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change lcpp Lua preprocessor, to keep #defines and comments, remove empty lines

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remove duplicate data in b3Contact4 (now in btContact4Data shared between CPU/C++ and OpenCL)
OpenCL kernels use #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
Increase number of batches back to 250 (from 50), need to fix this hard coded number (see https://github.com/erwincoumans/bullet3/issues/12)
Work towards GJK/EPA, in addition to SAT/clipping (early on)
This commit is contained in:
erwincoumans
2013-08-08 12:24:09 -07:00
parent 46a08e3282
commit 3bf003ace1
50 changed files with 920 additions and 2731 deletions
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13
src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
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@@ -2,19 +2,16 @@
static const char* integrateKernelCL= \
"/*\n"
"Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
"\n"
"This software is provided 'as-is', without any express or implied warranty.\n"
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
"Permission is granted to anyone to use this software for any purpose, \n"
"including commercial applications, and to alter it and redistribute it freely, \n"
"subject to the following restrictions:\n"
"\n"
"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
"3. This notice may not be removed or altered from any source distribution.\n"
"*/\n"
"//Originally written by Erwin Coumans\n"
"\n"
"float4 quatMult(float4 q1, float4 q2)\n"
"{\n"
" float4 q;\n"
@@ -24,7 +21,6 @@ static const char* integrateKernelCL= \
" q.w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z; \n"
" return q;\n"
"}\n"
"\n"
"float4 quatNorm(float4 q)\n"
"{\n"
" float len = native_sqrt(dot(q, q));\n"
@@ -39,24 +35,17 @@ static const char* integrateKernelCL= \
" }\n"
" return q;\n"
"}\n"
"\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_pos;\n"
" float4 m_quat;\n"
" float4 m_linVel;\n"
" float4 m_angVel;\n"
"\n"
" unsigned int m_collidableIdx;\n"
" float m_invMass;\n"
" float m_restituitionCoeff;\n"
" float m_frictionCoeff;\n"
"} Body;\n"
"\n"
"\n"
"\n"
"\n"
"__kernel void \n"
" integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
"{\n"
@@ -92,12 +81,10 @@ static const char* integrateKernelCL= \
" float4 dorn = axis;\n"
" dorn.w = native_cos(fAngle * timeStep * 0.5f);\n"
" float4 orn0 = bodies[nodeID].m_quat;\n"
"\n"
" float4 predictedOrn = quatMult(dorn, orn0);\n"
" predictedOrn = quatNorm(predictedOrn);\n"
" bodies[nodeID].m_quat=predictedOrn;\n"
" }\n"
"\n"
" //linear velocity \n"
" bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;\n"
" \n"