Use more shared data structures in src\Bullet3OpenCL\NarrowphaseCollision\kernels\satClipHullContacts.cl
Revert default error func (was broken)
This commit is contained in:
erwincoumans
@@ -1,11 +1,6 @@
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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* satClipKernelsCL= \
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"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
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"#define SHAPE_CONVEX_HULL 3\n"
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"#define SHAPE_PLANE 4\n"
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"#define SHAPE_CONCAVE_TRIMESH 5\n"
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"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
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"#define SHAPE_SPHERE 7\n"
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"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
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@@ -103,59 +98,329 @@ static const char* satClipKernelsCL= \
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" contact->m_worldNormalOnB.w = (float)numPoints;\n"
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"};\n"
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"#endif //B3_CONTACT4DATA_H\n"
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"///keep this in sync with btCollidable.h\n"
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"typedef struct\n"
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"{\n"
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" int m_numChildShapes;\n"
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" float m_radius;\n"
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" int m_shapeType;\n"
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" int m_shapeIndex;\n"
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"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
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"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifndef B3_QUAT_H\n"
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"#define B3_QUAT_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif\n"
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"#endif\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Quat;\n"
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" #define b3QuatConstArg const b3Quat\n"
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" \n"
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"} btCollidableGpu;\n"
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"typedef struct\n"
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"{\n"
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" float4 m_childPosition;\n"
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" float4 m_childOrientation;\n"
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" int m_shapeIndex;\n"
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" int m_unused0;\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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"} btGpuChildShape;\n"
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"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
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"typedef struct\n"
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"{\n"
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" float4 m_pos;\n"
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" float4 m_quat;\n"
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" float4 m_linVel;\n"
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" float4 m_angVel;\n"
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" u32 m_collidableIdx; \n"
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" float m_invMass;\n"
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" float m_restituitionCoeff;\n"
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" float m_frictionCoeff;\n"
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"} BodyData;\n"
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"typedef struct \n"
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"{\n"
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" float4 m_localCenter;\n"
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" float4 m_extents;\n"
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" float4 mC;\n"
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" float4 mE;\n"
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" \n"
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"inline float4 b3FastNormalize4(float4 v)\n"
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"{\n"
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" v = (float4)(v.xyz,0.f);\n"
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" return fast_normalize(v);\n"
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"}\n"
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" \n"
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"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
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"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
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"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
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"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
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"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
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"{\n"
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" b3Quat ans;\n"
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" ans = b3Cross3( a, b );\n"
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" ans += a.w*b+b.w*a;\n"
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"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
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" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
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" return ans;\n"
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"}\n"
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"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
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"{\n"
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" b3Quat q;\n"
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" q=in;\n"
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" //return b3FastNormalize4(in);\n"
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" float len = native_sqrt(dot(q, q));\n"
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" if(len > 0.f)\n"
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" {\n"
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" q *= 1.f / len;\n"
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" }\n"
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" else\n"
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" {\n"
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" q.x = q.y = q.z = 0.f;\n"
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" q.w = 1.f;\n"
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" }\n"
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" return q;\n"
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"}\n"
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"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
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"{\n"
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" b3Quat qInv = b3QuatInvert( q );\n"
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" float4 vcpy = vec;\n"
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" vcpy.w = 0.f;\n"
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" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
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" return out;\n"
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"}\n"
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"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
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"{\n"
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" return (b3Quat)(-q.xyz, q.w);\n"
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"}\n"
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"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
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"{\n"
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" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
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"}\n"
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"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
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"{\n"
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" return b3QuatRotate( orientation, point ) + (translation);\n"
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"}\n"
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" \n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"typedef struct b3GpuFace b3GpuFace_t;\n"
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"struct b3GpuFace\n"
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"{\n"
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" b3Float4 m_plane;\n"
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" int m_indexOffset;\n"
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" int m_numIndices;\n"
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" int m_unusedPadding1;\n"
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" int m_unusedPadding2;\n"
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"};\n"
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"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
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"struct b3ConvexPolyhedronData\n"
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"{\n"
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" b3Float4 m_localCenter;\n"
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" b3Float4 m_extents;\n"
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" b3Float4 mC;\n"
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" b3Float4 mE;\n"
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" float m_radius;\n"
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" int m_faceOffset;\n"
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" int m_numFaces;\n"
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" int m_numVertices;\n"
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" \n"
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" int m_vertexOffset;\n"
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" int m_uniqueEdgesOffset;\n"
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" int m_numUniqueEdges;\n"
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" int m_unused;\n"
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"} ConvexPolyhedronCL;\n"
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"};\n"
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"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
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"#ifndef B3_COLLIDABLE_H\n"
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"#define B3_COLLIDABLE_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifndef B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"enum b3ShapeTypes\n"
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"{\n"
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" SHAPE_HEIGHT_FIELD=1,\n"
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" SHAPE_CONVEX_HULL=3,\n"
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" SHAPE_PLANE=4,\n"
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" SHAPE_CONCAVE_TRIMESH=5,\n"
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" SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
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" SHAPE_SPHERE=7,\n"
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" MAX_NUM_SHAPE_TYPES,\n"
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"};\n"
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"typedef struct b3Collidable b3Collidable_t;\n"
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"struct b3Collidable\n"
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"{\n"
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" union {\n"
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" int m_numChildShapes;\n"
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" int m_bvhIndex;\n"
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" };\n"
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" union\n"
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" {\n"
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" float m_radius;\n"
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" int m_compoundBvhIndex;\n"
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" };\n"
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" int m_shapeType;\n"
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" int m_shapeIndex;\n"
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"};\n"
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"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
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"struct b3GpuChildShape\n"
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"{\n"
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" b3Float4 m_childPosition;\n"
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" b3Quat m_childOrientation;\n"
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" int m_shapeIndex;\n"
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" int m_unused0;\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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"};\n"
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"struct b3CompoundOverlappingPair\n"
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"{\n"
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" int m_bodyIndexA;\n"
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" int m_bodyIndexB;\n"
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"// int m_pairType;\n"
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" int m_childShapeIndexA;\n"
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" int m_childShapeIndexB;\n"
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"};\n"
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"#endif //B3_COLLIDABLE_H\n"
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"#ifndef B3_RIGIDBODY_DATA_H\n"
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"#define B3_RIGIDBODY_DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifndef B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"#ifndef B3_MAT3x3_H\n"
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"#define B3_MAT3x3_H\n"
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"#ifndef B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"typedef struct\n"
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"{\n"
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" float4 m_plane;\n"
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" int m_indexOffset;\n"
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" int m_numIndices;\n"
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"} btGpuFace;\n"
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" b3Float4 m_row[3];\n"
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"}b3Mat3x3;\n"
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"#define b3Mat3x3ConstArg const b3Mat3x3\n"
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"#define b3GetRow(m,row) (m.m_row[row])\n"
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"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
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"{\n"
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" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
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" b3Mat3x3 out;\n"
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" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
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" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
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" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
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" out.m_row[0].w = 0.f;\n"
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" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
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" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
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" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
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" out.m_row[1].w = 0.f;\n"
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" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
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" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
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" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
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" out.m_row[2].w = 0.f;\n"
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" return out;\n"
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"}\n"
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"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
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"{\n"
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" b3Mat3x3 out;\n"
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" out.m_row[0] = fabs(matIn.m_row[0]);\n"
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" out.m_row[1] = fabs(matIn.m_row[1]);\n"
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" out.m_row[2] = fabs(matIn.m_row[2]);\n"
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" return out;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtZero();\n"
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"__inline\n"
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"b3Mat3x3 mtIdentity();\n"
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"__inline\n"
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"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
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"__inline\n"
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"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
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"__inline\n"
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"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
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"__inline\n"
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"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
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"__inline\n"
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"b3Mat3x3 mtZero()\n"
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"{\n"
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" b3Mat3x3 m;\n"
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" m.m_row[0] = (b3Float4)(0.f);\n"
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" m.m_row[1] = (b3Float4)(0.f);\n"
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" m.m_row[2] = (b3Float4)(0.f);\n"
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" return m;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtIdentity()\n"
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"{\n"
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" b3Mat3x3 m;\n"
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" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
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" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
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" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
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" return m;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
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"{\n"
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" b3Mat3x3 out;\n"
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" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
|
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" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
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" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
|
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" return out;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
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"{\n"
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" b3Mat3x3 transB;\n"
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" transB = mtTranspose( b );\n"
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" b3Mat3x3 ans;\n"
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" // why this doesn't run when 0ing in the for{}\n"
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" a.m_row[0].w = 0.f;\n"
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" a.m_row[1].w = 0.f;\n"
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" a.m_row[2].w = 0.f;\n"
|
||||
" for(int i=0; i<3; i++)\n"
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" {\n"
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"// a.m_row[i].w = 0.f;\n"
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" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
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" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
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" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
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" ans.m_row[i].w = 0.f;\n"
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" }\n"
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" return ans;\n"
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"}\n"
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"__inline\n"
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||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
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"{\n"
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" b3Float4 ans;\n"
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" ans.x = b3Dot3F4( a.m_row[0], b );\n"
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||||
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
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" ans.z = b3Dot3F4( a.m_row[2], b );\n"
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" ans.w = 0.f;\n"
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||||
" return ans;\n"
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"}\n"
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"__inline\n"
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"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
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"{\n"
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" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
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" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
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" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
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||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a, colx );\n"
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||||
" ans.y = b3Dot3F4( a, coly );\n"
|
||||
" ans.z = b3Dot3F4( a, colz );\n"
|
||||
" return ans;\n"
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||||
"}\n"
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||||
"#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"
|
||||
"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define make_float4 (float4)\n"
|
||||
"#define make_float2 (float2)\n"
|
||||
@@ -350,12 +615,12 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" return numVertsOut;\n"
|
||||
"}\n"
|
||||
"int clipFaceAgainstHull(const float4 separatingNormal, __global const ConvexPolyhedronCL* hullA, \n"
|
||||
"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA, \n"
|
||||
" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
|
||||
" float4* worldVertsB2, int capacityWorldVertsB2,\n"
|
||||
" const float minDist, float maxDist,\n"
|
||||
" __global const float4* vertices,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" float4* contactsOut,\n"
|
||||
" int contactCapacity)\n"
|
||||
@@ -387,7 +652,7 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" if (closestFaceA<0)\n"
|
||||
" return numContactsOut;\n"
|
||||
" btGpuFace polyA = faces[hullA->m_faceOffset+closestFaceA];\n"
|
||||
" b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n"
|
||||
" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
|
||||
" int numVerticesA = polyA.m_numIndices;\n"
|
||||
" for(int e0=0;e0<numVerticesA;e0++)\n"
|
||||
@@ -439,15 +704,15 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" return numContactsOut;\n"
|
||||
"}\n"
|
||||
"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const ConvexPolyhedronCL* hullA, \n"
|
||||
"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA, \n"
|
||||
" const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
|
||||
" float4* worldVertsB2, int capacityWorldVertsB2,\n"
|
||||
" const float minDist, float maxDist,\n"
|
||||
" const float4* verticesA,\n"
|
||||
" const btGpuFace* facesA,\n"
|
||||
" const b3GpuFace_t* facesA,\n"
|
||||
" const int* indicesA,\n"
|
||||
" __global const float4* verticesB,\n"
|
||||
" __global const btGpuFace* facesB,\n"
|
||||
" __global const b3GpuFace_t* facesB,\n"
|
||||
" __global const int* indicesB,\n"
|
||||
" float4* contactsOut,\n"
|
||||
" int contactCapacity)\n"
|
||||
@@ -479,7 +744,7 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" if (closestFaceA<0)\n"
|
||||
" return numContactsOut;\n"
|
||||
" btGpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];\n"
|
||||
" b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n"
|
||||
" // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
|
||||
" int numVerticesA = polyA.m_numIndices;\n"
|
||||
" for(int e0=0;e0<numVerticesA;e0++)\n"
|
||||
@@ -532,12 +797,12 @@ static const char* satClipKernelsCL= \
|
||||
" return numContactsOut;\n"
|
||||
"}\n"
|
||||
"int clipHullAgainstHull(const float4 separatingNormal,\n"
|
||||
" __global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
||||
" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
|
||||
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
|
||||
" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
|
||||
" const float minDist, float maxDist,\n"
|
||||
" __global const float4* vertices,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" float4* localContactsOut,\n"
|
||||
" int localContactCapacity)\n"
|
||||
@@ -561,7 +826,7 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" }\n"
|
||||
" {\n"
|
||||
" const btGpuFace polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const int numVertices = polyB.m_numIndices;\n"
|
||||
" for(int e0=0;e0<numVertices;e0++)\n"
|
||||
" {\n"
|
||||
@@ -580,15 +845,15 @@ static const char* satClipKernelsCL= \
|
||||
" return numContactsOut;\n"
|
||||
"}\n"
|
||||
"int clipHullAgainstHullLocalA(const float4 separatingNormal,\n"
|
||||
" const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
|
||||
" const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
|
||||
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
|
||||
" float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
|
||||
" const float minDist, float maxDist,\n"
|
||||
" const float4* verticesA,\n"
|
||||
" const btGpuFace* facesA,\n"
|
||||
" const b3GpuFace_t* facesA,\n"
|
||||
" const int* indicesA,\n"
|
||||
" __global const float4* verticesB,\n"
|
||||
" __global const btGpuFace* facesB,\n"
|
||||
" __global const b3GpuFace_t* facesB,\n"
|
||||
" __global const int* indicesB,\n"
|
||||
" float4* localContactsOut,\n"
|
||||
" int localContactCapacity)\n"
|
||||
@@ -612,7 +877,7 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" }\n"
|
||||
" {\n"
|
||||
" const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const int numVertices = polyB.m_numIndices;\n"
|
||||
" for(int e0=0;e0<numVertices;e0++)\n"
|
||||
" {\n"
|
||||
@@ -816,7 +1081,7 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
"}\n"
|
||||
"__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
||||
" __global const float4* closestPointsWorld,\n"
|
||||
" __global const float4* separatingNormalsWorld,\n"
|
||||
" __global const int* contactCounts,\n"
|
||||
@@ -881,12 +1146,12 @@ static const char* satClipKernelsCL= \
|
||||
" *translationOut = transform(&translationB,&translationA,&orientationA);\n"
|
||||
"}\n"
|
||||
"__kernel void clipHullHullKernel( __global int4* pairs, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const ConvexPolyhedronCL* convexShapes, \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* uniqueEdges,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" __global const float4* separatingNormals,\n"
|
||||
" __global const int* hasSeparatingAxis,\n"
|
||||
@@ -969,14 +1234,14 @@ static const char* satClipKernelsCL= \
|
||||
" }// if (i<numPairs)\n"
|
||||
"}\n"
|
||||
"__kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const ConvexPolyhedronCL* convexShapes, \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* uniqueEdges,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" __global const btGpuChildShape* gpuChildShapes,\n"
|
||||
" __global const b3GpuChildShape_t* gpuChildShapes,\n"
|
||||
" __global const float4* gpuCompoundSepNormalsOut,\n"
|
||||
" __global const int* gpuHasCompoundSepNormalsOut,\n"
|
||||
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
||||
@@ -1092,8 +1357,8 @@ static const char* satClipKernelsCL= \
|
||||
" }// if (i<numCompoundPairs)\n"
|
||||
"}\n"
|
||||
"__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const b3RigidBodyData_t* rigidBodies, \n"
|
||||
" __global const b3Collidable_t* collidables,\n"
|
||||
" __global const float4* separatingNormals,\n"
|
||||
" __global const int* hasSeparatingAxis,\n"
|
||||
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
||||
@@ -1157,14 +1422,14 @@ static const char* satClipKernelsCL= \
|
||||
" }//if (i<numPairs)\n"
|
||||
"} \n"
|
||||
"__kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n"
|
||||
" __global const BodyData* rigidBodies, \n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const ConvexPolyhedronCL* convexShapes, \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* uniqueEdges,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" __global const btGpuChildShape* gpuChildShapes,\n"
|
||||
" __global const b3GpuChildShape_t* gpuChildShapes,\n"
|
||||
" __global const float4* separatingNormals,\n"
|
||||
" __global struct b3Contact4Data* restrict globalContactsOut,\n"
|
||||
" counter32_t nGlobalContactsOut,\n"
|
||||
@@ -1202,12 +1467,12 @@ static const char* satClipKernelsCL= \
|
||||
" \n"
|
||||
" bool overlap = false;\n"
|
||||
" \n"
|
||||
" ConvexPolyhedronCL convexPolyhedronA;\n"
|
||||
" b3ConvexPolyhedronData_t convexPolyhedronA;\n"
|
||||
" //add 3 vertices of the triangle\n"
|
||||
" convexPolyhedronA.m_numVertices = 3;\n"
|
||||
" convexPolyhedronA.m_vertexOffset = 0;\n"
|
||||
" float4 localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
|
||||
" btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
|
||||
" b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
|
||||
" \n"
|
||||
" float4 verticesA[3];\n"
|
||||
" for (int i=0;i<3;i++)\n"
|
||||
@@ -1231,7 +1496,7 @@ static const char* satClipKernelsCL= \
|
||||
" \n"
|
||||
" float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
|
||||
" \n"
|
||||
" btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
|
||||
" b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
|
||||
" int indicesA[3+3+2+2+2];\n"
|
||||
" int curUsedIndices=0;\n"
|
||||
" int fidx=0;\n"
|
||||
@@ -1372,7 +1637,7 @@ static const char* satClipKernelsCL= \
|
||||
" }// if (i<numPairs)\n"
|
||||
"}\n"
|
||||
"int findClippingFaces(const float4 separatingNormal,\n"
|
||||
" __global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB,\n"
|
||||
" __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n"
|
||||
" const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
|
||||
" __global float4* worldVertsA1,\n"
|
||||
" __global float4* worldNormalsA1,\n"
|
||||
@@ -1380,7 +1645,7 @@ static const char* satClipKernelsCL= \
|
||||
" int capacityWorldVerts,\n"
|
||||
" const float minDist, float maxDist,\n"
|
||||
" __global const float4* vertices,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" __global int4* clippingFaces, int pairIndex)\n"
|
||||
"{\n"
|
||||
@@ -1407,7 +1672,7 @@ static const char* satClipKernelsCL= \
|
||||
" }\n"
|
||||
" \n"
|
||||
" {\n"
|
||||
" const btGpuFace polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
|
||||
" const int numVertices = polyB.m_numIndices;\n"
|
||||
" for(int e0=0;e0<numVertices;e0++)\n"
|
||||
" {\n"
|
||||
@@ -1536,12 +1801,12 @@ static const char* satClipKernelsCL= \
|
||||
" return numContactsOut;\n"
|
||||
"}\n"
|
||||
"__kernel void findClippingFacesKernel( __global const int4* pairs,\n"
|
||||
" __global const BodyData* rigidBodies,\n"
|
||||
" __global const btCollidableGpu* collidables,\n"
|
||||
" __global const ConvexPolyhedronCL* convexShapes,\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* uniqueEdges,\n"
|
||||
" __global const btGpuFace* faces,\n"
|
||||
" __global const b3GpuFace_t* faces,\n"
|
||||
" __global const int* indices,\n"
|
||||
" __global const float4* separatingNormals,\n"
|
||||
" __global const int* hasSeparatingAxis,\n"
|
||||
@@ -1594,8 +1859,8 @@ static const char* satClipKernelsCL= \
|
||||
" }// if (i<numPairs)\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void clipFacesAndContactReductionKernel( __global int4* pairs,\n"
|
||||
" __global const BodyData* rigidBodies,\n"
|
||||
"__kernel void clipFacesAndFindContactsKernel( __global int4* pairs,\n"
|
||||
" __global const b3RigidBodyData_t* rigidBodies,\n"
|
||||
" __global const float4* separatingNormals,\n"
|
||||
" __global const int* hasSeparatingAxis,\n"
|
||||
" __global struct b3Contact4Data* globalContactsOut,\n"
|
||||
@@ -1700,7 +1965,7 @@ static const char* satClipKernelsCL= \
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void newContactReductionKernel( __global int4* pairs,\n"
|
||||
" __global const BodyData* rigidBodies,\n"
|
||||
" __global const b3RigidBodyData_t* rigidBodies,\n"
|
||||
" __global const float4* separatingNormals,\n"
|
||||
" __global const int* hasSeparatingAxis,\n"
|
||||
" __global struct b3Contact4Data* globalContactsOut,\n"
|
||||
|
||||
Reference in New Issue
Block a user