] = 1;\n" +" indicesA[2] = 2;\n" +" curUsedIndices+=3;\n" +" float c = face.m_plane.w;\n" +" facesA[fidx].m_plane.x = normal.x;\n" +" facesA[fidx].m_plane.y = normal.y;\n" +" facesA[fidx].m_plane.z = normal.z;\n" +" facesA[fidx].m_plane.w = c;\n" +" facesA[fidx].m_numIndices=3;\n" +" }\n" +" fidx++;\n" +" //back size of triangle\n" +" {\n" +" facesA[fidx].m_indexOffset=curUsedIndices;\n" +" indicesA[3]=2;\n" +" indicesA[4]=1;\n" +" indicesA[5]=0;\n" +" curUsedIndices+=3;\n" +" float c = dot3F4(normal,verticesA[0]);\n" +" float c1 = -face.m_plane.w;\n" +" facesA[fidx].m_plane.x = -normal.x;\n" +" facesA[fidx].m_plane.y = -normal.y;\n" +" facesA[fidx].m_plane.z = -normal.z;\n" +" facesA[fidx].m_plane.w = c;\n" +" facesA[fidx].m_numIndices=3;\n" +" }\n" +" fidx++;\n" +" bool addEdgePlanes = true;\n" +" if (addEdgePlanes)\n" +" {\n" +" int numVertices=3;\n" +" int prevVertex = numVertices-1;\n" +" for (int i=0;i<numVertices;i++)\n" +" {\n" +" float4 v0 = verticesA[i];\n" +" float4 v1 = verticesA[prevVertex];\n" +" \n" +" float4 edgeNormal = normalize(cross(normal,v1-v0));\n" +" float c = -dot3F4(edgeNormal,v0);\n" +" facesA[fidx].m_numIndices = 2;\n" +" facesA[fidx].m_indexOffset=curUsedIndices;\n" +" indicesA[curUsedIndices++]=i;\n" +" indicesA[curUsedIndices++]=prevVertex;\n" +" \n" +" facesA[fidx].m_plane.x = edgeNormal.x;\n" +" facesA[fidx].m_plane.y = edgeNormal.y;\n" +" facesA[fidx].m_plane.z = edgeNormal.z;\n" +" facesA[fidx].m_plane.w = c;\n" +" fidx++;\n" +" prevVertex = i;\n" +" }\n" +" }\n" +" convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n" +" convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n" +" float4 posA = rigidBodies[bodyIndexA].m_pos;\n" +" posA.w = 0.f;\n" +" float4 posB = rigidBodies[bodyIndexB].m_pos;\n" +" posB.w = 0.f;\n" +" float4 ornA = rigidBodies[bodyIndexA].m_quat;\n" +" float4 ornB =rigidBodies[bodyIndexB].m_quat;\n" +" float4 sepAxis = separatingNormals[i];\n" +" \n" +" int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n" +" int childShapeIndexB =-1;\n" +" if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n" +" {\n" +" ///////////////////\n" +" ///compound shape support\n" +" \n" +" childShapeIndexB = concavePairsIn[pairIndex].w;\n" +" int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n" +" shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n" +" float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n" +" float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n" +" float4 newPosB = transform(&childPosB,&posB,&ornB);\n" +" float4 newOrnB = qtMul(ornB,childOrnB);\n" +" posB = newPosB;\n" +" ornB = newOrnB;\n" +" \n" +" }\n" +" \n" +" ////////////////////////////////////////\n" +" \n" +" \n" +" \n" +" int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n" +" &convexPolyhedronA, &convexShapes[shapeIndexB],\n" +" posA,ornA,\n" +" posB,ornB,\n" +" worldVertsB1,worldVertsB2,capacityWorldVerts,\n" +" minDist, maxDist,\n" +" &verticesA,&facesA,&indicesA,\n" +" vertices,faces,indices,\n" +" localContactsOut,localContactCapacity);\n" +" \n" +" if (numLocalContactsOut>0)\n" +" {\n" +" float4 normal = -separatingNormals[i];\n" +" int nPoints = numLocalContactsOut;\n" +" float4* pointsIn = localContactsOut;\n" +" int contactIdx[4];// = {-1,-1,-1,-1};\n" +" contactIdx[0] = -1;\n" +" contactIdx[1] = -1;\n" +" contactIdx[2] = -1;\n" +" contactIdx[3] = -1;\n" +" \n" +" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n" +" \n" +" int dstIdx;\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" if (dstIdx<contactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n" +" c->m_worldNormalOnB = -normal;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" int bodyA = concavePairsIn[pairIndex].x;\n" +" int bodyB = concavePairsIn[pairIndex].y;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" +" c->m_childIndexA = childShapeIndexA;\n" +" c->m_childIndexB = childShapeIndexB;\n" +" for (int i=0;i<nReducedContacts;i++)\n" +" {\n" +" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n" +" }\n" +" GET_NPOINTS(*c) = nReducedContacts;\n" +" }\n" +" \n" +" }// if (numContactsOut>0)\n" +" }// if (i<numPairs)\n" +"}\n" +"int findClippingFaces(const float4 separatingNormal,\n" +" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n" +" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n" +" __global float4* worldVertsA1,\n" +" __global float4* worldNormalsA1,\n" +" __global float4* worldVertsB1,\n" +" int capacityWorldVerts,\n" +" const float minDist, float maxDist,\n" +" __global const float4* vertices,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" __global int4* clippingFaces, int pairIndex)\n" +"{\n" +" int numContactsOut = 0;\n" +" int numWorldVertsB1= 0;\n" +" \n" +" \n" +" int closestFaceB=-1;\n" +" float dmax = -FLT_MAX;\n" +" \n" +" {\n" +" for(int face=0;face<hullB->m_numFaces;face++)\n" +" {\n" +" const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n" +" faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n" +" const float4 WorldNormal = qtRotate(ornB, Normal);\n" +" float d = dot3F4(WorldNormal,separatingNormal);\n" +" if (d > dmax)\n" +" {\n" +" dmax = d;\n" +" closestFaceB = face;\n" +" }\n" +" }\n" +" }\n" +" \n" +" {\n" +" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n" +" const int numVertices = polyB.m_numIndices;\n" +" for(int e0=0;e0<numVertices;e0++)\n" +" {\n" +" const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n" +" worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n" +" }\n" +" }\n" +" \n" +" int closestFaceA=-1;\n" +" {\n" +" float dmin = FLT_MAX;\n" +" for(int face=0;face<hullA->m_numFaces;face++)\n" +" {\n" +" const float4 Normal = make_float4(\n" +" faces[hullA->m_faceOffset+face].m_plane.x,\n" +" faces[hullA->m_faceOffset+face].m_plane.y,\n" +" faces[hullA->m_faceOffset+face].m_plane.z,\n" +" 0.f);\n" +" const float4 faceANormalWS = qtRotate(ornA,Normal);\n" +" \n" +" float d = dot3F4(faceANormalWS,separatingNormal);\n" +" if (d < dmin)\n" +" {\n" +" dmin = d;\n" +" closestFaceA = face;\n" +" worldNormalsA1[pairIndex] = faceANormalWS;\n" +" }\n" +" }\n" +" }\n" +" \n" +" int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n" +" for(int e0=0;e0<numVerticesA;e0++)\n" +" {\n" +" const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n" +" worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n" +" }\n" +" \n" +" clippingFaces[pairIndex].x = closestFaceA;\n" +" clippingFaces[pairIndex].y = closestFaceB;\n" +" clippingFaces[pairIndex].z = numVerticesA;\n" +" clippingFaces[pairIndex].w = numWorldVertsB1;\n" +" \n" +" \n" +" return numContactsOut;\n" +"}\n" +"int clipFaces(__global float4* worldVertsA1,\n" +" __global float4* worldNormalsA1,\n" +" __global float4* worldVertsB1,\n" +" __global float4* worldVertsB2, \n" +" int capacityWorldVertsB2,\n" +" const float minDist, float maxDist,\n" +" __global int4* clippingFaces,\n" +" int pairIndex)\n" +"{\n" +" int numContactsOut = 0;\n" +" \n" +" int closestFaceA = clippingFaces[pairIndex].x;\n" +" int closestFaceB = clippingFaces[pairIndex].y;\n" +" int numVertsInA = clippingFaces[pairIndex].z;\n" +" int numVertsInB = clippingFaces[pairIndex].w;\n" +" \n" +" int numVertsOut = 0;\n" +" \n" +" if (closestFaceA<0)\n" +" return numContactsOut;\n" +" \n" +" __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n" +" __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n" +" \n" +" \n" +" \n" +" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" +" \n" +" for(int e0=0;e0<numVertsInA;e0++)\n" +" {\n" +" const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n" +" const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n" +" const float4 WorldEdge0 = aw - bw;\n" +" float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n" +" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" +" float4 worldA1 = aw;\n" +" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" +" float4 planeNormalWS = planeNormalWS1;\n" +" float planeEqWS=planeEqWS1;\n" +" numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n" +" __global float4* tmp = pVtxOut;\n" +" pVtxOut = pVtxIn;\n" +" pVtxIn = tmp;\n" +" numVertsInB = numVertsOut;\n" +" numVertsOut = 0;\n" +" }\n" +" \n" +" //float4 planeNormalWS = worldNormalsA1[pairIndex];\n" +" //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" +" \n" +" /*for (int i=0;i<numVertsInB;i++)\n" +" {\n" +" pVtxOut[i] = pVtxIn[i];\n" +" }*/\n" +" \n" +" \n" +" \n" +" \n" +" //numVertsInB=0;\n" +" \n" +" float4 planeNormalWS = worldNormalsA1[pairIndex];\n" +" float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" +" for (int i=0;i<numVertsInB;i++)\n" +" {\n" +" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" +" if (depth <=minDist)\n" +" {\n" +" depth = minDist;\n" +" }\n" +" \n" +" if (depth <=maxDist)\n" +" {\n" +" float4 pointInWorld = pVtxIn[i];\n" +" pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" +" }\n" +" }\n" +" \n" +" clippingFaces[pairIndex].w =numContactsOut;\n" +" \n" +" \n" +" return numContactsOut;\n" +"}\n" +"__kernel void findClippingFacesKernel( __global const int4* pairs,\n" +" __global const b3RigidBodyData_t* rigidBodies,\n" +" __global const b3Collidable_t* collidables,\n" +" __global const b3ConvexPolyhedronData_t* convexShapes,\n" +" __global const float4* vertices,\n" +" __global const float4* uniqueEdges,\n" +" __global const b3GpuFace_t* faces,\n" +" __global const int* indices,\n" +" __global const float4* separatingNormals,\n" +" __global const int* hasSeparatingAxis,\n" +" __global int4* clippingFacesOut,\n" +" __global float4* worldVertsA1,\n" +" __global float4* worldNormalsA1,\n" +" __global float4* worldVertsB1,\n" +" int capacityWorldVerts,\n" +" int numPairs\n" +" )\n" +"{\n" +" \n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" \n" +" float minDist = -1e30f;\n" +" float maxDist = 0.02f;\n" +" \n" +" if (i<numPairs)\n" +" {\n" +" \n" +" if (hasSeparatingAxis[i])\n" +" {\n" +" \n" +" int bodyIndexA = pairs[i].x;\n" +" int bodyIndexB = pairs[i].y;\n" +" \n" +" int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n" +" int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n" +" \n" +" int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n" +" int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n" +" \n" +" \n" +" \n" +" int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n" +" &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n" +" rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n" +" rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n" +" worldVertsA1,\n" +" worldNormalsA1,\n" +" worldVertsB1,capacityWorldVerts,\n" +" minDist, maxDist,\n" +" vertices,faces,indices,\n" +" clippingFacesOut,i);\n" +" \n" +" \n" +" }// if (hasSeparatingAxis[i])\n" +" }// if (i<numPairs)\n" +" \n" +"}\n" +"__kernel void clipFacesAndFindContactsKernel( __global const float4* separatingNormals,\n" +" __global const int* hasSeparatingAxis,\n" +" __global int4* clippingFacesOut,\n" +" __global float4* worldVertsA1,\n" +" __global float4* worldNormalsA1,\n" +" __global float4* worldVertsB1,\n" +" __global float4* worldVertsB2,\n" +" int vertexFaceCapacity,\n" +" int numPairs,\n" +" int debugMode\n" +" )\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" \n" +" float minDist = -1e30f;\n" +" float maxDist = 0.02f;\n" +" \n" +" if (i<numPairs)\n" +" {\n" +" \n" +" if (hasSeparatingAxis[i])\n" +" {\n" +" \n" +"// int bodyIndexA = pairs[i].x;\n" +" // int bodyIndexB = pairs[i].y;\n" +" \n" +" int numLocalContactsOut = 0;\n" +" int capacityWorldVertsB2 = vertexFaceCapacity;\n" +" \n" +" __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n" +" __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n" +" \n" +" {\n" +" __global int4* clippingFaces = clippingFacesOut;\n" +" \n" +" \n" +" int closestFaceA = clippingFaces[pairIndex].x;\n" +" int closestFaceB = clippingFaces[pairIndex].y;\n" +" int numVertsInA = clippingFaces[pairIndex].z;\n" +" int numVertsInB = clippingFaces[pairIndex].w;\n" +" \n" +" int numVertsOut = 0;\n" +" \n" +" if (closestFaceA>=0)\n" +" {\n" +" \n" +" \n" +" \n" +" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n" +" \n" +" for(int e0=0;e0<numVertsInA;e0++)\n" +" {\n" +" const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n" +" const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n" +" const float4 WorldEdge0 = aw - bw;\n" +" float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n" +" float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n" +" float4 worldA1 = aw;\n" +" float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n" +" float4 planeNormalWS = planeNormalWS1;\n" +" float planeEqWS=planeEqWS1;\n" +" numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n" +" __global float4* tmp = pVtxOut;\n" +" pVtxOut = pVtxIn;\n" +" pVtxIn = tmp;\n" +" numVertsInB = numVertsOut;\n" +" numVertsOut = 0;\n" +" }\n" +" \n" +" float4 planeNormalWS = worldNormalsA1[pairIndex];\n" +" float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n" +" \n" +" for (int i=0;i<numVertsInB;i++)\n" +" {\n" +" float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n" +" if (depth <=minDist)\n" +" {\n" +" depth = minDist;\n" +" }\n" +" \n" +" if (depth <=maxDist)\n" +" {\n" +" float4 pointInWorld = pVtxIn[i];\n" +" pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n" +" }\n" +" }\n" +" \n" +" }\n" +" clippingFaces[pairIndex].w =numLocalContactsOut;\n" +" \n" +" }\n" +" \n" +" for (int i=0;i<numLocalContactsOut;i++)\n" +" pVtxIn[i] = pVtxOut[i];\n" +" \n" +" }// if (hasSeparatingAxis[i])\n" +" }// if (i<numPairs)\n" +" \n" +"}\n" +"__kernel void newContactReductionKernel( __global int4* pairs,\n" +" __global const b3RigidBodyData_t* rigidBodies,\n" +" __global const float4* separatingNormals,\n" +" __global const int* hasSeparatingAxis,\n" +" __global struct b3Contact4Data* globalContactsOut,\n" +" __global int4* clippingFaces,\n" +" __global float4* worldVertsB2,\n" +" volatile __global int* nGlobalContactsOut,\n" +" int vertexFaceCapacity,\n" +" int contactCapacity,\n" +" int numPairs\n" +" )\n" +"{\n" +" int i = get_global_id(0);\n" +" int pairIndex = i;\n" +" \n" +" int4 contactIdx;\n" +" contactIdx=make_int4(0,1,2,3);\n" +" \n" +" if (i<numPairs)\n" +" {\n" +" \n" +" if (hasSeparatingAxis[i])\n" +" {\n" +" \n" +" \n" +" \n" +" \n" +" int nPoints = clippingFaces[pairIndex].w;\n" +" \n" +" if (nPoints>0)\n" +" {\n" +" __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n" +" float4 normal = -separatingNormals[i];\n" +" \n" +" int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n" +" \n" +" int mprContactIndex = pairs[pairIndex].z;\n" +" int dstIdx = mprContactIndex;\n" +" if (dstIdx<0)\n" +" {\n" +" AppendInc( nGlobalContactsOut, dstIdx );\n" +" }\n" +"//#if 0\n" +" \n" +" if (dstIdx < contactCapacity)\n" +" {\n" +" __global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n" +" c->m_worldNormalOnB = -normal;\n" +" c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n" +" c->m_batchIdx = pairIndex;\n" +" int bodyA = pairs[pairIndex].x;\n" +" int bodyB = pairs[pairIndex].y;\n" +" pairs[pairIndex].w = dstIdx;\n" +" c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n" +" c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n" +" c->m_childIndexA =-1;\n" +" c->m_childIndexB =-1;\n" +" switch (nReducedContacts)\n" +" {\n" +" case 4:\n" +" c->m_worldPosB[3] = pointsIn[contactIdx.w];\n" +" case 3:\n" +" c->m_worldPosB[2] = pointsIn[contactIdx.z];\n" +" case 2:\n" +" c->m_worldPosB[1] = pointsIn[contactIdx.y];\n" +" case 1:\n" +" if (mprContactIndex<0)//test\n" +" c->m_worldPosB[0] = pointsIn[contactIdx.x];\n" +" default:\n" +" {\n" +" }\n" +" };\n" +" \n" +" GET_NPOINTS(*c) = nReducedContacts;\n" +" \n" +" }\n" +" \n" +" \n" +"//#endif\n" +" \n" +" }// if (numContactsOut>0)\n" +" }// if (hasSeparatingAxis[i])\n" +" }// if (i<numPairs)\n" +" \n" +" \n" +"}\n" +; |