add missing rayCast kernel

src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h

@@ -0,0 +1,100 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* rayCastKernelCL= \
+"\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_from;\n"
+"	float4 m_to;\n"
+"} b3RayInfo;\n"
+"\n"
+"typedef struct\n"
+"{\n"
+"		float m_hitFraction;\n"
+"		int	m_hitResult0;\n"
+"		int	m_hitResult1;\n"
+"		int	m_hitResult2;\n"
+"		float4	m_hitPoint;\n"
+"		float4	m_hitNormal;\n"
+"} b3RayHit;\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"
+"typedef struct Collidable\n"
+"{\n"
+"	int m_unused1;\n"
+"	int m_unused2;\n"
+"	int m_shapeType;\n"
+"	int m_shapeIndex;\n"
+"} Collidable;\n"
+"\n"
+"bool sphere_intersect(float4 spherePos,  float radius, float4 rayFrom, float4 rayTo)\n"
+"{\n"
+"    // rs = ray.org - sphere.center\n"
+"  float4 rs = rayFrom - spherePos;\n"
+"  rs.w = 0.f;\n"
+"	float4 rayDir = (rayTo-rayFrom);\n"
+"	rayDir.w = 0.f;\n"
+"	rayDir = normalize(rayDir);\n"
+"\n"
+"  float B = dot(rs, rayDir);\n"
+"  float C = dot(rs, rs) - (radius * radius);\n"
+"  float D = B * B - C;\n"
+"\n"
+"    if (D > 0.0)\n"
+"    {\n"
+"        float t = -B - sqrt(D);\n"
+"        if ( (t > 0.0))// && (t < isect.t) )\n"
+"        {\n"
+"            return true;//isect.t = t;\n"
+"		}\n"
+"	}\n"
+"	return false;\n"
+"}\n"
+"\n"
+"__kernel void rayCastKernel(  \n"
+"	int numRays, \n"
+"	const __global b3RayInfo* rays, \n"
+"	__global b3RayHit* hits, \n"
+"	const int numBodies, \n"
+"	__global Body* bodies,\n"
+"	__global Collidable* collidables)\n"
+"{\n"
+"\n"
+"	bool hit=false;\n"
+"\n"
+"	int i = get_global_id(0);\n"
+"	if (i<numRays)\n"
+"	{\n"
+"		hits[i].m_hitFraction = 1.f;\n"
+"\n"
+"		float4 rayFrom = rays[i].m_from;\n"
+"		float4 rayTo = rays[i].m_to;\n"
+"		\n"
+"		for (int b=0;b<numBodies;b++)\n"
+"		{\n"
+"					\n"
+"				float4 pos = bodies[b].m_pos;\n"
+"	//		float4 orn = bodies[b].m_quat;\n"
+"				\n"
+"				float radius = 1.f;\n"
+"	\n"
+"				if (sphere_intersect(pos,  radius, rayFrom, rayTo))\n"
+"					hit = true;\n"
+"		}\n"
+"		if (hit)\n"
+"					hits[i].m_hitFraction = 0.f;\n"
+"	}\n"
+"}\n"
+"\n"
+;