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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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25
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl
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@@ -13,6 +13,8 @@ subject to the following restrictions:
*/
//Originally written by Erwin Coumans
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
#pragma OPENCL EXTENSION cl_amd_printf : enable
#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
@@ -380,25 +382,10 @@ typedef struct
u32 m_paddings;
} Constraint4;
typedef struct
{
float4 m_worldPos[4];
float4 m_worldNormal;
u32 m_coeffs;
int m_batchIdx;
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
} Contact4;
__kernel void CountBodiesKernel(__global Contact4* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)
__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)
{
int i = GET_GLOBAL_IDX;
@@ -844,7 +831,7 @@ __kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* of
void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,
const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB,
__global Contact4* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,
__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,
Constraint4* dstC )
{
dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
@@ -934,7 +921,7 @@ void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVe
__kernel
__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void ContactToConstraintSplitKernel(__global const Contact4* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut,
void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut,
__global const unsigned int* bodyCount,
int nContacts,
float dt,