tweaks to demos, add middle-mouse support,

Demos3/GpuDemos/constraints/ConstraintsDemo.cpp

@@ -53,7 +53,7 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
 
 	m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
 //	m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
-	float camPos[4]={ci.arraySizeX,ci.gapY,ci.arraySizeZ,0};
+	float camPos[4]={ci.arraySizeX,0.5*ci.arraySizeY*ci.gapY,ci.arraySizeZ,0};
 	//float camPos[4]={1,12.5,1.5,0};
 	
 	m_instancingRenderer->setCameraTargetPosition(camPos);
@@ -167,8 +167,8 @@ int	GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
 					}
 					//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
 					//b3Vector3 position((-ci.arraySizeX/2*ci.gapX)+i*ci.gapX,1+j*2.,(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
-					b3Vector3 position(-ci.arraySizeY/2*2+1+j*2.,
+					b3Vector3 position(-ci.arraySizeX/2*2+1+j*2.,
-								10+i*ci.gapX,
+								10+i*ci.gapY,
 								(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ);
 					
 					b3Quaternion orn(0,0,0,1);
@@ -191,7 +191,7 @@ int	GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
 							{
 								///enable next line to force CPU constraint solving
 								//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
-								float breakingThreshold=14;
+								float breakingThreshold=44;
 //								c->setBreakingImpulseThreshold(breakingThreshold);
 								b3Vector3 pivotInA(-1.1,0,0);
 								b3Vector3 pivotInB (1.1,0,0);
@@ -212,7 +212,7 @@ int	GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
 							b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
 							
 							//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
-							float breakingThreshold = 15;//37.f;
+							float breakingThreshold = 45;//37.f;
 							//c->setBreakingImpulseThreshold(37.1);
 							int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(pid,prevBody,pivotInA,pivotInB,relTargetAB,breakingThreshold);
 							

Demos3/GpuDemos/main_opengl3core.cpp

@@ -44,6 +44,7 @@
 #include "constraints/ConstraintsDemo.h"
 
 bool exportFrame=false;
+bool exportMovie = false;
 int frameIndex = 0;
 GLRenderToTexture* renderTexture =0;
 //#include "BroadphaseBenchmark.h"
@@ -82,7 +83,7 @@ int selectedDemo = 0;
 GpuDemo::CreateFunc* allDemos[]=
 {
 		//ConcaveCompound2Scene::MyCreateFunc,
-//		GpuConvexScene::MyCreateFunc,
+	
 
 	//ConcaveSphereScene::MyCreateFunc,
 	
@@ -91,23 +92,24 @@ GpuDemo::CreateFunc* allDemos[]=
 //	ConcaveSphereScene::MyCreateFunc,
 
 		
-
+	ConcaveScene::MyCreateFunc,
 
 	GpuBoxPlaneScene::MyCreateFunc,
 	GpuConstraintsDemo::MyCreateFunc,
 	//GpuConvexPlaneScene::MyCreateFunc,
 
+	GpuConvexScene::MyCreateFunc,
+
 	GpuCompoundScene::MyCreateFunc,
 
 	GpuSphereScene::MyCreateFunc,
 
-	ConcaveSphereScene::MyCreateFunc,
+	
 
 	ConcaveScene::MyCreateFunc,
 
-
+	ConcaveSphereScene::MyCreateFunc,
-
+	
-
 	ConcaveCompoundScene::MyCreateFunc,
 
 //	GpuCompoundPlaneScene::MyCreateFunc,
@@ -228,9 +230,15 @@ void MyKeyboardCallback(int key, int state)
 	{
 		window->setRequestExit();
 	}
+	if (key==B3G_F2)
+	{
+		if (state)
+			exportMovie = !exportMovie;
+	}
 	if (key==B3G_F1)
 	{
-		exportFrame = true;
+		if (state)
+			exportFrame = true;
 	}
 	if (sDemo)
 		sDemo->keyboardCallback(key,state);
@@ -671,7 +679,7 @@ int main(int argc, char* argv[])
 		bool useGpu = false;
 
 		
-		int maxObjectCapacity=128*1024;
+		int maxObjectCapacity=512*1024;
 		maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10);
 
 		{
@@ -786,7 +794,7 @@ int main(int argc, char* argv[])
 			assert(err==GL_NO_ERROR);
 
 
-			if (exportFrame)
+			if (exportFrame || exportMovie)
 			{
 				
 				if (!renderTexture)
@@ -808,7 +816,7 @@ int main(int argc, char* argv[])
 					//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
 					//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
 
-					renderTexture->init(g_OpenGLWidth,g_OpenGLHeight,renderTextureId, false);
+					renderTexture->init(g_OpenGLWidth,g_OpenGLHeight,renderTextureId, RENDERTEXTURE_COLOR);
 				}
 				
 				bool result = renderTexture->enable();
@@ -870,7 +878,7 @@ int main(int argc, char* argv[])
 			*/
 
 			
-			if (exportFrame)
+			if (exportFrame || exportMovie)
 			{
 				
 				char fileName[1024];

Demos3/GpuDemos/rigidbody/ConcaveScene.cpp

@@ -19,11 +19,11 @@
 #include "Bullet3Common/b3Transform.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
 
-
+#include "../gwenUserInterface.h"
 #include "OpenGLWindow/GLInstanceGraphicsShape.h"
-#define CONCAVE_GAPX 16
+#define CONCAVE_GAPX 14
 #define CONCAVE_GAPY 8
-#define CONCAVE_GAPZ 16
+#define CONCAVE_GAPZ 14
 
 
 GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
@@ -224,7 +224,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
 	
 		b3Vector3 shift1(0,0,0);//0,230,80);//150,-100,-120);
 		
-		b3Vector4 scaling(4,4,4,1);
+		b3Vector4 scaling(10,10,10,1);
 
 	//	createConcaveMesh(ci,"plane100.obj",shift1,scaling);
 		//createConcaveMesh(ci,"plane100.obj",shift,scaling);
@@ -269,6 +269,11 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
 	m_instancingRenderer->setCameraPitch(45);
 	m_instancingRenderer->setCameraTargetPosition(camPos);
 	m_instancingRenderer->setCameraDistance(155);
+	char msg[1024];
+	int numInstances = m_data->m_rigidBodyPipeline->getNumBodies();
+	sprintf(msg,"Num objects = %d",numInstances);
+	if (ci.m_gui)
+		ci.m_gui->setStatusBarMessage(msg,true);
 
 }
 

Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp

@@ -154,7 +154,7 @@ int	GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const flo
 					{
 						//mass=0.f;
 					}
-					b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
+					b3Vector3 position(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
 					//b3Vector3 position(i*2.2,10+j*1.9,k*2.2);
 
 					b3Quaternion orn(0,0,0,1);

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -129,7 +129,9 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	float m_mouseYpos;
 	bool m_mouseInitialized;
 	int m_leftMouseButton;
+	int m_middleMouseButton;
 	int m_rightMouseButton;
+	
 
 	int	m_altPressed;
 	int	m_controlPressed;
@@ -150,6 +152,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		m_ele(25.f),
 		m_mouseInitialized(false),
 		m_leftMouseButton(0),
+		m_middleMouseButton(0),
 		m_rightMouseButton(0),
 		m_shadowMap(0),
 		m_shadowTexture(0),
@@ -209,6 +212,16 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	//			{
 					m_ele += yDelta*MOUSE_MOVE_MULTIPLIER;
 	//			}
+			}
+			if (m_middleMouseButton)
+			{
+				m_cameraTargetPosition += m_cameraUp * yDelta;
+				
+				b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
+				b3Vector3 side = m_cameraUp.cross(fwd);
+				side.normalize();
+				m_cameraTargetPosition += side * xDelta;
+
 			}
 			if (m_rightMouseButton)
 			{
@@ -234,6 +247,9 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		
 		if (button==0)
 			m_leftMouseButton=state;
+		if (button==1)
+			m_middleMouseButton=state;
+
 		if (button==2)
 			m_rightMouseButton=state;
 		

src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp

@@ -54,8 +54,8 @@ m_removedCountGPU(ctx,q)
 
 	cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
 	b3Assert(errNum==CL_SUCCESS);
-	//cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapFastSrc,&errNum,"",B3_BROADPHASE_SAPFAST_PATH);
+	cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapFastSrc,&errNum,"",B3_BROADPHASE_SAPFAST_PATH);
-	cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"",B3_BROADPHASE_SAPFAST_PATH,true);
+	//cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"",B3_BROADPHASE_SAPFAST_PATH,true);
 	b3Assert(errNum==CL_SUCCESS);
 #ifndef __APPLE__
 	m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context,m_device,m_queue);

src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFastKernels.h

@@ -32,6 +32,22 @@ static const char* sapFastCL= \
 "	};\n"
 "} btAabbCL;\n"
 "\n"
+"typedef struct \n"
+"{\n"
+"	union\n"
+"	{\n"
+"		unsigned int m_key;\n"
+"		unsigned int x;\n"
+"	};\n"
+"\n"
+"	union\n"
+"	{\n"
+"		unsigned int m_value;\n"
+"		unsigned int y;\n"
+"		\n"
+"	};\n"
+"}b3SortData;\n"
+"\n"
 "\n"
 "/// conservative test for overlap between two aabbs\n"
 "bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);\n"
@@ -48,6 +64,260 @@ static const char* sapFastCL= \
 "	return overlap;\n"
 "}\n"
 "\n"
+"__kernel void   computePairsIncremental3dSapKernel( __global const uint2* objectMinMaxIndexGPUaxis0,\n"
+"													__global const uint2* objectMinMaxIndexGPUaxis1,\n"
+"													__global const uint2* objectMinMaxIndexGPUaxis2,\n"
+"													__global const uint2* objectMinMaxIndexGPUaxis0prev,\n"
+"													__global const uint2* objectMinMaxIndexGPUaxis1prev,\n"
+"													__global const uint2* objectMinMaxIndexGPUaxis2prev,\n"
+"													__global const b3SortData*	   sortedAxisGPU0,\n"
+"													__global const b3SortData*	   sortedAxisGPU1,\n"
+"													__global const b3SortData*	   sortedAxisGPU2,\n"
+"													__global const b3SortData*	   sortedAxisGPU0prev,\n"
+"													__global const b3SortData*	   sortedAxisGPU1prev,\n"
+"													__global const b3SortData*	   sortedAxisGPU2prev,\n"
+"													__global int2*			addedHostPairsGPU,\n"
+"													__global int2*			removedHostPairsGPU,\n"
+"													volatile __global int*				addedHostPairsCount,\n"
+"													volatile __global int*				removedHostPairsCount,\n"
+"													int maxCapacity,\n"
+"													int numObjects)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numObjects)\n"
+"		return;\n"
+"\n"
+"	__global const uint2* objectMinMaxIndexGPU[3][2];\n"
+"	objectMinMaxIndexGPU[0][0]=objectMinMaxIndexGPUaxis0;\n"
+"	objectMinMaxIndexGPU[1][0]=objectMinMaxIndexGPUaxis1;\n"
+"	objectMinMaxIndexGPU[2][0]=objectMinMaxIndexGPUaxis2;\n"
+"	objectMinMaxIndexGPU[0][1]=objectMinMaxIndexGPUaxis0prev;\n"
+"	objectMinMaxIndexGPU[1][1]=objectMinMaxIndexGPUaxis1prev;\n"
+"	objectMinMaxIndexGPU[2][1]=objectMinMaxIndexGPUaxis2prev;\n"
+"\n"
+"	__global const b3SortData* sortedAxisGPU[3][2];\n"
+"	sortedAxisGPU[0][0] = sortedAxisGPU0;\n"
+"	sortedAxisGPU[1][0] = sortedAxisGPU1;\n"
+"	sortedAxisGPU[2][0] = sortedAxisGPU2;\n"
+"	sortedAxisGPU[0][1] = sortedAxisGPU0prev;\n"
+"	sortedAxisGPU[1][1] = sortedAxisGPU1prev;\n"
+"	sortedAxisGPU[2][1] = sortedAxisGPU2prev;\n"
+"\n"
+"	int m_currentBuffer = 0;\n"
+"\n"
+"	for (int axis=0;axis<3;axis++)\n"
+"	{\n"
+"		//int i = checkObjects[a];\n"
+"\n"
+"		unsigned int curMinIndex = objectMinMaxIndexGPU[axis][m_currentBuffer][i].x;\n"
+"		unsigned int curMaxIndex = objectMinMaxIndexGPU[axis][m_currentBuffer][i].y;\n"
+"		unsigned int prevMinIndex = objectMinMaxIndexGPU[axis][1-m_currentBuffer][i].x;\n"
+"		int dmin = curMinIndex - prevMinIndex;\n"
+"				\n"
+"		unsigned int prevMaxIndex = objectMinMaxIndexGPU[axis][1-m_currentBuffer][i].y;\n"
+"\n"
+"		int dmax = curMaxIndex - prevMaxIndex;\n"
+"	\n"
+"		for (int otherbuffer = 0;otherbuffer<2;otherbuffer++)\n"
+"		{\n"
+"			if (dmin!=0)\n"
+"			{\n"
+"				int stepMin = dmin<0 ? -1 : 1;\n"
+"				for (int j=prevMinIndex;j!=curMinIndex;j+=stepMin)\n"
+"				{\n"
+"					int otherIndex2 = sortedAxisGPU[axis][otherbuffer][j].y;\n"
+"					int otherIndex = otherIndex2/2;\n"
+"					if (otherIndex!=i)\n"
+"					{\n"
+"						bool otherIsMax = ((otherIndex2&1)!=0);\n"
+"\n"
+"						if (otherIsMax)\n"
+"						{\n"
+"									\n"
+"							bool overlap = true;\n"
+"\n"
+"							for (int ax=0;ax<3;ax++)\n"
+"							{\n"
+"								if ((objectMinMaxIndexGPU[ax][m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].y) ||\n"
+"									(objectMinMaxIndexGPU[ax][m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].x))\n"
+"									overlap=false;\n"
+"							}\n"
+"\n"
+"						//	b3Assert(overlap2==overlap);\n"
+"\n"
+"							bool prevOverlap = true;\n"
+"\n"
+"							for (int ax=0;ax<3;ax++)\n"
+"							{\n"
+"								if ((objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].y) ||\n"
+"									(objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].x))\n"
+"									prevOverlap=false;\n"
+"							}\n"
+"									\n"
+"\n"
+"							//b3Assert(overlap==overlap2);\n"
+"								\n"
+"\n"
+"\n"
+"							if (dmin<0)\n"
+"							{\n"
+"								if (overlap && !prevOverlap)\n"
+"								{\n"
+"									//add a pair\n"
+"									int2 newPair;\n"
+"									if (i<=otherIndex)\n"
+"									{\n"
+"										newPair.x = i;\n"
+"										newPair.y = otherIndex;\n"
+"									} else\n"
+"									{\n"
+"										newPair.x = otherIndex;\n"
+"										newPair.y = i;\n"
+"									}\n"
+"									\n"
+"									{\n"
+"										int curPair = atomic_inc(addedHostPairsCount);\n"
+"										if (curPair<maxCapacity)\n"
+"										{\n"
+"											\n"
+"											addedHostPairsGPU[curPair].x = newPair.x;\n"
+"											addedHostPairsGPU[curPair].y = newPair.y;\n"
+"										}\n"
+"									}\n"
+"\n"
+"								}\n"
+"							} \n"
+"							else\n"
+"							{\n"
+"								if (!overlap && prevOverlap)\n"
+"								{\n"
+"									\n"
+"									//remove a pair\n"
+"									int2 removedPair;\n"
+"									if (i<=otherIndex)\n"
+"									{\n"
+"										removedPair.x = i;\n"
+"										removedPair.y = otherIndex;\n"
+"									} else\n"
+"									{\n"
+"										removedPair.x = otherIndex;\n"
+"										removedPair.y = i;\n"
+"									}\n"
+"									{\n"
+"										int curPair = atomic_inc(removedHostPairsCount);\n"
+"										if (curPair<maxCapacity)\n"
+"										{\n"
+"											\n"
+"											removedHostPairsGPU[curPair].x = removedPair.x;\n"
+"											removedHostPairsGPU[curPair].y = removedPair.y;\n"
+"\n"
+"										}\n"
+"									}\n"
+"								}\n"
+"							}//otherisMax\n"
+"						}//if (dmin<0)\n"
+"					}//if (otherIndex!=i)\n"
+"				}//for (int j=\n"
+"			}\n"
+"				\n"
+"			if (dmax!=0)\n"
+"			{\n"
+"				int stepMax = dmax<0 ? -1 : 1;\n"
+"				for (int j=prevMaxIndex;j!=curMaxIndex;j+=stepMax)\n"
+"				{\n"
+"					int otherIndex2 = sortedAxisGPU[axis][otherbuffer][j].y;\n"
+"					int otherIndex = otherIndex2/2;\n"
+"					if (otherIndex!=i)\n"
+"					{\n"
+"						bool otherIsMin = ((otherIndex2&1)==0);\n"
+"						if (otherIsMin)\n"
+"						{\n"
+"									\n"
+"							bool overlap = true;\n"
+"\n"
+"							for (int ax=0;ax<3;ax++)\n"
+"							{\n"
+"								if ((objectMinMaxIndexGPU[ax][m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].y) ||\n"
+"									(objectMinMaxIndexGPU[ax][m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][m_currentBuffer][otherIndex].x))\n"
+"									overlap=false;\n"
+"							}\n"
+"							//b3Assert(overlap2==overlap);\n"
+"\n"
+"							bool prevOverlap = true;\n"
+"\n"
+"							for (int ax=0;ax<3;ax++)\n"
+"							{\n"
+"								if ((objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].x > objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].y) ||\n"
+"									(objectMinMaxIndexGPU[ax][1-m_currentBuffer][i].y < objectMinMaxIndexGPU[ax][1-m_currentBuffer][otherIndex].x))\n"
+"									prevOverlap=false;\n"
+"							}\n"
+"									\n"
+"\n"
+"							if (dmax>0)\n"
+"							{\n"
+"								if (overlap && !prevOverlap)\n"
+"								{\n"
+"									//add a pair\n"
+"									int2 newPair;\n"
+"									if (i<=otherIndex)\n"
+"									{\n"
+"										newPair.x = i;\n"
+"										newPair.y = otherIndex;\n"
+"									} else\n"
+"									{\n"
+"										newPair.x = otherIndex;\n"
+"										newPair.y = i;\n"
+"									}\n"
+"									{\n"
+"										int curPair = atomic_inc(addedHostPairsCount);\n"
+"										if (curPair<maxCapacity)\n"
+"										{\n"
+"											\n"
+"											addedHostPairsGPU[curPair].x = newPair.x;\n"
+"											addedHostPairsGPU[curPair].y = newPair.y;\n"
+"										}\n"
+"									}\n"
+"							\n"
+"								}\n"
+"							} \n"
+"							else\n"
+"							{\n"
+"								if (!overlap && prevOverlap)\n"
+"								{\n"
+"									//if (otherIndex2&1==0) -> min?\n"
+"									//remove a pair\n"
+"									int2 removedPair;\n"
+"									if (i<=otherIndex)\n"
+"									{\n"
+"										removedPair.x = i;\n"
+"										removedPair.y = otherIndex;\n"
+"									} else\n"
+"									{\n"
+"										removedPair.x = otherIndex;\n"
+"										removedPair.y = i;\n"
+"									}\n"
+"									{\n"
+"										int curPair = atomic_inc(removedHostPairsCount);\n"
+"										if (curPair<maxCapacity)\n"
+"										{\n"
+"											\n"
+"											removedHostPairsGPU[curPair].x = removedPair.x;\n"
+"											removedHostPairsGPU[curPair].y = removedPair.y;\n"
+"										}\n"
+"									}\n"
+"								\n"
+"								}\n"
+"							}\n"
+"							\n"
+"						}//if (dmin<0)\n"
+"					}//if (otherIndex!=i)\n"
+"				}//for (int j=\n"
+"			}\n"
+"		}//for (int otherbuffer\n"
+"	}//for (int axis=0;\n"
+"\n"
+"\n"
+"}\n"
 "\n"
 "//computePairsKernelBatchWrite\n"
 "__kernel void   computePairsKernel( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"

src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h

@@ -450,21 +450,21 @@ static const char* solverSetup2CL= \
 "}\n"
 "\n"
 "__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetDeterminismSortDataChildShapeA(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)\n"
+"void SetDeterminismSortDataChildShapeB(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)\n"
 "{\n"
 "	int gIdx = GET_GLOBAL_IDX;\n"
 "\n"
 "	if( gIdx < nContacts )\n"
 "	{\n"
 "		int2 sd;\n"
-"		sd.x = contactsIn[gIdx].m_childIndexA;\n"
+"		sd.x = contactsIn[gIdx].m_childIndexB;\n"
 "		sd.y = gIdx;\n"
 "		sortDataOut[gIdx] = sd;\n"
 "	}\n"
 "}\n"
 "\n"
 "__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetDeterminismSortDataChildShapeB(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+"void SetDeterminismSortDataChildShapeA(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
 "{\n"
 "	int gIdx = GET_GLOBAL_IDX;\n"
 "\n"
@@ -473,7 +473,7 @@ static const char* solverSetup2CL= \
 "		int2 sdIn;\n"
 "		sdIn = sortDataInOut[gIdx];\n"
 "		int2 sdOut;\n"
-"		sdOut.x = contactsIn[sdIn.y].m_childIndexB;\n"
+"		sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n"
 "		sdOut.y = sdIn.y;\n"
 "		sortDataInOut[gIdx] = sdOut;\n"
 "	}\n"