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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h | 381 |
1 files changed, 381 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h new file mode 100644 index 0000000000..6257909a4d --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h @@ -0,0 +1,381 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* rayCastKernelCL= \ +"#define SHAPE_CONVEX_HULL 3\n" +"#define SHAPE_PLANE 4\n" +"#define SHAPE_CONCAVE_TRIMESH 5\n" +"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n" +"#define SHAPE_SPHERE 7\n" +"typedef struct\n" +"{\n" +" float4 m_from;\n" +" float4 m_to;\n" +"} b3RayInfo;\n" +"typedef struct\n" +"{\n" +" float m_hitFraction;\n" +" int m_hitResult0;\n" +" int m_hitResult1;\n" +" int m_hitResult2;\n" +" float4 m_hitPoint;\n" +" float4 m_hitNormal;\n" +"} b3RayHit;\n" +"typedef struct\n" +"{\n" +" float4 m_pos;\n" +" float4 m_quat;\n" +" float4 m_linVel;\n" +" float4 m_angVel;\n" +" unsigned int m_collidableIdx;\n" +" float m_invMass;\n" +" float m_restituitionCoeff;\n" +" float m_frictionCoeff;\n" +"} Body;\n" +"typedef struct Collidable\n" +"{\n" +" union {\n" +" int m_numChildShapes;\n" +" int m_bvhIndex;\n" +" };\n" +" float m_radius;\n" +" int m_shapeType;\n" +" int m_shapeIndex;\n" +"} Collidable;\n" +"typedef struct \n" +"{\n" +" float4 m_localCenter;\n" +" float4 m_extents;\n" +" float4 mC;\n" +" float4 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" +"} ConvexPolyhedronCL;\n" +"typedef struct\n" +"{\n" +" float4 m_plane;\n" +" int m_indexOffset;\n" +" int m_numIndices;\n" +"} b3GpuFace;\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" +" Quaternion qtInvert(Quaternion q);\n" +"__inline\n" +" float dot3F4(float4 a, float4 b)\n" +"{\n" +" float4 a1 = (float4)(a.xyz,0.f);\n" +" float4 b1 = (float4)(b.xyz,0.f);\n" +" return dot(a1, b1);\n" +"}\n" +"__inline\n" +" Quaternion qtMul(Quaternion a, Quaternion b)\n" +"{\n" +" Quaternion ans;\n" +" ans = cross( 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 fast_normalize(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(q,vcpy);\n" +" out = qtMul(out,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" +"void trInverse(float4 translationIn, Quaternion orientationIn,\n" +" float4* translationOut, Quaternion* orientationOut)\n" +"{\n" +" *orientationOut = qtInvert(orientationIn);\n" +" *translationOut = qtRotate(*orientationOut, -translationIn);\n" +"}\n" +"bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,\n" +" __global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)\n" +"{\n" +" rayFromLocal.w = 0.f;\n" +" rayToLocal.w = 0.f;\n" +" bool result = true;\n" +" float exitFraction = hitFraction[0];\n" +" float enterFraction = -0.3f;\n" +" float4 curHitNormal = (float4)(0,0,0,0);\n" +" for (int i=0;i<numFaces && result;i++)\n" +" {\n" +" b3GpuFace face = faces[faceOffset+i];\n" +" float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;\n" +" float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;\n" +" if (fromPlaneDist<0.f)\n" +" {\n" +" if (toPlaneDist >= 0.f)\n" +" {\n" +" float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n" +" if (exitFraction>fraction)\n" +" {\n" +" exitFraction = fraction;\n" +" }\n" +" } \n" +" } else\n" +" {\n" +" if (toPlaneDist<0.f)\n" +" {\n" +" float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n" +" if (enterFraction <= fraction)\n" +" {\n" +" enterFraction = fraction;\n" +" curHitNormal = face.m_plane;\n" +" curHitNormal.w = 0.f;\n" +" }\n" +" } else\n" +" {\n" +" result = false;\n" +" }\n" +" }\n" +" if (exitFraction <= enterFraction)\n" +" result = false;\n" +" }\n" +" if (enterFraction < 0.f)\n" +" {\n" +" result = false;\n" +" }\n" +" if (result)\n" +" { \n" +" hitFraction[0] = enterFraction;\n" +" hitNormal[0] = curHitNormal;\n" +" }\n" +" return result;\n" +"}\n" +"bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n" +"{\n" +" float4 rs = rayFrom - spherePos;\n" +" rs.w = 0.f;\n" +" float4 rayDir = rayTo-rayFrom;\n" +" rayDir.w = 0.f;\n" +" float A = dot(rayDir,rayDir);\n" +" float B = dot(rs, rayDir);\n" +" float C = dot(rs, rs) - (radius * radius);\n" +" float D = B * B - A*C;\n" +" if (D > 0.0f)\n" +" {\n" +" float t = (-B - sqrt(D))/A;\n" +" if ( (t >= 0.0f) && (t < (*hitFraction)) )\n" +" {\n" +" *hitFraction = t;\n" +" return true;\n" +" }\n" +" }\n" +" return false;\n" +"}\n" +"float4 setInterpolate3(float4 from, float4 to, float t)\n" +"{\n" +" float s = 1.0f - t;\n" +" float4 result;\n" +" result = s * from + t * to;\n" +" result.w = 0.f; \n" +" return result; \n" +"}\n" +"__kernel void rayCastKernel( \n" +" int numRays, \n" +" const __global b3RayInfo* rays, \n" +" __global b3RayHit* hitResults, \n" +" const int numBodies, \n" +" __global Body* bodies,\n" +" __global Collidable* collidables,\n" +" __global const b3GpuFace* faces,\n" +" __global const ConvexPolyhedronCL* convexShapes )\n" +"{\n" +" int i = get_global_id(0);\n" +" if (i>=numRays)\n" +" return;\n" +" hitResults[i].m_hitFraction = 1.f;\n" +" float4 rayFrom = rays[i].m_from;\n" +" float4 rayTo = rays[i].m_to;\n" +" float hitFraction = 1.f;\n" +" float4 hitPoint;\n" +" float4 hitNormal;\n" +" int hitBodyIndex= -1;\n" +" int cachedCollidableIndex = -1;\n" +" Collidable cachedCollidable;\n" +" for (int b=0;b<numBodies;b++)\n" +" {\n" +" if (hitResults[i].m_hitResult2==b)\n" +" continue;\n" +" Body body = bodies[b];\n" +" float4 pos = body.m_pos;\n" +" float4 orn = body.m_quat;\n" +" if (cachedCollidableIndex != body.m_collidableIdx)\n" +" {\n" +" cachedCollidableIndex = body.m_collidableIdx;\n" +" cachedCollidable = collidables[cachedCollidableIndex];\n" +" }\n" +" if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n" +" {\n" +" float4 invPos = (float4)(0,0,0,0);\n" +" float4 invOrn = (float4)(0,0,0,0);\n" +" float4 rayFromLocal = (float4)(0,0,0,0);\n" +" float4 rayToLocal = (float4)(0,0,0,0);\n" +" invOrn = qtInvert(orn);\n" +" invPos = qtRotate(invOrn, -pos);\n" +" rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n" +" rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n" +" rayFromLocal.w = 0.f;\n" +" rayToLocal.w = 0.f;\n" +" int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;\n" +" int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;\n" +" if (numFaces)\n" +" {\n" +" if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n" +" {\n" +" hitBodyIndex = b;\n" +" \n" +" }\n" +" }\n" +" }\n" +" if (cachedCollidable.m_shapeType == SHAPE_SPHERE)\n" +" {\n" +" float radius = cachedCollidable.m_radius;\n" +" \n" +" if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n" +" {\n" +" hitBodyIndex = b;\n" +" hitNormal = (float4) (hitPoint-bodies[b].m_pos);\n" +" }\n" +" }\n" +" }\n" +" if (hitBodyIndex>=0)\n" +" {\n" +" hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n" +" hitResults[i].m_hitFraction = hitFraction;\n" +" hitResults[i].m_hitPoint = hitPoint;\n" +" hitResults[i].m_hitNormal = normalize(hitNormal);\n" +" hitResults[i].m_hitResult0 = hitBodyIndex;\n" +" }\n" +"}\n" +"__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs, \n" +" __global int* out_firstRayRigidPairIndexPerRay,\n" +" __global int* out_numRayRigidPairsPerRay,\n" +" int numRayRigidPairs)\n" +"{\n" +" int rayRigidPairIndex = get_global_id(0);\n" +" if (rayRigidPairIndex >= numRayRigidPairs) return;\n" +" \n" +" int rayIndex = rayRigidPairs[rayRigidPairIndex].x;\n" +" \n" +" atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);\n" +" atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);\n" +"}\n" +"__kernel void rayCastPairsKernel(const __global b3RayInfo* rays, \n" +" __global b3RayHit* hitResults, \n" +" __global int* firstRayRigidPairIndexPerRay,\n" +" __global int* numRayRigidPairsPerRay,\n" +" \n" +" __global Body* bodies,\n" +" __global Collidable* collidables,\n" +" __global const b3GpuFace* faces,\n" +" __global const ConvexPolyhedronCL* convexShapes,\n" +" \n" +" __global int2* rayRigidPairs,\n" +" int numRays)\n" +"{\n" +" int i = get_global_id(0);\n" +" if (i >= numRays) return;\n" +" \n" +" float4 rayFrom = rays[i].m_from;\n" +" float4 rayTo = rays[i].m_to;\n" +" \n" +" hitResults[i].m_hitFraction = 1.f;\n" +" \n" +" float hitFraction = 1.f;\n" +" float4 hitPoint;\n" +" float4 hitNormal;\n" +" int hitBodyIndex = -1;\n" +" \n" +" //\n" +" for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)\n" +" {\n" +" int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];\n" +" int b = rayRigidPairs[rayRigidPairIndex].y;\n" +" \n" +" if (hitResults[i].m_hitResult2 == b) continue;\n" +" \n" +" Body body = bodies[b];\n" +" Collidable rigidCollidable = collidables[body.m_collidableIdx];\n" +" \n" +" float4 pos = body.m_pos;\n" +" float4 orn = body.m_quat;\n" +" \n" +" if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n" +" {\n" +" float4 invPos = (float4)(0,0,0,0);\n" +" float4 invOrn = (float4)(0,0,0,0);\n" +" float4 rayFromLocal = (float4)(0,0,0,0);\n" +" float4 rayToLocal = (float4)(0,0,0,0);\n" +" invOrn = qtInvert(orn);\n" +" invPos = qtRotate(invOrn, -pos);\n" +" rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n" +" rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n" +" rayFromLocal.w = 0.f;\n" +" rayToLocal.w = 0.f;\n" +" int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;\n" +" int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;\n" +" \n" +" if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n" +" {\n" +" hitBodyIndex = b;\n" +" hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n" +" }\n" +" }\n" +" \n" +" if (rigidCollidable.m_shapeType == SHAPE_SPHERE)\n" +" {\n" +" float radius = rigidCollidable.m_radius;\n" +" \n" +" if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n" +" {\n" +" hitBodyIndex = b;\n" +" hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n" +" hitNormal = (float4) (hitPoint - bodies[b].m_pos);\n" +" }\n" +" }\n" +" }\n" +" \n" +" if (hitBodyIndex >= 0)\n" +" {\n" +" hitResults[i].m_hitFraction = hitFraction;\n" +" hitResults[i].m_hitPoint = hitPoint;\n" +" hitResults[i].m_hitNormal = normalize(hitNormal);\n" +" hitResults[i].m_hitResult0 = hitBodyIndex;\n" +" }\n" +" \n" +"}\n" +; |