diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h | 380 |
1 files changed, 0 insertions, 380 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h deleted file mode 100644 index 94f6a8eb9f..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h +++ /dev/null @@ -1,380 +0,0 @@ -//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"; |