diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h | 1199 |
1 files changed, 599 insertions, 600 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h index 1b5819f6cf..1e6e3579b6 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h @@ -1,601 +1,600 @@ //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* solverSetup2CL= \ -"/*\n" -"Copyright (c) 2012 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 Takahiro Harada\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" -"#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" -"typedef unsigned int u32;\n" -"typedef unsigned short u16;\n" -"typedef unsigned char u8;\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 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" -"#define max2 max\n" -"#define min2 min\n" -"///////////////////////////////////////\n" -"// Vector\n" -"///////////////////////////////////////\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" -"float fastSqrtf(float f2)\n" -"{\n" -" return native_sqrt(f2);\n" -"// return sqrt(f2);\n" -"}\n" -"__inline\n" -"float fastRSqrt(float f2)\n" -"{\n" -" return native_rsqrt(f2);\n" -"}\n" -"__inline\n" -"float fastLength4(float4 v)\n" -"{\n" -" return fast_length(v);\n" -"}\n" -"__inline\n" -"float4 fastNormalize4(float4 v)\n" -"{\n" -" return fast_normalize(v);\n" -"}\n" -"__inline\n" -"float sqrtf(float a)\n" -"{\n" -"// return sqrt(a);\n" -" return native_sqrt(a);\n" -"}\n" -"__inline\n" -"float4 cross3(float4 a, float4 b)\n" -"{\n" -" return cross(a,b);\n" -"}\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" -"float length3(const float4 a)\n" -"{\n" -" return sqrtf(dot3F4(a,a));\n" -"}\n" -"__inline\n" -"float dot4(const float4 a, const float4 b)\n" -"{\n" -" return dot( a, b );\n" -"}\n" -"// for height\n" -"__inline\n" -"float dot3w1(const float4 point, const float4 eqn)\n" -"{\n" -" return dot3F4(point,eqn) + eqn.w;\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" -"// float length = sqrtf(dot3F4(a, a));\n" -"// return 1.f/length * a;\n" -"}\n" -"__inline\n" -"float4 normalize4(const float4 a)\n" -"{\n" -" float length = sqrtf(dot4(a, a));\n" -" return 1.f/length * a;\n" -"}\n" -"__inline\n" -"float4 createEquation(const float4 a, const float4 b, const float4 c)\n" -"{\n" -" float4 eqn;\n" -" float4 ab = b-a;\n" -" float4 ac = c-a;\n" -" eqn = normalize3( cross3(ab, ac) );\n" -" eqn.w = -dot3F4(eqn,a);\n" -" return eqn;\n" -"}\n" -"///////////////////////////////////////\n" -"// Matrix3x3\n" -"///////////////////////////////////////\n" -"typedef struct\n" -"{\n" -" float4 m_row[3];\n" -"}Matrix3x3;\n" -"__inline\n" -"Matrix3x3 mtZero();\n" -"__inline\n" -"Matrix3x3 mtIdentity();\n" -"__inline\n" -"Matrix3x3 mtTranspose(Matrix3x3 m);\n" -"__inline\n" -"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n" -"__inline\n" -"float4 mtMul1(Matrix3x3 a, float4 b);\n" -"__inline\n" -"float4 mtMul3(float4 a, Matrix3x3 b);\n" -"__inline\n" -"Matrix3x3 mtZero()\n" -"{\n" -" Matrix3x3 m;\n" -" m.m_row[0] = (float4)(0.f);\n" -" m.m_row[1] = (float4)(0.f);\n" -" m.m_row[2] = (float4)(0.f);\n" -" return m;\n" -"}\n" -"__inline\n" -"Matrix3x3 mtIdentity()\n" -"{\n" -" Matrix3x3 m;\n" -" m.m_row[0] = (float4)(1,0,0,0);\n" -" m.m_row[1] = (float4)(0,1,0,0);\n" -" m.m_row[2] = (float4)(0,0,1,0);\n" -" return m;\n" -"}\n" -"__inline\n" -"Matrix3x3 mtTranspose(Matrix3x3 m)\n" -"{\n" -" Matrix3x3 out;\n" -" out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n" -" out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n" -" out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n" -" return out;\n" -"}\n" -"__inline\n" -"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n" -"{\n" -" Matrix3x3 transB;\n" -" transB = mtTranspose( b );\n" -" Matrix3x3 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 = dot3F4(a.m_row[i],transB.m_row[0]);\n" -" ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n" -" ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n" -" ans.m_row[i].w = 0.f;\n" -" }\n" -" return ans;\n" -"}\n" -"__inline\n" -"float4 mtMul1(Matrix3x3 a, float4 b)\n" -"{\n" -" float4 ans;\n" -" ans.x = dot3F4( a.m_row[0], b );\n" -" ans.y = dot3F4( a.m_row[1], b );\n" -" ans.z = dot3F4( a.m_row[2], b );\n" -" ans.w = 0.f;\n" -" return ans;\n" -"}\n" -"__inline\n" -"float4 mtMul3(float4 a, Matrix3x3 b)\n" -"{\n" -" float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" -" float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" -" float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n" -" float4 ans;\n" -" ans.x = dot3F4( a, colx );\n" -" ans.y = dot3F4( a, coly );\n" -" ans.z = dot3F4( a, colz );\n" -" return ans;\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" -"#define WG_SIZE 64\n" -"typedef struct\n" -"{\n" -" float4 m_pos;\n" -" Quaternion m_quat;\n" -" float4 m_linVel;\n" -" float4 m_angVel;\n" -" u32 m_shapeIdx;\n" -" float m_invMass;\n" -" float m_restituitionCoeff;\n" -" float m_frictionCoeff;\n" -"} Body;\n" -"typedef struct\n" -"{\n" -" Matrix3x3 m_invInertia;\n" -" Matrix3x3 m_initInvInertia;\n" -"} Shape;\n" -"typedef struct\n" -"{\n" -" float4 m_linear;\n" -" float4 m_worldPos[4];\n" -" float4 m_center; \n" -" float m_jacCoeffInv[4];\n" -" float m_b[4];\n" -" float m_appliedRambdaDt[4];\n" -" float m_fJacCoeffInv[2]; \n" -" float m_fAppliedRambdaDt[2]; \n" -" u32 m_bodyA;\n" -" u32 m_bodyB;\n" -" int m_batchIdx;\n" -" u32 m_paddings[1];\n" -"} Constraint4;\n" -"typedef struct\n" -"{\n" -" int m_nConstraints;\n" -" int m_start;\n" -" int m_batchIdx;\n" -" int m_nSplit;\n" -"// int m_paddings[1];\n" -"} ConstBuffer;\n" -"typedef struct\n" -"{\n" -" int m_solveFriction;\n" -" int m_maxBatch; // long batch really kills the performance\n" -" int m_batchIdx;\n" -" int m_nSplit;\n" -"// int m_paddings[1];\n" -"} ConstBufferBatchSolve;\n" -" \n" -"typedef struct \n" -"{\n" -" int m_valInt0;\n" -" int m_valInt1;\n" -" int m_valInt2;\n" -" int m_valInt3;\n" -" float m_val0;\n" -" float m_val1;\n" -" float m_val2;\n" -" float m_val3;\n" -"} SolverDebugInfo;\n" -"// others\n" -"__kernel\n" -"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n" -"{\n" -" int nContacts = cb.x;\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" if( gIdx < nContacts )\n" -" {\n" -" int srcIdx = sortData[gIdx].y;\n" -" out[gIdx] = in[srcIdx];\n" -" }\n" -"}\n" -"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)\n" -"{\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" if( gIdx < nContacts )\n" -" {\n" -" int2 sd;\n" -" sd.x = contactsIn[gIdx].m_childIndexB;\n" -" sd.y = gIdx;\n" -" sortDataOut[gIdx] = sd;\n" -" }\n" -"}\n" -"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n" -"{\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" if( gIdx < nContacts )\n" -" {\n" -" int2 sdIn;\n" -" sdIn = sortDataInOut[gIdx];\n" -" int2 sdOut;\n" -" sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n" -" sdOut.y = sdIn.y;\n" -" sortDataInOut[gIdx] = sdOut;\n" -" }\n" -"}\n" -"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n" -"{\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" if( gIdx < nContacts )\n" -" {\n" -" int2 sdIn;\n" -" sdIn = sortDataInOut[gIdx];\n" -" int2 sdOut;\n" -" sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n" -" sdOut.y = sdIn.y;\n" -" sortDataInOut[gIdx] = sdOut;\n" -" }\n" -"}\n" -"__kernel\n" -"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n" -"{\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" if( gIdx < nContacts )\n" -" {\n" -" int2 sdIn;\n" -" sdIn = sortDataInOut[gIdx];\n" -" int2 sdOut;\n" -" sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;\n" -" sdOut.y = sdIn.y;\n" -" sortDataInOut[gIdx] = sdOut;\n" -" }\n" -"}\n" -"typedef struct\n" -"{\n" -" int m_nContacts;\n" -" int m_staticIdx;\n" -" float m_scale;\n" -" int m_nSplit;\n" -"} ConstBufferSSD;\n" -"__constant const int gridTable4x4[] = \n" -"{\n" -" 0,1,17,16,\n" -" 1,2,18,19,\n" -" 17,18,32,3,\n" -" 16,19,3,34\n" -"};\n" -"__constant const int gridTable8x8[] = \n" -"{\n" -" 0, 2, 3, 16, 17, 18, 19, 1,\n" -" 66, 64, 80, 67, 82, 81, 65, 83,\n" -" 131,144,128,130,147,129,145,146,\n" -" 208,195,194,192,193,211,210,209,\n" -" 21, 22, 23, 5, 4, 6, 7, 20,\n" -" 86, 85, 69, 87, 70, 68, 84, 71,\n" -" 151,133,149,150,135,148,132,134,\n" -" 197,27,214,213,212,199,198,196\n" -" \n" -"};\n" -"#define USE_SPATIAL_BATCHING 1\n" -"#define USE_4x4_GRID 1\n" -"__kernel\n" -"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n" -"int nContacts,float scale,int4 nSplit,int staticIdx)\n" -"{\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" \n" -" if( gIdx < nContacts )\n" -" {\n" -" int aPtrAndSignBit = gContact[gIdx].m_bodyAPtrAndSignBit;\n" -" int bPtrAndSignBit = gContact[gIdx].m_bodyBPtrAndSignBit;\n" -" int aIdx = abs(aPtrAndSignBit );\n" -" int bIdx = abs(bPtrAndSignBit);\n" -" bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n" -" bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);\n" -"#if USE_SPATIAL_BATCHING \n" -" int idx = (aStatic)? bIdx: aIdx;\n" -" float4 p = gBodies[idx].m_pos;\n" -" int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);\n" -" int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);\n" -" int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);\n" -" int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);\n" -" \n" -"#else//USE_SPATIAL_BATCHING\n" -" #if USE_4x4_GRID\n" -" int aa = aIdx&3;\n" -" int bb = bIdx&3;\n" -" if (aStatic)\n" -" aa = bb;\n" -" if (bStatic)\n" -" bb = aa;\n" -" int gridIndex = aa + bb*4;\n" -" int newIndex = gridTable4x4[gridIndex];\n" -" #else//USE_4x4_GRID\n" -" int aa = aIdx&7;\n" -" int bb = bIdx&7;\n" -" if (aStatic)\n" -" aa = bb;\n" -" if (bStatic)\n" -" bb = aa;\n" -" int gridIndex = aa + bb*8;\n" -" int newIndex = gridTable8x8[gridIndex];\n" -" #endif//USE_4x4_GRID\n" -"#endif//USE_SPATIAL_BATCHING\n" -" gSortDataOut[gIdx].x = newIndex;\n" -" gSortDataOut[gIdx].y = gIdx;\n" -" }\n" -" else\n" -" {\n" -" gSortDataOut[gIdx].x = 0xffffffff;\n" -" }\n" -"}\n" -"__kernel\n" -"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )\n" -"{\n" -" int gIdx = GET_GLOBAL_IDX;\n" -" if( gIdx < cb.x )\n" -" {\n" -" gOut[gIdx] = gIn[gIdx];\n" -" }\n" -"}\n" -; +static const char* solverSetup2CL = + "/*\n" + "Copyright (c) 2012 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 Takahiro Harada\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" + "#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" + "typedef unsigned int u32;\n" + "typedef unsigned short u16;\n" + "typedef unsigned char u8;\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 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" + "#define max2 max\n" + "#define min2 min\n" + "///////////////////////////////////////\n" + "// Vector\n" + "///////////////////////////////////////\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" + "float fastSqrtf(float f2)\n" + "{\n" + " return native_sqrt(f2);\n" + "// return sqrt(f2);\n" + "}\n" + "__inline\n" + "float fastRSqrt(float f2)\n" + "{\n" + " return native_rsqrt(f2);\n" + "}\n" + "__inline\n" + "float fastLength4(float4 v)\n" + "{\n" + " return fast_length(v);\n" + "}\n" + "__inline\n" + "float4 fastNormalize4(float4 v)\n" + "{\n" + " return fast_normalize(v);\n" + "}\n" + "__inline\n" + "float sqrtf(float a)\n" + "{\n" + "// return sqrt(a);\n" + " return native_sqrt(a);\n" + "}\n" + "__inline\n" + "float4 cross3(float4 a, float4 b)\n" + "{\n" + " return cross(a,b);\n" + "}\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" + "float length3(const float4 a)\n" + "{\n" + " return sqrtf(dot3F4(a,a));\n" + "}\n" + "__inline\n" + "float dot4(const float4 a, const float4 b)\n" + "{\n" + " return dot( a, b );\n" + "}\n" + "// for height\n" + "__inline\n" + "float dot3w1(const float4 point, const float4 eqn)\n" + "{\n" + " return dot3F4(point,eqn) + eqn.w;\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" + "// float length = sqrtf(dot3F4(a, a));\n" + "// return 1.f/length * a;\n" + "}\n" + "__inline\n" + "float4 normalize4(const float4 a)\n" + "{\n" + " float length = sqrtf(dot4(a, a));\n" + " return 1.f/length * a;\n" + "}\n" + "__inline\n" + "float4 createEquation(const float4 a, const float4 b, const float4 c)\n" + "{\n" + " float4 eqn;\n" + " float4 ab = b-a;\n" + " float4 ac = c-a;\n" + " eqn = normalize3( cross3(ab, ac) );\n" + " eqn.w = -dot3F4(eqn,a);\n" + " return eqn;\n" + "}\n" + "///////////////////////////////////////\n" + "// Matrix3x3\n" + "///////////////////////////////////////\n" + "typedef struct\n" + "{\n" + " float4 m_row[3];\n" + "}Matrix3x3;\n" + "__inline\n" + "Matrix3x3 mtZero();\n" + "__inline\n" + "Matrix3x3 mtIdentity();\n" + "__inline\n" + "Matrix3x3 mtTranspose(Matrix3x3 m);\n" + "__inline\n" + "Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n" + "__inline\n" + "float4 mtMul1(Matrix3x3 a, float4 b);\n" + "__inline\n" + "float4 mtMul3(float4 a, Matrix3x3 b);\n" + "__inline\n" + "Matrix3x3 mtZero()\n" + "{\n" + " Matrix3x3 m;\n" + " m.m_row[0] = (float4)(0.f);\n" + " m.m_row[1] = (float4)(0.f);\n" + " m.m_row[2] = (float4)(0.f);\n" + " return m;\n" + "}\n" + "__inline\n" + "Matrix3x3 mtIdentity()\n" + "{\n" + " Matrix3x3 m;\n" + " m.m_row[0] = (float4)(1,0,0,0);\n" + " m.m_row[1] = (float4)(0,1,0,0);\n" + " m.m_row[2] = (float4)(0,0,1,0);\n" + " return m;\n" + "}\n" + "__inline\n" + "Matrix3x3 mtTranspose(Matrix3x3 m)\n" + "{\n" + " Matrix3x3 out;\n" + " out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n" + " out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n" + " out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n" + " return out;\n" + "}\n" + "__inline\n" + "Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n" + "{\n" + " Matrix3x3 transB;\n" + " transB = mtTranspose( b );\n" + " Matrix3x3 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 = dot3F4(a.m_row[i],transB.m_row[0]);\n" + " ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n" + " ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n" + " ans.m_row[i].w = 0.f;\n" + " }\n" + " return ans;\n" + "}\n" + "__inline\n" + "float4 mtMul1(Matrix3x3 a, float4 b)\n" + "{\n" + " float4 ans;\n" + " ans.x = dot3F4( a.m_row[0], b );\n" + " ans.y = dot3F4( a.m_row[1], b );\n" + " ans.z = dot3F4( a.m_row[2], b );\n" + " ans.w = 0.f;\n" + " return ans;\n" + "}\n" + "__inline\n" + "float4 mtMul3(float4 a, Matrix3x3 b)\n" + "{\n" + " float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" + " float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" + " float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n" + " float4 ans;\n" + " ans.x = dot3F4( a, colx );\n" + " ans.y = dot3F4( a, coly );\n" + " ans.z = dot3F4( a, colz );\n" + " return ans;\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" + "#define WG_SIZE 64\n" + "typedef struct\n" + "{\n" + " float4 m_pos;\n" + " Quaternion m_quat;\n" + " float4 m_linVel;\n" + " float4 m_angVel;\n" + " u32 m_shapeIdx;\n" + " float m_invMass;\n" + " float m_restituitionCoeff;\n" + " float m_frictionCoeff;\n" + "} Body;\n" + "typedef struct\n" + "{\n" + " Matrix3x3 m_invInertia;\n" + " Matrix3x3 m_initInvInertia;\n" + "} Shape;\n" + "typedef struct\n" + "{\n" + " float4 m_linear;\n" + " float4 m_worldPos[4];\n" + " float4 m_center; \n" + " float m_jacCoeffInv[4];\n" + " float m_b[4];\n" + " float m_appliedRambdaDt[4];\n" + " float m_fJacCoeffInv[2]; \n" + " float m_fAppliedRambdaDt[2]; \n" + " u32 m_bodyA;\n" + " u32 m_bodyB;\n" + " int m_batchIdx;\n" + " u32 m_paddings[1];\n" + "} Constraint4;\n" + "typedef struct\n" + "{\n" + " int m_nConstraints;\n" + " int m_start;\n" + " int m_batchIdx;\n" + " int m_nSplit;\n" + "// int m_paddings[1];\n" + "} ConstBuffer;\n" + "typedef struct\n" + "{\n" + " int m_solveFriction;\n" + " int m_maxBatch; // long batch really kills the performance\n" + " int m_batchIdx;\n" + " int m_nSplit;\n" + "// int m_paddings[1];\n" + "} ConstBufferBatchSolve;\n" + " \n" + "typedef struct \n" + "{\n" + " int m_valInt0;\n" + " int m_valInt1;\n" + " int m_valInt2;\n" + " int m_valInt3;\n" + " float m_val0;\n" + " float m_val1;\n" + " float m_val2;\n" + " float m_val3;\n" + "} SolverDebugInfo;\n" + "// others\n" + "__kernel\n" + "__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n" + "{\n" + " int nContacts = cb.x;\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " if( gIdx < nContacts )\n" + " {\n" + " int srcIdx = sortData[gIdx].y;\n" + " out[gIdx] = in[srcIdx];\n" + " }\n" + "}\n" + "__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)\n" + "{\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " if( gIdx < nContacts )\n" + " {\n" + " int2 sd;\n" + " sd.x = contactsIn[gIdx].m_childIndexB;\n" + " sd.y = gIdx;\n" + " sortDataOut[gIdx] = sd;\n" + " }\n" + "}\n" + "__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n" + "{\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " if( gIdx < nContacts )\n" + " {\n" + " int2 sdIn;\n" + " sdIn = sortDataInOut[gIdx];\n" + " int2 sdOut;\n" + " sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n" + " sdOut.y = sdIn.y;\n" + " sortDataInOut[gIdx] = sdOut;\n" + " }\n" + "}\n" + "__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n" + "{\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " if( gIdx < nContacts )\n" + " {\n" + " int2 sdIn;\n" + " sdIn = sortDataInOut[gIdx];\n" + " int2 sdOut;\n" + " sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n" + " sdOut.y = sdIn.y;\n" + " sortDataInOut[gIdx] = sdOut;\n" + " }\n" + "}\n" + "__kernel\n" + "__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n" + "{\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " if( gIdx < nContacts )\n" + " {\n" + " int2 sdIn;\n" + " sdIn = sortDataInOut[gIdx];\n" + " int2 sdOut;\n" + " sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;\n" + " sdOut.y = sdIn.y;\n" + " sortDataInOut[gIdx] = sdOut;\n" + " }\n" + "}\n" + "typedef struct\n" + "{\n" + " int m_nContacts;\n" + " int m_staticIdx;\n" + " float m_scale;\n" + " int m_nSplit;\n" + "} ConstBufferSSD;\n" + "__constant const int gridTable4x4[] = \n" + "{\n" + " 0,1,17,16,\n" + " 1,2,18,19,\n" + " 17,18,32,3,\n" + " 16,19,3,34\n" + "};\n" + "__constant const int gridTable8x8[] = \n" + "{\n" + " 0, 2, 3, 16, 17, 18, 19, 1,\n" + " 66, 64, 80, 67, 82, 81, 65, 83,\n" + " 131,144,128,130,147,129,145,146,\n" + " 208,195,194,192,193,211,210,209,\n" + " 21, 22, 23, 5, 4, 6, 7, 20,\n" + " 86, 85, 69, 87, 70, 68, 84, 71,\n" + " 151,133,149,150,135,148,132,134,\n" + " 197,27,214,213,212,199,198,196\n" + " \n" + "};\n" + "#define USE_SPATIAL_BATCHING 1\n" + "#define USE_4x4_GRID 1\n" + "__kernel\n" + "__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n" + "int nContacts,float scale,int4 nSplit,int staticIdx)\n" + "{\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " \n" + " if( gIdx < nContacts )\n" + " {\n" + " int aPtrAndSignBit = gContact[gIdx].m_bodyAPtrAndSignBit;\n" + " int bPtrAndSignBit = gContact[gIdx].m_bodyBPtrAndSignBit;\n" + " int aIdx = abs(aPtrAndSignBit );\n" + " int bIdx = abs(bPtrAndSignBit);\n" + " bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n" + " bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);\n" + "#if USE_SPATIAL_BATCHING \n" + " int idx = (aStatic)? bIdx: aIdx;\n" + " float4 p = gBodies[idx].m_pos;\n" + " int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);\n" + " int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);\n" + " int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);\n" + " int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);\n" + " \n" + "#else//USE_SPATIAL_BATCHING\n" + " #if USE_4x4_GRID\n" + " int aa = aIdx&3;\n" + " int bb = bIdx&3;\n" + " if (aStatic)\n" + " aa = bb;\n" + " if (bStatic)\n" + " bb = aa;\n" + " int gridIndex = aa + bb*4;\n" + " int newIndex = gridTable4x4[gridIndex];\n" + " #else//USE_4x4_GRID\n" + " int aa = aIdx&7;\n" + " int bb = bIdx&7;\n" + " if (aStatic)\n" + " aa = bb;\n" + " if (bStatic)\n" + " bb = aa;\n" + " int gridIndex = aa + bb*8;\n" + " int newIndex = gridTable8x8[gridIndex];\n" + " #endif//USE_4x4_GRID\n" + "#endif//USE_SPATIAL_BATCHING\n" + " gSortDataOut[gIdx].x = newIndex;\n" + " gSortDataOut[gIdx].y = gIdx;\n" + " }\n" + " else\n" + " {\n" + " gSortDataOut[gIdx].x = 0xffffffff;\n" + " }\n" + "}\n" + "__kernel\n" + "__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )\n" + "{\n" + " int gIdx = GET_GLOBAL_IDX;\n" + " if( gIdx < cb.x )\n" + " {\n" + " gOut[gIdx] = gIn[gIdx];\n" + " }\n" + "}\n"; |