diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h | 432 |
1 files changed, 0 insertions, 432 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h deleted file mode 100644 index 6e9c53e161..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h +++ /dev/null @@ -1,432 +0,0 @@ -//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* integrateKernelCL = - "/*\n" - "Copyright (c) 2013 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 Erwin Coumans\n" - "#ifndef B3_RIGIDBODY_DATA_H\n" - "#define B3_RIGIDBODY_DATA_H\n" - "#ifndef B3_FLOAT4_H\n" - "#define B3_FLOAT4_H\n" - "#ifndef B3_PLATFORM_DEFINITIONS_H\n" - "#define B3_PLATFORM_DEFINITIONS_H\n" - "struct MyTest\n" - "{\n" - " int bla;\n" - "};\n" - "#ifdef __cplusplus\n" - "#else\n" - "//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n" - "#define B3_LARGE_FLOAT 1e18f\n" - "#define B3_INFINITY 1e18f\n" - "#define b3Assert(a)\n" - "#define b3ConstArray(a) __global const a*\n" - "#define b3AtomicInc atomic_inc\n" - "#define b3AtomicAdd atomic_add\n" - "#define b3Fabs fabs\n" - "#define b3Sqrt native_sqrt\n" - "#define b3Sin native_sin\n" - "#define b3Cos native_cos\n" - "#define B3_STATIC\n" - "#endif\n" - "#endif\n" - "#ifdef __cplusplus\n" - "#else\n" - " typedef float4 b3Float4;\n" - " #define b3Float4ConstArg const b3Float4\n" - " #define b3MakeFloat4 (float4)\n" - " float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n" - " {\n" - " float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n" - " float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n" - " return dot(a1, b1);\n" - " }\n" - " b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n" - " {\n" - " float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n" - " float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n" - " return cross(a1, b1);\n" - " }\n" - " #define b3MinFloat4 min\n" - " #define b3MaxFloat4 max\n" - " #define b3Normalized(a) normalize(a)\n" - "#endif \n" - " \n" - "inline bool b3IsAlmostZero(b3Float4ConstArg v)\n" - "{\n" - " if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n" - " return false;\n" - " return true;\n" - "}\n" - "inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n" - "{\n" - " float maxDot = -B3_INFINITY;\n" - " int i = 0;\n" - " int ptIndex = -1;\n" - " for( i = 0; i < vecLen; i++ )\n" - " {\n" - " float dot = b3Dot3F4(vecArray[i],vec);\n" - " \n" - " if( dot > maxDot )\n" - " {\n" - " maxDot = dot;\n" - " ptIndex = i;\n" - " }\n" - " }\n" - " b3Assert(ptIndex>=0);\n" - " if (ptIndex<0)\n" - " {\n" - " ptIndex = 0;\n" - " }\n" - " *dotOut = maxDot;\n" - " return ptIndex;\n" - "}\n" - "#endif //B3_FLOAT4_H\n" - "#ifndef B3_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" - "#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" - "#ifndef B3_RIGIDBODY_DATA_H\n" - "#endif //B3_RIGIDBODY_DATA_H\n" - " \n" - "inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n" - "{\n" - " \n" - " if (bodies[nodeID].m_invMass != 0.f)\n" - " {\n" - " float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n" - " //angular velocity\n" - " {\n" - " b3Float4 axis;\n" - " //add some hardcoded angular damping\n" - " bodies[nodeID].m_angVel.x *= angularDamping;\n" - " bodies[nodeID].m_angVel.y *= angularDamping;\n" - " bodies[nodeID].m_angVel.z *= angularDamping;\n" - " \n" - " b3Float4 angvel = bodies[nodeID].m_angVel;\n" - " float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n" - " \n" - " //limit the angular motion\n" - " if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n" - " {\n" - " fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n" - " }\n" - " if(fAngle < 0.001f)\n" - " {\n" - " // use Taylor's expansions of sync function\n" - " axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n" - " }\n" - " else\n" - " {\n" - " // sync(fAngle) = sin(c*fAngle)/t\n" - " axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n" - " }\n" - " \n" - " b3Quat dorn;\n" - " dorn.x = axis.x;\n" - " dorn.y = axis.y;\n" - " dorn.z = axis.z;\n" - " dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n" - " b3Quat orn0 = bodies[nodeID].m_quat;\n" - " b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n" - " predictedOrn = b3QuatNormalized(predictedOrn);\n" - " bodies[nodeID].m_quat=predictedOrn;\n" - " }\n" - " //linear velocity \n" - " bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;\n" - " \n" - " //apply gravity\n" - " bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n" - " \n" - " }\n" - " \n" - "}\n" - "inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n" - "{\n" - " float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n" - " \n" - " if( (body->m_invMass != 0.f))\n" - " {\n" - " //angular velocity\n" - " {\n" - " b3Float4 axis;\n" - " //add some hardcoded angular damping\n" - " body->m_angVel.x *= angularDamping;\n" - " body->m_angVel.y *= angularDamping;\n" - " body->m_angVel.z *= angularDamping;\n" - " \n" - " b3Float4 angvel = body->m_angVel;\n" - " float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n" - " //limit the angular motion\n" - " if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n" - " {\n" - " fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n" - " }\n" - " if(fAngle < 0.001f)\n" - " {\n" - " // use Taylor's expansions of sync function\n" - " axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n" - " }\n" - " else\n" - " {\n" - " // sync(fAngle) = sin(c*fAngle)/t\n" - " axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n" - " }\n" - " b3Quat dorn;\n" - " dorn.x = axis.x;\n" - " dorn.y = axis.y;\n" - " dorn.z = axis.z;\n" - " dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n" - " b3Quat orn0 = body->m_quat;\n" - " b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n" - " predictedOrn = b3QuatNormalized(predictedOrn);\n" - " body->m_quat=predictedOrn;\n" - " }\n" - " //apply gravity\n" - " body->m_linVel += gravityAcceleration * timeStep;\n" - " //linear velocity \n" - " body->m_pos += body->m_linVel * timeStep;\n" - " \n" - " }\n" - " \n" - "}\n" - "__kernel void \n" - " integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n" - "{\n" - " int nodeID = get_global_id(0);\n" - " \n" - " if( nodeID < numNodes)\n" - " {\n" - " integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n" - " }\n" - "}\n"; |