1 files changed, 0 insertions, 613 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
deleted file mode 100644
index 3dc48d4350..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
+++ /dev/null
@@ -1,613 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-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.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-//Originally written by Takahiro Harada
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#pragma OPENCL EXTENSION cl_amd_printf : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
-#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
-
-
-#ifdef cl_ext_atomic_counters_32
-#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
-#else
-#define counter32_t volatile global int*
-#endif
-
-typedef unsigned int u32;
-typedef unsigned short u16;
-typedef unsigned char u8;
-
-#define GET_GROUP_IDX get_group_id(0)
-#define GET_LOCAL_IDX get_local_id(0)
-#define GET_GLOBAL_IDX get_global_id(0)
-#define GET_GROUP_SIZE get_local_size(0)
-#define GET_NUM_GROUPS get_num_groups(0)
-#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
-#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
-#define AtomInc(x) atom_inc(&(x))
-#define AtomInc1(x, out) out = atom_inc(&(x))
-#define AppendInc(x, out) out = atomic_inc(x)
-#define AtomAdd(x, value) atom_add(&(x), value)
-#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
-#define AtomXhg(x, value) atom_xchg ( &(x), value )
-
-
-#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
-
-#define make_float4 (float4)
-#define make_float2 (float2)
-#define make_uint4 (uint4)
-#define make_int4 (int4)
-#define make_uint2 (uint2)
-#define make_int2 (int2)
-
-
-#define max2 max
-#define min2 min
-
-
-///////////////////////////////////////
-//	Vector
-///////////////////////////////////////
-__inline
-float fastDiv(float numerator, float denominator)
-{
-	return native_divide(numerator, denominator);	
-//	return numerator/denominator;	
-}
-
-__inline
-float4 fastDiv4(float4 numerator, float4 denominator)
-{
-	return native_divide(numerator, denominator);	
-}
-
-__inline
-float fastSqrtf(float f2)
-{
-	return native_sqrt(f2);
-//	return sqrt(f2);
-}
-
-__inline
-float fastRSqrt(float f2)
-{
-	return native_rsqrt(f2);
-}
-
-__inline
-float fastLength4(float4 v)
-{
-	return fast_length(v);
-}
-
-__inline
-float4 fastNormalize4(float4 v)
-{
-	return fast_normalize(v);
-}
-
-
-__inline
-float sqrtf(float a)
-{
-//	return sqrt(a);
-	return native_sqrt(a);
-}
-
-__inline
-float4 cross3(float4 a, float4 b)
-{
-	return cross(a,b);
-}
-
-__inline
-float dot3F4(float4 a, float4 b)
-{
-	float4 a1 = make_float4(a.xyz,0.f);
-	float4 b1 = make_float4(b.xyz,0.f);
-	return dot(a1, b1);
-}
-
-__inline
-float length3(const float4 a)
-{
-	return sqrtf(dot3F4(a,a));
-}
-
-__inline
-float dot4(const float4 a, const float4 b)
-{
-	return dot( a, b );
-}
-
-//	for height
-__inline
-float dot3w1(const float4 point, const float4 eqn)
-{
-	return dot3F4(point,eqn) + eqn.w;
-}
-
-__inline
-float4 normalize3(const float4 a)
-{
-	float4 n = make_float4(a.x, a.y, a.z, 0.f);
-	return fastNormalize4( n );
-//	float length = sqrtf(dot3F4(a, a));
-//	return 1.f/length * a;
-}
-
-__inline
-float4 normalize4(const float4 a)
-{
-	float length = sqrtf(dot4(a, a));
-	return 1.f/length * a;
-}
-
-__inline
-float4 createEquation(const float4 a, const float4 b, const float4 c)
-{
-	float4 eqn;
-	float4 ab = b-a;
-	float4 ac = c-a;
-	eqn = normalize3( cross3(ab, ac) );
-	eqn.w = -dot3F4(eqn,a);
-	return eqn;
-}
-
-///////////////////////////////////////
-//	Matrix3x3
-///////////////////////////////////////
-
-typedef struct
-{
-	float4 m_row[3];
-}Matrix3x3;
-
-__inline
-Matrix3x3 mtZero();
-
-__inline
-Matrix3x3 mtIdentity();
-
-__inline
-Matrix3x3 mtTranspose(Matrix3x3 m);
-
-__inline
-Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b);
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b);
-
-__inline
-Matrix3x3 mtZero()
-{
-	Matrix3x3 m;
-	m.m_row[0] = (float4)(0.f);
-	m.m_row[1] = (float4)(0.f);
-	m.m_row[2] = (float4)(0.f);
-	return m;
-}
-
-__inline
-Matrix3x3 mtIdentity()
-{
-	Matrix3x3 m;
-	m.m_row[0] = (float4)(1,0,0,0);
-	m.m_row[1] = (float4)(0,1,0,0);
-	m.m_row[2] = (float4)(0,0,1,0);
-	return m;
-}
-
-__inline
-Matrix3x3 mtTranspose(Matrix3x3 m)
-{
-	Matrix3x3 out;
-	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
-	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
-	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
-	return out;
-}
-
-__inline
-Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
-{
-	Matrix3x3 transB;
-	transB = mtTranspose( b );
-	Matrix3x3 ans;
-	//	why this doesn't run when 0ing in the for{}
-	a.m_row[0].w = 0.f;
-	a.m_row[1].w = 0.f;
-	a.m_row[2].w = 0.f;
-	for(int i=0; i<3; i++)
-	{
-//	a.m_row[i].w = 0.f;
-		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
-		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
-		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
-		ans.m_row[i].w = 0.f;
-	}
-	return ans;
-}
-
-__inline
-float4 mtMul1(Matrix3x3 a, float4 b)
-{
-	float4 ans;
-	ans.x = dot3F4( a.m_row[0], b );
-	ans.y = dot3F4( a.m_row[1], b );
-	ans.z = dot3F4( a.m_row[2], b );
-	ans.w = 0.f;
-	return ans;
-}
-
-__inline
-float4 mtMul3(float4 a, Matrix3x3 b)
-{
-	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
-	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
-	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
-
-	float4 ans;
-	ans.x = dot3F4( a, colx );
-	ans.y = dot3F4( a, coly );
-	ans.z = dot3F4( a, colz );
-	return ans;
-}
-
-///////////////////////////////////////
-//	Quaternion
-///////////////////////////////////////
-
-typedef float4 Quaternion;
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b);
-
-__inline
-Quaternion qtNormalize(Quaternion in);
-
-__inline
-float4 qtRotate(Quaternion q, float4 vec);
-
-__inline
-Quaternion qtInvert(Quaternion q);
-
-
-
-
-
-__inline
-Quaternion qtMul(Quaternion a, Quaternion b)
-{
-	Quaternion ans;
-	ans = cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - dot3F4(a, b);
-	return ans;
-}
-
-__inline
-Quaternion qtNormalize(Quaternion in)
-{
-	return fastNormalize4(in);
-//	in /= length( in );
-//	return in;
-}
-__inline
-float4 qtRotate(Quaternion q, float4 vec)
-{
-	Quaternion qInv = qtInvert( q );
-	float4 vcpy = vec;
-	vcpy.w = 0.f;
-	float4 out = qtMul(qtMul(q,vcpy),qInv);
-	return out;
-}
-
-__inline
-Quaternion qtInvert(Quaternion q)
-{
-	return (Quaternion)(-q.xyz, q.w);
-}
-
-__inline
-float4 qtInvRotate(const Quaternion q, float4 vec)
-{
-	return qtRotate( qtInvert( q ), vec );
-}
-
-
-
-
-#define WG_SIZE 64
-
-typedef struct
-{
-	float4 m_pos;
-	Quaternion m_quat;
-	float4 m_linVel;
-	float4 m_angVel;
-
-	u32 m_shapeIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-} Body;
-
-typedef struct
-{
-	Matrix3x3 m_invInertia;
-	Matrix3x3 m_initInvInertia;
-} Shape;
-
-typedef struct
-{
-	float4 m_linear;
-	float4 m_worldPos[4];
-	float4 m_center;	
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-
-	float m_fJacCoeffInv[2];	
-	float m_fAppliedRambdaDt[2];	
-
-	u32 m_bodyA;
-	u32 m_bodyB;
-
-	int m_batchIdx;
-	u32 m_paddings[1];
-} Constraint4;
-
-
-
-typedef struct
-{
-	int m_nConstraints;
-	int m_start;
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBuffer;
-
-typedef struct
-{
-	int m_solveFriction;
-	int m_maxBatch;	//	long batch really kills the performance
-	int m_batchIdx;
-	int m_nSplit;
-//	int m_paddings[1];
-} ConstBufferBatchSolve;
-
-
- 
-
-
-typedef struct 
-{
-	int m_valInt0;
-	int m_valInt1;
-	int m_valInt2;
-	int m_valInt3;
-
-	float m_val0;
-	float m_val1;
-	float m_val2;
-	float m_val3;
-} SolverDebugInfo;
-
-
-
-
-//	others
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )
-{
-	int nContacts = cb.x;
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int srcIdx = sortData[gIdx].y;
-		out[gIdx] = in[srcIdx];
-	}
-}
-
-__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sd;
-		sd.x = contactsIn[gIdx].m_childIndexB;
-		sd.y = gIdx;
-		sortDataOut[gIdx] = sd;
-	}
-}
-
-__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sdIn;
-		sdIn = sortDataInOut[gIdx];
-		int2 sdOut;
-		sdOut.x = contactsIn[sdIn.y].m_childIndexA;
-		sdOut.y = sdIn.y;
-		sortDataInOut[gIdx] = sdOut;
-	}
-}
-
-__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sdIn;
-		sdIn = sortDataInOut[gIdx];
-		int2 sdOut;
-		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;
-		sdOut.y = sdIn.y;
-		sortDataInOut[gIdx] = sdOut;
-	}
-}
-
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
-{
-	int gIdx = GET_GLOBAL_IDX;
-
-	if( gIdx < nContacts )
-	{
-		int2 sdIn;
-		sdIn = sortDataInOut[gIdx];
-		int2 sdOut;
-		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;
-		sdOut.y = sdIn.y;
-		sortDataInOut[gIdx] = sdOut;
-	}
-}
-
-
-
-
-typedef struct
-{
-	int m_nContacts;
-	int m_staticIdx;
-	float m_scale;
-	int m_nSplit;
-} ConstBufferSSD;
-
-
-__constant const int gridTable4x4[] = 
-{
-    0,1,17,16,
-	1,2,18,19,
-	17,18,32,3,
-	16,19,3,34
-};
-
-__constant const int gridTable8x8[] = 
-{
-	  0,  2,  3, 16, 17, 18, 19,  1,
-	 66, 64, 80, 67, 82, 81, 65, 83,
-	131,144,128,130,147,129,145,146,
-	208,195,194,192,193,211,210,209,
-	 21, 22, 23,  5,  4,  6,  7, 20,
-	 86, 85, 69, 87, 70, 68, 84, 71,
-	151,133,149,150,135,148,132,134,
-	197,27,214,213,212,199,198,196
-	
-};
-
-
-
-
-#define USE_SPATIAL_BATCHING 1
-#define USE_4x4_GRID 1
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, 
-int nContacts,float scale,int4 nSplit,int staticIdx)
-
-{
-	int gIdx = GET_GLOBAL_IDX;
-	
-	if( gIdx < nContacts )
-	{
-		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;
-		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;
-
-		int aIdx = abs(aPtrAndSignBit );
-		int bIdx = abs(bPtrAndSignBit);
-
-		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);
-		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
-
-#if USE_SPATIAL_BATCHING		
-		int idx = (aStatic)? bIdx: aIdx;
-		float4 p = gBodies[idx].m_pos;
-		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);
-		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);
-		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);
-		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);
-		
-#else//USE_SPATIAL_BATCHING
-	#if USE_4x4_GRID
-		int aa = aIdx&3;
-		int bb = bIdx&3;
-		if (aStatic)
-			aa = bb;
-		if (bStatic)
-			bb = aa;
-
-		int gridIndex = aa + bb*4;
-		int newIndex = gridTable4x4[gridIndex];
-	#else//USE_4x4_GRID
-		int aa = aIdx&7;
-		int bb = bIdx&7;
-		if (aStatic)
-			aa = bb;
-		if (bStatic)
-			bb = aa;
-
-		int gridIndex = aa + bb*8;
-		int newIndex = gridTable8x8[gridIndex];
-	#endif//USE_4x4_GRID
-#endif//USE_SPATIAL_BATCHING
-
-
-		gSortDataOut[gIdx].x = newIndex;
-		gSortDataOut[gIdx].y = gIdx;
-	}
-	else
-	{
-		gSortDataOut[gIdx].x = 0xffffffff;
-	}
-}
-
-__kernel
-__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
-void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )
-{
-	int gIdx = GET_GLOBAL_IDX;
-	if( gIdx < cb.x )
-	{
-		gOut[gIdx] = gIn[gIdx];
-	}
-}
-
-
-