path: root/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h

//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* mprKernelsCL= \
"/***\n"
" * ---------------------------------\n"
" * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>\n"
" *\n"
" *  This file was ported from mpr.c file, part of libccd.\n"
" *  The Minkoski Portal Refinement implementation was ported \n"
" *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.\n"
" *  at http://github.com/erwincoumans/bullet3\n"
" *\n"
" *  Distributed under the OSI-approved BSD License (the \"License\");\n"
" *  see <http://www.opensource.org/licenses/bsd-license.php>.\n"
" *  This software is distributed WITHOUT ANY WARRANTY; without even the\n"
" *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n"
" *  See the License for more information.\n"
" */\n"
"#ifndef B3_MPR_PENETRATION_H\n"
"#define B3_MPR_PENETRATION_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"
"#ifndef B3_FLOAT4_H\n"
"#define B3_FLOAT4_H\n"
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
"#ifdef __cplusplus\n"
"#else\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_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"
"#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_CONVEX_POLYHEDRON_DATA_H\n"
"#define B3_CONVEX_POLYHEDRON_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"
"typedef struct b3GpuFace b3GpuFace_t;\n"
"struct b3GpuFace\n"
"{\n"
"	b3Float4 m_plane;\n"
"	int m_indexOffset;\n"
"	int m_numIndices;\n"
"	int m_unusedPadding1;\n"
"	int m_unusedPadding2;\n"
"};\n"
"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
"struct b3ConvexPolyhedronData\n"
"{\n"
"	b3Float4		m_localCenter;\n"
"	b3Float4		m_extents;\n"
"	b3Float4		mC;\n"
"	b3Float4		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"
"};\n"
"#endif //B3_CONVEX_POLYHEDRON_DATA_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"
"	int m_shapeIndex;\n"
"};\n"
"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
"struct b3GpuChildShape\n"
"{\n"
"	b3Float4	m_childPosition;\n"
"	b3Quat		m_childOrientation;\n"
"	int m_shapeIndex;\n"
"	int m_unused0;\n"
"	int m_unused1;\n"
"	int m_unused2;\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"
"#ifdef __cplusplus\n"
"#else\n"
"#define B3_MPR_SQRT sqrt\n"
"#endif\n"
"#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))\n"
"#define B3_MPR_FABS fabs\n"
"#define B3_MPR_TOLERANCE 1E-6f\n"
"#define B3_MPR_MAX_ITERATIONS 1000\n"
"struct _b3MprSupport_t \n"
"{\n"
"    b3Float4 v;  //!< Support point in minkowski sum\n"
"    b3Float4 v1; //!< Support point in obj1\n"
"    b3Float4 v2; //!< Support point in obj2\n"
"};\n"
"typedef struct _b3MprSupport_t b3MprSupport_t;\n"
"struct _b3MprSimplex_t \n"
"{\n"
"    b3MprSupport_t ps[4];\n"
"    int last; //!< index of last added point\n"
"};\n"
"typedef struct _b3MprSimplex_t b3MprSimplex_t;\n"
"inline b3MprSupport_t* b3MprSimplexPointW(b3MprSimplex_t *s, int idx)\n"
"{\n"
"    return &s->ps[idx];\n"
"}\n"
"inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)\n"
"{\n"
"    s->last = size - 1;\n"
"}\n"
"inline int b3MprSimplexSize(const b3MprSimplex_t *s)\n"
"{\n"
"    return s->last + 1;\n"
"}\n"
"inline const b3MprSupport_t* b3MprSimplexPoint(const b3MprSimplex_t* s, int idx)\n"
"{\n"
"    // here is no check on boundaries\n"
"    return &s->ps[idx];\n"
"}\n"
"inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)\n"
"{\n"
"    *d = *s;\n"
"}\n"
"inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)\n"
"{\n"
"    b3MprSupportCopy(s->ps + pos, a);\n"
"}\n"
"inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)\n"
"{\n"
"    b3MprSupport_t supp;\n"
"    b3MprSupportCopy(&supp, &s->ps[pos1]);\n"
"    b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);\n"
"    b3MprSupportCopy(&s->ps[pos2], &supp);\n"
"}\n"
"inline int b3MprIsZero(float val)\n"
"{\n"
"    return B3_MPR_FABS(val) < FLT_EPSILON;\n"
"}\n"
"inline int b3MprEq(float _a, float _b)\n"
"{\n"
"    float ab;\n"
"    float a, b;\n"
"    ab = B3_MPR_FABS(_a - _b);\n"
"    if (B3_MPR_FABS(ab) < FLT_EPSILON)\n"
"        return 1;\n"
"    a = B3_MPR_FABS(_a);\n"
"    b = B3_MPR_FABS(_b);\n"
"    if (b > a){\n"
"        return ab < FLT_EPSILON * b;\n"
"    }else{\n"
"        return ab < FLT_EPSILON * a;\n"
"    }\n"
"}\n"
"inline int b3MprVec3Eq(const b3Float4* a, const b3Float4 *b)\n"
"{\n"
"    return b3MprEq((*a).x, (*b).x)\n"
"            && b3MprEq((*a).y, (*b).y)\n"
"            && b3MprEq((*a).z, (*b).z);\n"
"}\n"
"inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global const b3ConvexPolyhedronData_t* hull, 	b3ConstArray(b3Float4) verticesA)\n"
"{\n"
"	b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
"	float maxDot = -B3_LARGE_FLOAT;\n"
"    if( 0 < hull->m_numVertices )\n"
"    {\n"
"        const b3Float4 scaled = supportVec;\n"
"		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
"        return verticesA[hull->m_vertexOffset+index];\n"
"    }\n"
"    return supVec;\n"
"}\n"
"B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
"													b3ConstArray(b3Float4)					cpuVertices,\n"
"													__global b3Float4* sepAxis,\n"
"														const b3Float4* _dir, b3Float4* outp, int logme)\n"
"{\n"
"	//dir is in worldspace, move to local space\n"
"	\n"
"	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;\n"
"	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;\n"
"	\n"
"	b3Float4 dir = b3MakeFloat4((*_dir).x,(*_dir).y,(*_dir).z,0.f);\n"
"	\n"
"	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),dir);\n"
"	\n"
"	//find local support vertex\n"
"	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;\n"
"	\n"
"	b3Assert(cpuCollidables[colIndex].m_shapeType==SHAPE_CONVEX_HULL);\n"
"	__global const b3ConvexPolyhedronData_t* hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];\n"
"	\n"
"	b3Float4 pInA;\n"
"	if (logme)\n"
"	{\n"
"		b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
"		float maxDot = -B3_LARGE_FLOAT;\n"
"		if( 0 < hull->m_numVertices )\n"
"		{\n"
"			const b3Float4 scaled = localDir;\n"
"			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
"			pInA = cpuVertices[hull->m_vertexOffset+index];\n"
"			\n"
"		}\n"
"	} else\n"
"	{\n"
"		pInA = b3LocalGetSupportVertex(localDir,hull,cpuVertices);\n"
"	}\n"
"	//move vertex to world space\n"
"	*outp = b3TransformPoint(pInA,pos,orn);\n"
"	\n"
"}\n"
"inline void b3MprSupport(int pairIndex,int bodyIndexA, int bodyIndexB,   b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
"													b3ConstArray(b3Float4)					cpuVertices,\n"
"													__global b3Float4* sepAxis,\n"
"													const b3Float4* _dir, b3MprSupport_t *supp)\n"
"{\n"
"    b3Float4 dir;\n"
"	dir = *_dir;\n"
"	b3MprConvexSupport(pairIndex,bodyIndexA,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v1,0);\n"
"    dir = *_dir*-1.f;\n"
"	b3MprConvexSupport(pairIndex,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v2,0);\n"
"    supp->v = supp->v1 - supp->v2;\n"
"}\n"
"inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)\n"
"{\n"
"    center->v1 = cpuBodyBuf[bodyIndexA].m_pos;\n"
"	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;\n"
"    center->v = center->v1 - center->v2;\n"
"}\n"
"inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)\n"
"{\n"
"	(*v).x = x;\n"
"	(*v).y = y;\n"
"	(*v).z = z;\n"
"	(*v).w = 0.f;\n"
"}\n"
"inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)\n"
"{\n"
"    (*v).x += (*w).x;\n"
"    (*v).y += (*w).y;\n"
"    (*v).z += (*w).z;\n"
"}\n"
"inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)\n"
"{\n"
"    *v = *w;\n"
"}\n"
"inline void b3MprVec3Scale(b3Float4 *d, float k)\n"
"{\n"
"    *d *= k;\n"
"}\n"
"inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)\n"
"{\n"
"    float dot;\n"
"	dot = b3Dot3F4(*a,*b);\n"
"    return dot;\n"
"}\n"
"inline float b3MprVec3Len2(const b3Float4 *v)\n"
"{\n"
"    return b3MprVec3Dot(v, v);\n"
"}\n"
"inline void b3MprVec3Normalize(b3Float4 *d)\n"
"{\n"
"    float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));\n"
"    b3MprVec3Scale(d, k);\n"
"}\n"
"inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)\n"
"{\n"
"	*d = b3Cross3(*a,*b);\n"
"	\n"
"}\n"
"inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)\n"
"{\n"
"	*d = *v - *w;\n"
"}\n"
"inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)\n"
"{\n"
"    b3Float4 v2v1, v3v1;\n"
"    b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,\n"
"                       &b3MprSimplexPoint(portal, 1)->v);\n"
"    b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,\n"
"                       &b3MprSimplexPoint(portal, 1)->v);\n"
"    b3MprVec3Cross(dir, &v2v1, &v3v1);\n"
"    b3MprVec3Normalize(dir);\n"
"}\n"
"inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,\n"
"                                       const b3Float4 *dir)\n"
"{\n"
"    float dot;\n"
"    dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
"    return b3MprIsZero(dot) || dot > 0.f;\n"
"}\n"
"inline int portalReachTolerance(const b3MprSimplex_t *portal,\n"
"                                     const b3MprSupport_t *v4,\n"
"                                     const b3Float4 *dir)\n"
"{\n"
"    float dv1, dv2, dv3, dv4;\n"
"    float dot1, dot2, dot3;\n"
"    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}\n"
"    dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);\n"
"    dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);\n"
"    dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);\n"
"    dv4 = b3MprVec3Dot(&v4->v, dir);\n"
"    dot1 = dv4 - dv1;\n"
"    dot2 = dv4 - dv2;\n"
"    dot3 = dv4 - dv3;\n"
"    dot1 = B3_MPR_FMIN(dot1, dot2);\n"
"    dot1 = B3_MPR_FMIN(dot1, dot3);\n"
"    return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;\n"
"}\n"
"inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,   \n"
"                                         const b3MprSupport_t *v4,\n"
"                                         const b3Float4 *dir)\n"
"{\n"
"    float dot;\n"
"    dot = b3MprVec3Dot(&v4->v, dir);\n"
"    return b3MprIsZero(dot) || dot > 0.f;\n"
"}\n"
"inline void b3ExpandPortal(b3MprSimplex_t *portal,\n"
"                              const b3MprSupport_t *v4)\n"
"{\n"
"    float dot;\n"
"    b3Float4 v4v0;\n"
"    b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);\n"
"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);\n"
"    if (dot > 0.f){\n"
"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);\n"
"        if (dot > 0.f){\n"
"            b3MprSimplexSet(portal, 1, v4);\n"
"        }else{\n"
"            b3MprSimplexSet(portal, 3, v4);\n"
"        }\n"
"    }else{\n"
"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);\n"
"        if (dot > 0.f){\n"
"            b3MprSimplexSet(portal, 2, v4);\n"
"        }else{\n"
"            b3MprSimplexSet(portal, 1, v4);\n"
"        }\n"
"    }\n"
"}\n"
"B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
"													b3ConstArray(b3Float4)					cpuVertices,\n"
"													__global b3Float4* sepAxis,\n"
"													__global int*	hasSepAxis,\n"
"													b3MprSimplex_t *portal)\n"
"{\n"
"    b3Float4 dir, va, vb;\n"
"    float dot;\n"
"    int cont;\n"
"	\n"
"	\n"
"    // vertex 0 is center of portal\n"
"    b3FindOrigin(bodyIndexA,bodyIndexB,cpuBodyBuf, b3MprSimplexPointW(portal, 0));\n"
"    // vertex 0 is center of portal\n"
"    b3MprSimplexSetSize(portal, 1);\n"
"	\n"
"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
"	b3Float4* b3mpr_vec3_origin = &zero;\n"
"    if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin)){\n"
"        // Portal's center lies on origin (0,0,0) => we know that objects\n"
"        // intersect but we would need to know penetration info.\n"
"        // So move center little bit...\n"
"        b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);\n"
"        b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);\n"
"    }\n"
"    // vertex 1 = support in direction of origin\n"
"    b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
"    b3MprVec3Scale(&dir, -1.f);\n"
"    b3MprVec3Normalize(&dir);\n"
"    b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 1));\n"
"    b3MprSimplexSetSize(portal, 2);\n"
"    // test if origin isn't outside of v1\n"
"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);\n"
"	\n"
"    if (b3MprIsZero(dot) || dot < 0.f)\n"
"        return -1;\n"
"    // vertex 2\n"
"    b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,\n"
"                       &b3MprSimplexPoint(portal, 1)->v);\n"
"    if (b3MprIsZero(b3MprVec3Len2(&dir))){\n"
"        if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin)){\n"
"            // origin lies on v1\n"
"            return 1;\n"
"        }else{\n"
"            // origin lies on v0-v1 segment\n"
"            return 2;\n"
"        }\n"
"    }\n"
"    b3MprVec3Normalize(&dir);\n"
"	 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 2));\n"
"    \n"
"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);\n"
"    if (b3MprIsZero(dot) || dot < 0.f)\n"
"        return -1;\n"
"    b3MprSimplexSetSize(portal, 3);\n"
"    // vertex 3 direction\n"
"    b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
"                     &b3MprSimplexPoint(portal, 0)->v);\n"
"    b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
"                     &b3MprSimplexPoint(portal, 0)->v);\n"
"    b3MprVec3Cross(&dir, &va, &vb);\n"
"    b3MprVec3Normalize(&dir);\n"
"    // it is better to form portal faces to be oriented \"outside\" origin\n"
"    dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
"    if (dot > 0.f){\n"
"        b3MprSimplexSwap(portal, 1, 2);\n"
"        b3MprVec3Scale(&dir, -1.f);\n"
"    }\n"
"    while (b3MprSimplexSize(portal) < 4){\n"
"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 3));\n"
"        \n"
"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);\n"
"        if (b3MprIsZero(dot) || dot < 0.f)\n"
"            return -1;\n"
"        cont = 0;\n"
"        // test if origin is outside (v1, v0, v3) - set v2 as v3 and\n"
"        // continue\n"
"        b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
"                          &b3MprSimplexPoint(portal, 3)->v);\n"
"        dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
"        if (dot < 0.f && !b3MprIsZero(dot)){\n"
"            b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));\n"
"            cont = 1;\n"
"        }\n"
"        if (!cont){\n"
"            // test if origin is outside (v3, v0, v2) - set v1 as v3 and\n"
"            // continue\n"
"            b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,\n"
"                              &b3MprSimplexPoint(portal, 2)->v);\n"
"            dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
"            if (dot < 0.f && !b3MprIsZero(dot)){\n"
"                b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));\n"
"                cont = 1;\n"
"            }\n"
"        }\n"
"        if (cont){\n"
"            b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
"                             &b3MprSimplexPoint(portal, 0)->v);\n"
"            b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
"                             &b3MprSimplexPoint(portal, 0)->v);\n"
"            b3MprVec3Cross(&dir, &va, &vb);\n"
"            b3MprVec3Normalize(&dir);\n"
"        }else{\n"
"            b3MprSimplexSetSize(portal, 4);\n"
"        }\n"
"    }\n"
"    return 0;\n"
"}\n"
"B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
"													b3ConstArray(b3Float4)					cpuVertices,\n"
"													__global b3Float4* sepAxis,\n"
"													b3MprSimplex_t *portal)\n"
"{\n"
"    b3Float4 dir;\n"
"    b3MprSupport_t v4;\n"
"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
"    //while (1)\n"
"	{\n"
"        // compute direction outside the portal (from v0 throught v1,v2,v3\n"
"        // face)\n"
"        b3PortalDir(portal, &dir);\n"
"        // test if origin is inside the portal\n"
"        if (portalEncapsulesOrigin(portal, &dir))\n"
"            return 0;\n"
"        // get next support point\n"
"        \n"
"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
"        // test if v4 can expand portal to contain origin and if portal\n"
"        // expanding doesn't reach given tolerance\n"
"        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)\n"
"                || portalReachTolerance(portal, &v4, &dir))\n"
"		{\n"
"            return -1;\n"
"        }\n"
"        // v1-v2-v3 triangle must be rearranged to face outside Minkowski\n"
"        // difference (direction from v0).\n"
"        b3ExpandPortal(portal, &v4);\n"
"    }\n"
"    return -1;\n"
"}\n"
"B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)\n"
"{\n"
"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
"	b3Float4* b3mpr_vec3_origin = &zero;\n"
"    b3Float4 dir;\n"
"    size_t i;\n"
"    float b[4], sum, inv;\n"
"    b3Float4 vec, p1, p2;\n"
"    b3PortalDir(portal, &dir);\n"
"    // use barycentric coordinates of tetrahedron to find origin\n"
"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
"                       &b3MprSimplexPoint(portal, 2)->v);\n"
"    b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
"                       &b3MprSimplexPoint(portal, 2)->v);\n"
"    b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,\n"
"                       &b3MprSimplexPoint(portal, 1)->v);\n"
"    b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
"                       &b3MprSimplexPoint(portal, 1)->v);\n"
"    b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
"	sum = b[0] + b[1] + b[2] + b[3];\n"
"    if (b3MprIsZero(sum) || sum < 0.f){\n"
"		b[0] = 0.f;\n"
"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
"                           &b3MprSimplexPoint(portal, 3)->v);\n"
"        b[1] = b3MprVec3Dot(&vec, &dir);\n"
"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
"                           &b3MprSimplexPoint(portal, 1)->v);\n"
"        b[2] = b3MprVec3Dot(&vec, &dir);\n"
"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
"                           &b3MprSimplexPoint(portal, 2)->v);\n"
"        b[3] = b3MprVec3Dot(&vec, &dir);\n"
"		sum = b[1] + b[2] + b[3];\n"
"	}\n"
"	inv = 1.f / sum;\n"
"    b3MprVec3Copy(&p1, b3mpr_vec3_origin);\n"
"    b3MprVec3Copy(&p2, b3mpr_vec3_origin);\n"
"    for (i = 0; i < 4; i++){\n"
"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);\n"
"        b3MprVec3Scale(&vec, b[i]);\n"
"        b3MprVec3Add(&p1, &vec);\n"
"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);\n"
"        b3MprVec3Scale(&vec, b[i]);\n"
"        b3MprVec3Add(&p2, &vec);\n"
"    }\n"
"    b3MprVec3Scale(&p1, inv);\n"
"    b3MprVec3Scale(&p2, inv);\n"
"    b3MprVec3Copy(pos, &p1);\n"
"    b3MprVec3Add(pos, &p2);\n"
"    b3MprVec3Scale(pos, 0.5);\n"
"}\n"
"inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)\n"
"{\n"
"    b3Float4 ab;\n"
"    b3MprVec3Sub2(&ab, a, b);\n"
"    return b3MprVec3Len2(&ab);\n"
"}\n"
"inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,\n"
"                                                  const b3Float4 *x0,\n"
"                                                  const b3Float4 *b,\n"
"                                                  b3Float4 *witness)\n"
"{\n"
"    // The computation comes from solving equation of segment:\n"
"    //      S(t) = x0 + t.d\n"
"    //          where - x0 is initial point of segment\n"
"    //                - d is direction of segment from x0 (|d| > 0)\n"
"    //                - t belongs to <0, 1> interval\n"
"    // \n"
"    // Than, distance from a segment to some point P can be expressed:\n"
"    //      D(t) = |x0 + t.d - P|^2\n"
"    //          which is distance from any point on segment. Minimization\n"
"    //          of this function brings distance from P to segment.\n"
"    // Minimization of D(t) leads to simple quadratic equation that's\n"
"    // solving is straightforward.\n"
"    //\n"
"    // Bonus of this method is witness point for free.\n"
"    float dist, t;\n"
"    b3Float4 d, a;\n"
"    // direction of segment\n"
"    b3MprVec3Sub2(&d, b, x0);\n"
"    // precompute vector from P to x0\n"
"    b3MprVec3Sub2(&a, x0, P);\n"
"    t  = -1.f * b3MprVec3Dot(&a, &d);\n"
"    t /= b3MprVec3Len2(&d);\n"
"    if (t < 0.f || b3MprIsZero(t)){\n"
"        dist = b3MprVec3Dist2(x0, P);\n"
"        if (witness)\n"
"            b3MprVec3Copy(witness, x0);\n"
"    }else if (t > 1.f || b3MprEq(t, 1.f)){\n"
"        dist = b3MprVec3Dist2(b, P);\n"
"        if (witness)\n"
"            b3MprVec3Copy(witness, b);\n"
"    }else{\n"
"        if (witness){\n"
"            b3MprVec3Copy(witness, &d);\n"
"            b3MprVec3Scale(witness, t);\n"
"            b3MprVec3Add(witness, x0);\n"
"            dist = b3MprVec3Dist2(witness, P);\n"
"        }else{\n"
"            // recycling variables\n"
"            b3MprVec3Scale(&d, t);\n"
"            b3MprVec3Add(&d, &a);\n"
"            dist = b3MprVec3Len2(&d);\n"
"        }\n"
"    }\n"
"    return dist;\n"
"}\n"
"inline float b3MprVec3PointTriDist2(const b3Float4 *P,\n"
"                                const b3Float4 *x0, const b3Float4 *B,\n"
"                                const b3Float4 *C,\n"
"                                b3Float4 *witness)\n"
"{\n"
"    // Computation comes from analytic expression for triangle (x0, B, C)\n"
"    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and\n"
"    // Then equation for distance is:\n"
"    //      D(s, t) = | T(s, t) - P |^2\n"
"    // This leads to minimization of quadratic function of two variables.\n"
"    // The solution from is taken only if s is between 0 and 1, t is\n"
"    // between 0 and 1 and t + s < 1, otherwise distance from segment is\n"
"    // computed.\n"
"    b3Float4 d1, d2, a;\n"
"    float u, v, w, p, q, r;\n"
"    float s, t, dist, dist2;\n"
"    b3Float4 witness2;\n"
"    b3MprVec3Sub2(&d1, B, x0);\n"
"    b3MprVec3Sub2(&d2, C, x0);\n"
"    b3MprVec3Sub2(&a, x0, P);\n"
"    u = b3MprVec3Dot(&a, &a);\n"
"    v = b3MprVec3Dot(&d1, &d1);\n"
"    w = b3MprVec3Dot(&d2, &d2);\n"
"    p = b3MprVec3Dot(&a, &d1);\n"
"    q = b3MprVec3Dot(&a, &d2);\n"
"    r = b3MprVec3Dot(&d1, &d2);\n"
"    s = (q * r - w * p) / (w * v - r * r);\n"
"    t = (-s * r - q) / w;\n"
"    if ((b3MprIsZero(s) || s > 0.f)\n"
"            && (b3MprEq(s, 1.f) || s < 1.f)\n"
"            && (b3MprIsZero(t) || t > 0.f)\n"
"            && (b3MprEq(t, 1.f) || t < 1.f)\n"
"            && (b3MprEq(t + s, 1.f) || t + s < 1.f)){\n"
"        if (witness){\n"
"            b3MprVec3Scale(&d1, s);\n"
"            b3MprVec3Scale(&d2, t);\n"
"            b3MprVec3Copy(witness, x0);\n"
"            b3MprVec3Add(witness, &d1);\n"
"            b3MprVec3Add(witness, &d2);\n"
"            dist = b3MprVec3Dist2(witness, P);\n"
"        }else{\n"
"            dist  = s * s * v;\n"
"            dist += t * t * w;\n"
"            dist += 2.f * s * t * r;\n"
"            dist += 2.f * s * p;\n"
"            dist += 2.f * t * q;\n"
"            dist += u;\n"
"        }\n"
"    }else{\n"
"        dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);\n"
"        dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);\n"
"        if (dist2 < dist){\n"
"            dist = dist2;\n"
"            if (witness)\n"
"                b3MprVec3Copy(witness, &witness2);\n"
"        }\n"
"        dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);\n"
"        if (dist2 < dist){\n"
"            dist = dist2;\n"
"            if (witness)\n"
"                b3MprVec3Copy(witness, &witness2);\n"
"        }\n"
"    }\n"
"    return dist;\n"
"}\n"
"B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
"													b3ConstArray(b3Float4)					cpuVertices,\n"
"													__global b3Float4* sepAxis,\n"
"                       b3MprSimplex_t *portal,\n"
"                       float *depth, b3Float4 *pdir, b3Float4 *pos)\n"
"{\n"
"    b3Float4 dir;\n"
"    b3MprSupport_t v4;\n"
"    unsigned long iterations;\n"
"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
"	b3Float4* b3mpr_vec3_origin = &zero;\n"
"    iterations = 1UL;\n"
"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
"    //while (1)\n"
"	{\n"
"        // compute portal direction and obtain next support point\n"
"        b3PortalDir(portal, &dir);\n"
"        \n"
"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
"        // reached tolerance -> find penetration info\n"
"        if (portalReachTolerance(portal, &v4, &dir)\n"
"                || iterations ==B3_MPR_MAX_ITERATIONS)\n"
"		{\n"
"            *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin,&b3MprSimplexPoint(portal, 1)->v,&b3MprSimplexPoint(portal, 2)->v,&b3MprSimplexPoint(portal, 3)->v,pdir);\n"
"            *depth = B3_MPR_SQRT(*depth);\n"
"			\n"
"			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))\n"
"			{\n"
"				\n"
"				*pdir = dir;\n"
"			} \n"
"			b3MprVec3Normalize(pdir);\n"
"			\n"
"            // barycentric coordinates:\n"
"            b3FindPos(portal, pos);\n"
"            return;\n"
"        }\n"
"        b3ExpandPortal(portal, &v4);\n"
"        iterations++;\n"
"    }\n"
"}\n"
"B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)\n"
"{\n"
"    // Touching contact on portal's v1 - so depth is zero and direction\n"
"    // is unimportant and pos can be guessed\n"
"    *depth = 0.f;\n"
"    b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
"	b3Float4* b3mpr_vec3_origin = &zero;\n"
"	b3MprVec3Copy(dir, b3mpr_vec3_origin);\n"
"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
"    b3MprVec3Scale(pos, 0.5);\n"
"}\n"
"B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,\n"
"                              float *depth, b3Float4 *dir, b3Float4 *pos)\n"
"{\n"
"    \n"
"    // Origin lies on v0-v1 segment.\n"
"    // Depth is distance to v1, direction also and position must be\n"
"    // computed\n"
"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
"    b3MprVec3Scale(pos, 0.5f);\n"
"    \n"
"    b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
"    *depth = B3_MPR_SQRT(b3MprVec3Len2(dir));\n"
"    b3MprVec3Normalize(dir);\n"
"}\n"
"inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,\n"
"					b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,\n"
"					b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
"					b3ConstArray(b3Collidable_t)	cpuCollidables,\n"
"					b3ConstArray(b3Float4)	cpuVertices,\n"
"					__global b3Float4* sepAxis,\n"
"					__global int*	hasSepAxis,\n"
"					float *depthOut, b3Float4* dirOut, b3Float4* posOut)\n"
"{\n"
"	\n"
"	 b3MprSimplex_t portal;\n"
"	 \n"
"//	if (!hasSepAxis[pairIndex])\n"
"	//	return -1;\n"
"	\n"
"	hasSepAxis[pairIndex] = 0;\n"
"	 int res;\n"
"    // Phase 1: Portal discovery\n"
"    res = b3DiscoverPortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,hasSepAxis, &portal);\n"
"	\n"
"	  \n"
"	//sepAxis[pairIndex] = *pdir;//or -dir?\n"
"	switch (res)\n"
"	{\n"
"	case 0:\n"
"		{\n"
"			// Phase 2: Portal refinement\n"
"		\n"
"			res = b3RefinePortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal);\n"
"			if (res < 0)\n"
"				return -1;\n"
"			// Phase 3. Penetration info\n"
"			b3FindPenetr(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal, depthOut, dirOut, posOut);\n"
"			hasSepAxis[pairIndex] = 1;\n"
"			sepAxis[pairIndex] = -*dirOut;\n"
"			break;\n"
"		}\n"
"	case 1:\n"
"		{\n"
"			 // Touching contact on portal's v1.\n"
"			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);\n"
"			break;\n"
"		}\n"
"	case 2:\n"
"		{\n"
"			\n"
"			b3FindPenetrSegment( &portal, depthOut, dirOut, posOut);\n"
"			break;\n"
"		}\n"
"	default:\n"
"		{\n"
"			hasSepAxis[pairIndex]=0;\n"
"			//if (res < 0)\n"
"			//{\n"
"				// Origin isn't inside portal - no collision.\n"
"				return -1;\n"
"			//}\n"
"		}\n"
"	};\n"
"	\n"
"	return 0;\n"
"};\n"
"#endif //B3_MPR_PENETRATION_H\n"
"#ifndef B3_CONTACT4DATA_H\n"
"#define B3_CONTACT4DATA_H\n"
"#ifndef B3_FLOAT4_H\n"
"#ifdef __cplusplus\n"
"#else\n"
"#endif \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"
"#define AppendInc(x, out) out = atomic_inc(x)\n"
"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\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"
"__kernel void   mprPenetrationKernel( __global int4* pairs,\n"
"																					__global const b3RigidBodyData_t* rigidBodies, \n"
"																					__global const b3Collidable_t* collidables,\n"
"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
"																					__global const float4* vertices,\n"
"																					__global float4* separatingNormals,\n"
"																					__global int* hasSeparatingAxis,\n"
"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
"																					counter32_t nGlobalContactsOut,\n"
"																					int contactCapacity,\n"
"																					int numPairs)\n"
"{\n"
"	int i = get_global_id(0);\n"
"	int pairIndex = i;\n"
"	if (i<numPairs)\n"
"	{\n"
"		int bodyIndexA = pairs[i].x;\n"
"		int bodyIndexB = pairs[i].y;\n"
"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
"	\n"
"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
"		\n"
"		\n"
"		//once the broadphase avoids static-static pairs, we can remove this test\n"
"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
"		{\n"
"			return;\n"
"		}\n"
"		\n"
"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
"		{\n"
"			return;\n"
"		}\n"
"		float depthOut;\n"
"		b3Float4 dirOut;\n"
"		b3Float4 posOut;\n"
"		int res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB,rigidBodies,convexShapes,collidables,vertices,separatingNormals,hasSeparatingAxis,&depthOut, &dirOut, &posOut);\n"
"		\n"
"		\n"
"		\n"
"		\n"
"		if (res==0)\n"
"		{\n"
"			//add a contact\n"
"			int dstIdx;\n"
"			AppendInc( nGlobalContactsOut, dstIdx );\n"
"			if (dstIdx<contactCapacity)\n"
"			{\n"
"				pairs[pairIndex].z = dstIdx;\n"
"				__global struct b3Contact4Data* c = globalContactsOut + dstIdx;\n"
"				c->m_worldNormalOnB = -dirOut;//normal;\n"
"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
"				c->m_batchIdx = pairIndex;\n"
"				int bodyA = pairs[pairIndex].x;\n"
"				int bodyB = pairs[pairIndex].y;\n"
"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
"				c->m_childIndexA = -1;\n"
"				c->m_childIndexB = -1;\n"
"				//for (int i=0;i<nContacts;i++)\n"
"				posOut.w = -depthOut;\n"
"				c->m_worldPosB[0] = posOut;//localPoints[contactIdx[i]];\n"
"				GET_NPOINTS(*c) = 1;//nContacts;\n"
"			}\n"
"		}\n"
"	}\n"
"}\n"
"typedef float4 Quaternion;\n"
"#define make_float4 (float4)\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"
"float4 cross3(float4 a, float4 b)\n"
"{\n"
"	return cross(a,b);\n"
"}\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 qtInvert(Quaternion q)\n"
"{\n"
"	return (Quaternion)(-q.xyz, q.w);\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"
"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
"{\n"
"	return qtRotate( *orientation, *p ) + (*translation);\n"
"}\n"
"__inline\n"
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
"{\n"
"	return qtRotate( qtInvert( q ), vec );\n"
"}\n"
"inline void project(__global const b3ConvexPolyhedronData_t* hull,  const float4 pos, const float4 orn, \n"
"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
"{\n"
"	min[0] = FLT_MAX;\n"
"	max[0] = -FLT_MAX;\n"
"	int numVerts = hull->m_numVertices;\n"
"	const float4 localDir = qtInvRotate(orn,*dir);\n"
"	float offset = dot(pos,*dir);\n"
"	for(int i=0;i<numVerts;i++)\n"
"	{\n"
"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
"		if(dp < min[0])	\n"
"			min[0] = dp;\n"
"		if(dp > max[0])	\n"
"			max[0] = dp;\n"
"	}\n"
"	if(min[0]>max[0])\n"
"	{\n"
"		float tmp = min[0];\n"
"		min[0] = max[0];\n"
"		max[0] = tmp;\n"
"	}\n"
"	min[0] += offset;\n"
"	max[0] += offset;\n"
"}\n"
"bool findSeparatingAxisUnitSphere(	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
"	const float4 posA1,\n"
"	const float4 ornA,\n"
"	const float4 posB1,\n"
"	const float4 ornB,\n"
"	const float4 DeltaC2,\n"
"	__global const float4* vertices,\n"
"	__global const float4* unitSphereDirections,\n"
"	int numUnitSphereDirections,\n"
"	float4* sep,\n"
"	float* dmin)\n"
"{\n"
"	\n"
"	float4 posA = posA1;\n"
"	posA.w = 0.f;\n"
"	float4 posB = posB1;\n"
"	posB.w = 0.f;\n"
"	int curPlaneTests=0;\n"
"	int curEdgeEdge = 0;\n"
"	// Test unit sphere directions\n"
"	for (int i=0;i<numUnitSphereDirections;i++)\n"
"	{\n"
"		float4 crossje;\n"
"		crossje = unitSphereDirections[i];	\n"
"		if (dot3F4(DeltaC2,crossje)>0)\n"
"			crossje *= -1.f;\n"
"		{\n"
"			float dist;\n"
"			bool result = true;\n"
"			float Min0,Max0;\n"
"			float Min1,Max1;\n"
"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
"		\n"
"			if(Max0<Min1 || Max1<Min0)\n"
"				return false;\n"
"		\n"
"			float d0 = Max0 - Min1;\n"
"			float d1 = Max1 - Min0;\n"
"			dist = d0<d1 ? d0:d1;\n"
"			result = true;\n"
"	\n"
"			if(dist<*dmin)\n"
"			{\n"
"				*dmin = dist;\n"
"				*sep = crossje;\n"
"			}\n"
"		}\n"
"	}\n"
"	\n"
"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
"	{\n"
"		*sep = -(*sep);\n"
"	}\n"
"	return true;\n"
"}\n"
"__kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs, \n"
"																					__global const b3RigidBodyData_t* rigidBodies, \n"
"																					__global const b3Collidable_t* collidables,\n"
"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
"																					__global const float4* vertices,\n"
"																					__global const float4* unitSphereDirections,\n"
"																					__global  float4* separatingNormals,\n"
"																					__global  int* hasSeparatingAxis,\n"
"																					__global  float* dmins,\n"
"																					int numUnitSphereDirections,\n"
"																					int numPairs\n"
"																					)\n"
"{\n"
"	int i = get_global_id(0);\n"
"	\n"
"	if (i<numPairs)\n"
"	{\n"
"		if (hasSeparatingAxis[i])\n"
"		{\n"
"	\n"
"			int bodyIndexA = pairs[i].x;\n"
"			int bodyIndexB = pairs[i].y;\n"
"	\n"
"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
"		\n"
"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
"			\n"
"			\n"
"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
"	\n"
"			float dmin = dmins[i];\n"
"	\n"
"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
"			posA.w = 0.f;\n"
"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
"			posB.w = 0.f;\n"
"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
"			const float4 DeltaC2 = c0 - c1;\n"
"			float4 sepNormal = separatingNormals[i];\n"
"			\n"
"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
"			if (numEdgeEdgeDirections>numUnitSphereDirections)\n"
"			{\n"
"				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
"																										posB,ornB,\n"
"																										DeltaC2,\n"
"																										vertices,unitSphereDirections,numUnitSphereDirections,&sepNormal,&dmin);\n"
"				if (!sepEE)\n"
"				{\n"
"					hasSeparatingAxis[i] = 0;\n"
"				} else\n"
"				{\n"
"					hasSeparatingAxis[i] = 1;\n"
"					separatingNormals[i] = sepNormal;\n"
"				}\n"
"			}\n"
"		}		//if (hasSeparatingAxis[i])\n"
"	}//(i<numPairs)\n"
"}\n"
;