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add bitonic sort, as comparison.

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fix stringify.bat for Windows (need to fix Mac/Linux version too)
This commit is contained in:
erwincoumans
2013-04-30 11:40:09 -07:00
parent c5f488fe6d
commit 92f0938af3
24 changed files with 1857 additions and 177 deletions
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2
src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
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@@ -210,7 +210,7 @@ static const char* batchingKernelsNewCL= \
"\n"
" if (i!=numValidConstraints)\n"
" {\n"
" //b3Swap(cs[i],cs[numValidConstraints]);\n"
" //btSwap(cs[i],cs[numValidConstraints]);\n"
" \n"
" Contact4 tmp = cs[i];\n"
" cs[i] = cs[numValidConstraints];\n"

6
src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
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@@ -47,7 +47,7 @@ static const char* integrateKernelCL= \
" integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
"{\n"
" int nodeID = get_global_id(0);\n"
" float B3_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
" if( nodeID < numNodes && (bodies[nodeID].m_invMass != 0.f))\n"
" {\n"
" //angular velocity\n"
@@ -61,9 +61,9 @@ static const char* integrateKernelCL= \
" float4 angvel = bodies[nodeID].m_angVel;\n"
" float fAngle = native_sqrt(dot(angvel, angvel));\n"
" //limit the angular motion\n"
" if(fAngle*timeStep > B3_GPU_ANGULAR_MOTION_THRESHOLD)\n"
" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
" {\n"
" fAngle = B3_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
" }\n"
" if(fAngle < 0.001f)\n"
" {\n"

4
src/Bullet3OpenCL/RigidBody/kernels/solveContact.h
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@@ -313,8 +313,8 @@ static const char* solveContactCL= \
" }\n"
"}\n"
"\n"
"void b3PlaneSpace1 (const float4* n, float4* p, float4* q);\n"
" void b3PlaneSpace1 (const float4* n, float4* p, float4* q)\n"
"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
"{\n"
" if (fabs(n[0].z) > 0.70710678f) {\n"
" // choose p in y-z plane\n"

6
src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
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@@ -265,8 +265,8 @@ static const char* solveFrictionCL= \
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
"}\n"
"void b3PlaneSpace1 (const float4* n, float4* p, float4* q);\n"
" void b3PlaneSpace1 (const float4* n, float4* p, float4* q)\n"
"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
"{\n"
" if (fabs(n[0].z) > 0.70710678f) {\n"
" // choose p in y-z plane\n"
@@ -347,7 +347,7 @@ static const char* solveFrictionCL= \
" float4 n = -cs->m_linear;\n"
" \n"
" float4 tangent[2];\n"
" b3PlaneSpace1(&n,&tangent[0],&tangent[1]);\n"
" btPlaneSpace1(&n,&tangent[0],&tangent[1]);\n"
" float4 angular0, angular1, linear;\n"
" float4 r0 = center - posA;\n"
" float4 r1 = center - posB;\n"

6
src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
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@@ -489,8 +489,8 @@ static const char* solverSetupCL= \
"} ConstBufferSSD;\n"
"\n"
"\n"
"void b3PlaneSpace1 (float4 n, float4* p, float4* q);\n"
" void b3PlaneSpace1 (float4 n, float4* p, float4* q)\n"
"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
"{\n"
" if (fabs(n.z) > 0.70710678f) {\n"
" // choose p in y-z plane\n"
@@ -577,7 +577,7 @@ static const char* solverSetupCL= \
" center /= (float)src->m_worldNormal.w;\n"
"\n"
" float4 tangent[2];\n"
" b3PlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);\n"
" btPlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);\n"
" \n"
" float4 r[2];\n"
" r[0] = center - posA;\n"

8
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
View File

@@ -488,8 +488,8 @@ static const char* solverUtilsCL= \
"}\n"
"\n"
"\n"
"void b3PlaneSpace1 (float4 n, float4* p, float4* q);\n"
" void b3PlaneSpace1 (float4 n, float4* p, float4* q)\n"
"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
"{\n"
" if (fabs(n.z) > 0.70710678f) {\n"
" // choose p in y-z plane\n"
@@ -739,7 +739,7 @@ static const char* solverUtilsCL= \
" float4 n = -cs->m_linear;\n"
" \n"
" float4 tangent[2];\n"
" b3PlaneSpace1(n,&tangent[0],&tangent[1]);\n"
" btPlaneSpace1(n,&tangent[0],&tangent[1]);\n"
" float4 angular0, angular1, linear;\n"
" float4 r0 = center - posA;\n"
" float4 r1 = center - posB;\n"
@@ -896,7 +896,7 @@ static const char* solverUtilsCL= \
" center /= (float)src->m_worldNormal.w;\n"
"\n"
" float4 tangent[2];\n"
" b3PlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);\n"
" btPlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);\n"
" \n"
" float4 r[2];\n"
" r[0] = center - posA;\n"

8
src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
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@@ -120,7 +120,7 @@ static const char* updateAabbsKernelCL= \
" float fy;\n"
" float fz;\n"
" int uw;\n"
"} b3AABBCL;\n"
"} btAABBCL;\n"
"\n"
"__inline\n"
"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
@@ -156,7 +156,7 @@ static const char* updateAabbsKernelCL= \
"}\n"
"\n"
"\n"
"__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)\n"
"__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global btAABBCL* plocalShapeAABB, __global btAABBCL* pAABB)\n"
"{\n"
" int nodeID = get_global_id(0);\n"
" \n"
@@ -171,8 +171,8 @@ static const char* updateAabbsKernelCL= \
" \n"
" if (shapeIndex>=0)\n"
" {\n"
" b3AABBCL minAabb = plocalShapeAABB[collidableIndex*2];\n"
" b3AABBCL maxAabb = plocalShapeAABB[collidableIndex*2+1];\n"
" btAABBCL minAabb = plocalShapeAABB[collidableIndex*2];\n"
" btAABBCL maxAabb = plocalShapeAABB[collidableIndex*2+1];\n"
" \n"
" float4 halfExtents = ((float4)(maxAabb.fx - minAabb.fx,maxAabb.fy - minAabb.fy,maxAabb.fz - minAabb.fz,0.f))*0.5f;\n"
" float4 localCenter = ((float4)(maxAabb.fx + minAabb.fx,maxAabb.fy + minAabb.fy,maxAabb.fz + minAabb.fz,0.f))*0.5f;\n"