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share more data structures and code between OpenCL and C/C++ on CPU:

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move the setConstraint4/b3ConvertConstraint4 to shared code.
This commit is contained in:
erwin coumans
2013-11-07 12:46:01 -08:00
parent a9a758dd54
commit e20cb22832
16 changed files with 1249 additions and 908 deletions
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98
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
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@@ -224,7 +224,18 @@ static const char* satKernelsCL= \
"}\n"
"inline b3Quat b3QuatNormalize(b3QuatConstArg in)\n"
"{\n"
" return b3FastNormalize4(in);\n"
" //return b3FastNormalize4(in);\n"
" float len = native_sqrt(dot(q, q));\n"
" if(len > 0.f)\n"
" {\n"
" q *= 1.f / len;\n"
" }\n"
" else\n"
" {\n"
" q.x = q.y = q.z = 0.f;\n"
" q.w = 1.f;\n"
" }\n"
" return q;\n"
"}\n"
"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
"{\n"
@@ -253,13 +264,13 @@ static const char* satKernelsCL= \
"#else\n"
"typedef struct\n"
"{\n"
" float4 m_row[3];\n"
" b3Float4 m_row[3];\n"
"}b3Mat3x3;\n"
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
"#define b3GetRow(m,row) (m.m_row[row])\n"
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
"{\n"
" float4 quat2 = (float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
" b3Mat3x3 out;\n"
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
@@ -283,6 +294,87 @@ static const char* satKernelsCL= \
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
" return out;\n"
"}\n"
"__inline\n"
"b3Mat3x3 mtZero();\n"
"__inline\n"
"b3Mat3x3 mtIdentity();\n"
"__inline\n"
"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
"__inline\n"
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
"__inline\n"
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
"__inline\n"
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
"__inline\n"
"b3Mat3x3 mtZero()\n"
"{\n"
" b3Mat3x3 m;\n"
" m.m_row[0] = (b3Float4)(0.f);\n"
" m.m_row[1] = (b3Float4)(0.f);\n"
" m.m_row[2] = (b3Float4)(0.f);\n"
" return m;\n"
"}\n"
"__inline\n"
"b3Mat3x3 mtIdentity()\n"
"{\n"
" b3Mat3x3 m;\n"
" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
" return m;\n"
"}\n"
"__inline\n"
"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
"{\n"
" b3Mat3x3 out;\n"
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
" return out;\n"
"}\n"
"__inline\n"
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
"{\n"
" b3Mat3x3 transB;\n"
" transB = mtTranspose( b );\n"
" b3Mat3x3 ans;\n"
" // why this doesn't run when 0ing in the for{}\n"
" a.m_row[0].w = 0.f;\n"
" a.m_row[1].w = 0.f;\n"
" a.m_row[2].w = 0.f;\n"
" for(int i=0; i<3; i++)\n"
" {\n"
"// a.m_row[i].w = 0.f;\n"
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
" ans.m_row[i].w = 0.f;\n"
" }\n"
" return ans;\n"
"}\n"
"__inline\n"
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
"{\n"
" b3Float4 ans;\n"
" ans.x = b3Dot3F4( a.m_row[0], b );\n"
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
" ans.z = b3Dot3F4( a.m_row[2], b );\n"
" ans.w = 0.f;\n"
" return ans;\n"
"}\n"
"__inline\n"
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
"{\n"
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
" b3Float4 ans;\n"
" ans.x = b3Dot3F4( a, colx );\n"
" ans.y = b3Dot3F4( a, coly );\n"
" ans.z = b3Dot3F4( a, colz );\n"
" return ans;\n"
"}\n"
"#endif\n"
"#endif //B3_MAT3x3_H\n"
"typedef struct b3Aabb b3Aabb_t;\n"