move some files to shared folders

use b3Aabb for compound vs compound on host (for testing, towards BVH)

src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef B3_OVERLAPPING_PAIR_H
 #define B3_OVERLAPPING_PAIR_H
 
-#include "Bullet3Common/b3Int4.h"
+#include "Bullet3Common/shared/b3Int4.h"
 
 #define B3_NEW_PAIR_MARKER -1
 #define B3_REMOVED_PAIR_MARKER -2

src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef B3_OVERLAPPING_PAIR_CACHE_H
 #define B3_OVERLAPPING_PAIR_CACHE_H
 
-#include "Bullet3Common/b3Int2.h"
+#include "Bullet3Common/shared/b3Int2.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
 class b3Dispatcher;

src/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h

@@ -18,20 +18,14 @@ subject to the following restrictions:
 
 #include "Bullet3Common/b3Scalar.h"
 #include "Bullet3Common/b3Matrix3x3.h"
+#include "Bullet3Collision/NarrowPhaseCollision/Shared/b3RigidBodyData.h"
 
-B3_ATTRIBUTE_ALIGNED16(struct) b3RigidBodyCL
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3RigidBodyCL : public b3RigidBodyData
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	b3Vector3 		m_pos;
+	
-	b3Quaternion 	m_quat;
-	b3Vector3			m_linVel;
-	b3Vector3			m_angVel;
-
-	int 					m_collidableIdx;
-	float 				m_invMass;
-	float 				m_restituitionCoeff;
-	float 				m_frictionCoeff;
 
 	float	getInvMass() const
 	{

src/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h

@@ -2,8 +2,9 @@
 #ifndef B3_COLLIDABLE_H
 #define B3_COLLIDABLE_H
 
-#include "Bullet3Common/b3Vector3.h"
+
-#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/shared/b3Float4.h"
+#include "Bullet3Common/shared/b3Quat.h"
 
 enum b3ShapeTypes
 {
@@ -23,22 +24,22 @@ struct b3Collidable
 		int m_numChildShapes;
 		int m_bvhIndex;
 	};
-	float m_radius;
+	union
+	{
+		float m_radius;
+		int	m_compoundBvhIndex;
+	};
+
 	int m_shapeType;
 	int m_shapeIndex;
 };
 
-struct b3CollidableNew
+
-{
-	short int m_shapeType;
-	short int m_numShapes;
-	int m_shapeIndex;
-};
 
 struct b3GpuChildShape
 {
-	b3Vector3	m_childPosition;
+	b3Float4	m_childPosition;
-	b3Quaternion m_childOrientation;
+	b3Quat		m_childOrientation;
 	int m_shapeIndex;
 	int m_unused0;
 	int m_unused1;

src/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h

@@ -0,0 +1,37 @@
+
+#ifndef B3_CONVEX_POLYHEDRON_DATA_H
+#define B3_CONVEX_POLYHEDRON_DATA_H
+
+
+
+#include "Bullet3Common/shared/b3Float4.h"
+#include "Bullet3Common/shared/b3Quat.h"
+
+struct b3GpuFace
+{
+	b3Float4 m_plane;
+	int m_indexOffset;
+	int m_numIndices;
+	int m_unusedPadding1;
+	int m_unusedPadding2;
+};
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronData
+{
+	b3Float4		m_localCenter;
+	b3Float4		m_extents;
+	b3Float4		mC;
+	b3Float4		mE;
+
+	float			m_radius;
+	int	m_faceOffset;
+	int m_numFaces;
+	int	m_numVertices;
+
+	int m_vertexOffset;
+	int	m_uniqueEdgesOffset;
+	int	m_numUniqueEdges;
+	int m_unused;
+};
+
+#endif //B3_CONVEX_POLYHEDRON_DATA_H

src/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h

@@ -0,0 +1,21 @@
+#ifndef B3_RIGIDBODY_DATA_H
+#define B3_RIGIDBODY_DATA_H
+
+#include "Bullet3Common/shared/b3Float4.h"
+#include "Bullet3Common/shared/b3Quat.h"
+
+struct b3RigidBodyData
+{
+	b3Float4				m_pos;
+	b3Quat					m_quat;
+	b3Float4				m_linVel;
+	b3Float4				m_angVel;
+
+	int 					m_collidableIdx;
+	float 				m_invMass;
+	float 				m_restituitionCoeff;
+	float 				m_frictionCoeff;
+};
+	
+#endif //B3_RIGIDBODY_DATA_H
+	

src/Bullet3Common/b3Quaternion.h

@@ -832,6 +832,12 @@ b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t)
 	return q1.slerp(q2, t);
 }
 
+B3_FORCE_INLINE b3Quaternion
+b3QuatMul(const b3Quaternion& rot0, const b3Quaternion& rot1)
+{
+	return rot0*rot1;
+}
+
 B3_FORCE_INLINE b3Vector3 
 b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v) 
 {

src/Bullet3Common/shared/b3Float4.h

@@ -4,8 +4,9 @@
 #include "Bullet3Common/shared/b3PlatformDefinitions.h"
 
 #ifdef __cplusplus
+	#include "Bullet3Common/b3Vector3.h"
 	#define b3Float4 b3Vector3
-#else//bla
+#else
 	typedef float4	b3Float4;
 #endif 
 

src/Bullet3Common/shared/b3PlatformDefinitions.h

@@ -6,4 +6,11 @@ struct MyTest
 	int bla;
 };
 
+#ifdef __cplusplus
+#define b3AtomicInc(a) ((*a)++)
+#else
+#define b3AtomicInc atomic_inc
+
+#endif
+
 #endif

src/Bullet3Common/shared/b3Quat.h

@@ -0,0 +1,13 @@
+#ifndef B3_QUAT_H
+#define B3_QUAT_H
+
+#include "Bullet3Common/shared/b3PlatformDefinitions.h"
+
+#ifdef __cplusplus
+	#include "Bullet3Common/b3Quaternion.h"
+	#define b3Quat b3Quaternion
+#else
+	typedef float4	b3Quat;
+#endif 
+
+#endif //B3_QUAT_H

src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef B3_SOLVER_BODY_H
 #define B3_SOLVER_BODY_H
 
-class	b3RigidBody;
+struct	b3RigidBody;
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 

src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef B3_SOLVER_CONSTRAINT_H
 #define B3_SOLVER_CONSTRAINT_H
 
-class	b3RigidBody;
+struct b3RigidBody;
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 //#include "b3JacobianEntry.h"

src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h

@@ -61,6 +61,7 @@ B3_ATTRIBUTE_ALIGNED16(struct)	b3JointFeedback
 	b3Vector3	m_appliedTorqueBodyB;
 };
 
+
 struct b3RigidBodyCL;
 
 

src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h

@@ -7,7 +7,7 @@ class b3Vector3;
 #include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
 
 #include "b3SapAabb.h"
-#include "Bullet3Common/b3Int2.h"
+#include "Bullet3Common/shared/b3Int2.h"
 
 
 class b3GpuSapBroadphase

src/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h

@@ -2,19 +2,13 @@
 #define B3_SAP_AABB_H
 
 #include "Bullet3Common/b3Scalar.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
 
-B3_ATTRIBUTE_ALIGNED16(struct) b3SapAabb
+///just make sure that the b3Aabb is 16-byte aligned
+B3_ATTRIBUTE_ALIGNED16(struct) b3SapAabb : public b3Aabb
 {
-	union
+
-	{
-		float m_min[4];
-		int m_minIndices[4];
-	};
-	union
-	{
-		float m_max[4];
-		int m_signedMaxIndices[4];
-	};
 };
 
+
 #endif //B3_SAP_AABB_H

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h

@@ -7,30 +7,18 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3ConvexUtility.h"
 #include "b3ConvexPolyhedronCL.h"
-#include "b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
-#include "Bullet3Common/b3Int2.h"
+#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/b3Int4.h"
+#include "Bullet3Common/shared/b3Int4.h"
 #include "b3OptimizedBvh.h"
 #include "b3BvhInfo.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
 
 //#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
 
 
-struct b3YetAnotherAabb
+
-{
-	union
-	{
-		float m_min[4];
-		int m_minIndices[4];
-	};
-	union
-	{
-		float m_max[4];
-		//int m_signedMaxIndices[4];
-		//unsigned int m_unsignedMaxIndices[4];
-	};
-};
 
 struct GpuSatCollision
 {
@@ -89,7 +77,9 @@ struct GpuSatCollision
 			const b3OpenCLArray<b3Collidable>& gpuCollidables,
 			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
 
-			const b3OpenCLArray<b3YetAnotherAabb>& clAabbs,
+			const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
+			const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
+
            b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
            b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
            b3OpenCLArray<b3Vector3>& worldNormalsAGPU,

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h

@@ -2,34 +2,12 @@
 #define CONVEX_POLYHEDRON_CL
 
 #include "Bullet3Common/b3Transform.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 
-struct b3GpuFace
+
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL : public b3ConvexPolyhedronData
 {
-	b3Vector4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-	int m_unusedPadding1;
-	int m_unusedPadding2;
-};
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
-{
-	b3Vector3		m_localCenter;
-	b3Vector3		m_extents;
-	b3Vector3		mC;
-	b3Vector3		mE;
-
-	b3Scalar		m_radius;
-	int	m_faceOffset;
-	int m_numFaces;
-	int	m_numVertices;
-
-	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
-	int m_unused;	
-	
-
 
 	inline void project(const b3Transform& trans, const b3Vector3& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) const
 	{

src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h

@@ -10,9 +10,13 @@ static const char* primitiveContactsKernelsCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h

@@ -42,9 +42,13 @@ static const char* satClipKernelsCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h

@@ -4,8 +4,8 @@
 #include "b3OpenCLArray.h"
 #include "Bullet3Common/b3Scalar.h"
 
-#include "Bullet3Common/b3Int2.h"
+#include "Bullet3Common/shared/b3Int2.h"
-#include "Bullet3Common/b3Int4.h"
+#include "Bullet3Common/shared/b3Int4.h"
 
 
 class b3FillCL

src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp

@@ -1,6 +1,6 @@
 
 #include "b3GpuRaycast.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
 

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp

@@ -698,7 +698,7 @@ const struct b3Collidable* b3GpuNarrowPhase::getCollidablesCpu() const
 }
 
 
-cl_mem	b3GpuNarrowPhase::getAabbBufferGpu()
+cl_mem	b3GpuNarrowPhase::getAabbLocalSpaceBufferGpu()
 {
 	return m_data->m_localShapeAABBGPU->getBufferCL();
 }
@@ -726,8 +726,11 @@ const b3Contact4* b3GpuNarrowPhase::getContactsCPU() const
 	return &m_data->m_pBufContactOutCPU->at(0);
 }
 
-void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWS, int numObjects)
+void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects)
 {
+
+	cl_mem aabbsLocalSpace = m_data->m_localShapeAABBGPU->getBufferCL();
+
 	int nContactOut = 0;
 
 	//swap buffer
@@ -744,8 +747,11 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
 	
 
 
-	b3OpenCLArray<b3YetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
+	b3OpenCLArray<b3Aabb> clAabbArrayWorldSpace(this->m_context,this->m_queue);
-	clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);
+	clAabbArrayWorldSpace.setFromOpenCLBuffer(aabbsWorldSpace,numObjects);
+
+	b3OpenCLArray<b3Aabb> clAabbArrayLocalSpace(this->m_context,this->m_queue);
+	clAabbArrayLocalSpace.setFromOpenCLBuffer(aabbsLocalSpace,numObjects);
 
 	m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
 		&broadphasePairsGPU, numBroadphasePairs,
@@ -762,7 +768,8 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
 		*m_data->m_convexIndicesGPU,
 		*m_data->m_collidablesGPU,
 		*m_data->m_gpuChildShapes,
-		clAabbArray,
+		clAabbArrayWorldSpace,
+		clAabbArrayLocalSpace,
 		*m_data->m_worldVertsB1GPU,
 		*m_data->m_clippingFacesOutGPU,
 		*m_data->m_worldNormalsAGPU,

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h

@@ -1,7 +1,7 @@
 #ifndef B3_GPU_NARROWPHASE_H
 #define B3_GPU_NARROWPHASE_H
 
-#include "Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3Vector3.h"
@@ -56,7 +56,7 @@ public:
 	void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
 
 	
-	virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbs, int numObjects);
+	virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
 	
 
 	cl_mem	getBodiesGpu();
@@ -78,7 +78,7 @@ public:
 	cl_mem	getContactsGpu();
 	int	getNumContactsGpu() const;
 
-	cl_mem	getAabbBufferGpu();
+	cl_mem	getAabbLocalSpaceBufferGpu();
 	
 	int getNumRigidBodies() const;
 

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h

@@ -5,7 +5,8 @@
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h"
 #include "b3Config.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+
 #include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3Vector3.h"
@@ -16,8 +17,8 @@
 
 #include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h"
-#include "Bullet3Common/b3Int4.h"
+#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Common/b3Int2.h"
+#include "Bullet3Common/shared/b3Int2.h"
 
 
 class b3ConvexUtility;

src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp

@@ -450,7 +450,7 @@ void	b3GpuRigidBodyPipeline::setupGpuAabbsFull()
 	launcher.setBuffer(bodies);
 	cl_mem collidables = m_data->m_narrowphase->getCollidablesGpu();
 	launcher.setBuffer(collidables);
-	cl_mem localAabbs = m_data->m_narrowphase->getAabbBufferGpu();
+	cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu();
 	launcher.setBuffer(localAabbs);
 
 	cl_mem worldAabbs =0;

src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h

@@ -20,7 +20,8 @@ subject to the following restrictions:
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3OpenCL/NarrowphaseCollision/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+
 
 #include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"

src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h

@@ -22,9 +22,13 @@ static const char* batchingKernelsCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h

@@ -22,9 +22,13 @@ static const char* batchingKernelsNewCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h

@@ -22,9 +22,13 @@ static const char* solverSetupCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h

@@ -22,9 +22,13 @@ static const char* solverSetup2CL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h

@@ -22,9 +22,13 @@ static const char* solverUtilsCL= \
 "{\n"
 "	int bla;\n"
 "};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#define b3AtomicInc atomic_inc\n"
+"#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"
-"#else//bla\n"
+"#else\n"
 "	typedef float4	b3Float4;\n"
 "#endif \n"
 "#endif //B3_FLOAT4_H\n"

test/OpenCL/BitonicSort/main.cpp

@@ -17,7 +17,7 @@ subject to the following restrictions:
 
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3Common/b3Int2.h"
+#include "Bullet3Common/shared/b3Int2.h"
 
 #include "../btgui/Timing/b3Clock.h"
 #include "b3BitonicSort.h"