diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h | 482 |
1 files changed, 0 insertions, 482 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h deleted file mode 100644 index bb949b2027..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h +++ /dev/null @@ -1,482 +0,0 @@ -//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* updateAabbsKernelCL = - "#ifndef B3_UPDATE_AABBS_H\n" - "#define B3_UPDATE_AABBS_H\n" - "#ifndef B3_AABB_H\n" - "#define B3_AABB_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_MAT3x3_H\n" - "#define B3_MAT3x3_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" - "#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 b3Aabb b3Aabb_t;\n" - "struct b3Aabb\n" - "{\n" - " union\n" - " {\n" - " float m_min[4];\n" - " b3Float4 m_minVec;\n" - " int m_minIndices[4];\n" - " };\n" - " union\n" - " {\n" - " float m_max[4];\n" - " b3Float4 m_maxVec;\n" - " int m_signedMaxIndices[4];\n" - " };\n" - "};\n" - "inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n" - " b3Float4ConstArg pos,\n" - " b3QuatConstArg orn,\n" - " b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n" - "{\n" - " b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n" - " localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n" - " b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n" - " b3Mat3x3 m;\n" - " m = b3QuatGetRotationMatrix(orn);\n" - " b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n" - " b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n" - " \n" - " b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n" - " b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n" - " b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n" - " 0.f);\n" - " *aabbMinOut = center-extent;\n" - " *aabbMaxOut = center+extent;\n" - "}\n" - "/// conservative test for overlap between two aabbs\n" - "inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n" - " b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n" - "{\n" - " bool overlap = true;\n" - " overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n" - " overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n" - " overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n" - " return overlap;\n" - "}\n" - "#endif //B3_AABB_H\n" - "#ifndef B3_COLLIDABLE_H\n" - "#define B3_COLLIDABLE_H\n" - "#ifndef B3_FLOAT4_H\n" - "#ifdef __cplusplus\n" - "#else\n" - "#endif \n" - "#endif //B3_FLOAT4_H\n" - "#ifndef B3_QUAT_H\n" - "#ifdef __cplusplus\n" - "#else\n" - "#endif \n" - "#endif //B3_QUAT_H\n" - "enum b3ShapeTypes\n" - "{\n" - " SHAPE_HEIGHT_FIELD=1,\n" - " SHAPE_CONVEX_HULL=3,\n" - " SHAPE_PLANE=4,\n" - " SHAPE_CONCAVE_TRIMESH=5,\n" - " SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n" - " SHAPE_SPHERE=7,\n" - " MAX_NUM_SHAPE_TYPES,\n" - "};\n" - "typedef struct b3Collidable b3Collidable_t;\n" - "struct b3Collidable\n" - "{\n" - " union {\n" - " int m_numChildShapes;\n" - " int m_bvhIndex;\n" - " };\n" - " union\n" - " {\n" - " float m_radius;\n" - " int m_compoundBvhIndex;\n" - " };\n" - " int m_shapeType;\n" - " union\n" - " {\n" - " int m_shapeIndex;\n" - " float m_height;\n" - " };\n" - "};\n" - "typedef struct b3GpuChildShape b3GpuChildShape_t;\n" - "struct b3GpuChildShape\n" - "{\n" - " b3Float4 m_childPosition;\n" - " b3Quat m_childOrientation;\n" - " union\n" - " {\n" - " int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n" - " int m_capsuleAxis;\n" - " };\n" - " union \n" - " {\n" - " float m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n" - " int m_numChildShapes;//used for compound shape\n" - " };\n" - " union \n" - " {\n" - " float m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n" - " int m_collidableShapeIndex;\n" - " };\n" - " int m_shapeType;\n" - "};\n" - "struct b3CompoundOverlappingPair\n" - "{\n" - " int m_bodyIndexA;\n" - " int m_bodyIndexB;\n" - "// int m_pairType;\n" - " int m_childShapeIndexA;\n" - " int m_childShapeIndexB;\n" - "};\n" - "#endif //B3_COLLIDABLE_H\n" - "#ifndef B3_RIGIDBODY_DATA_H\n" - "#define B3_RIGIDBODY_DATA_H\n" - "#ifndef B3_FLOAT4_H\n" - "#ifdef __cplusplus\n" - "#else\n" - "#endif \n" - "#endif //B3_FLOAT4_H\n" - "#ifndef B3_QUAT_H\n" - "#ifdef __cplusplus\n" - "#else\n" - "#endif \n" - "#endif //B3_QUAT_H\n" - "#ifndef B3_MAT3x3_H\n" - "#ifdef __cplusplus\n" - "#else\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" - "void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n" - "{\n" - " __global const b3RigidBodyData_t* body = &bodies[bodyId];\n" - " b3Float4 position = body->m_pos;\n" - " b3Quat orientation = body->m_quat;\n" - " \n" - " int collidableIndex = body->m_collidableIdx;\n" - " int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n" - " \n" - " if (shapeIndex>=0)\n" - " {\n" - " \n" - " b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n" - " b3Aabb_t worldAabb;\n" - " \n" - " b3Float4 aabbAMinOut,aabbAMaxOut; \n" - " float margin = 0.f;\n" - " b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n" - " \n" - " worldAabb.m_minVec =aabbAMinOut;\n" - " worldAabb.m_minIndices[3] = bodyId;\n" - " worldAabb.m_maxVec = aabbAMaxOut;\n" - " worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n" - " worldAabbs[bodyId] = worldAabb;\n" - " }\n" - "}\n" - "#endif //B3_UPDATE_AABBS_H\n" - "__kernel void initializeGpuAabbsFull( const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n" - "{\n" - " int nodeID = get_global_id(0);\n" - " if( nodeID < numNodes )\n" - " {\n" - " b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n" - " }\n" - "}\n" - "__kernel void clearOverlappingPairsKernel( __global int4* pairs, int numPairs)\n" - "{\n" - " int pairId = get_global_id(0);\n" - " if( pairId< numPairs )\n" - " {\n" - " pairs[pairId].z = 0xffffffff;\n" - " }\n" - "}\n"; |