//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* solveConstraintRowsCL= \
"\n"
"\n"
"typedef float4 Quaternion;\n"
"\n"
"typedef struct\n"
"{\n"
"	float4 m_row[3];\n"
"}Matrix3x3;\n"
"\n"
"\n"
"\n"
"typedef struct\n"
"{\n"
"	Matrix3x3 m_invInertia;\n"
"	Matrix3x3 m_initInvInertia;\n"
"} Shape;\n"
"\n"
"typedef struct\n"
"{\n"
"	Matrix3x3 m_basis;//orientation\n"
"	float4	m_origin;//transform\n"
"}b3Transform;\n"
"\n"
"typedef struct\n"
"{\n"
"	b3Transform		m_worldTransform;\n"
"	float4		m_deltaLinearVelocity;\n"
"	float4		m_deltaAngularVelocity;\n"
"	float4		m_angularFactor;\n"
"	float4		m_linearFactor;\n"
"	float4		m_invMass;\n"
"	float4		m_pushVelocity;\n"
"	float4		m_turnVelocity;\n"
"	float4		m_linearVelocity;\n"
"	float4		m_angularVelocity;\n"
"\n"
"	union \n"
"	{\n"
"		void*	m_originalBody;\n"
"		int		m_originalBodyIndex;\n"
"	};\n"
"	int padding[3];\n"
"\n"
"} b3SolverBody;\n"
"\n"
"\n"
"\n"
"typedef struct\n"
"{\n"
"\n"
"	float4		m_relpos1CrossNormal;\n"
"	float4		m_contactNormal;\n"
"\n"
"	float4		m_relpos2CrossNormal;\n"
"	//float4		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n"
"\n"
"	float4		m_angularComponentA;\n"
"	float4		m_angularComponentB;\n"
"	\n"
"	float4	m_appliedPushImpulse;\n"
"	float4	m_appliedImpulse;\n"
"\n"
"	float	m_friction;\n"
"	float	m_jacDiagABInv;\n"
"	float		m_rhs;\n"
"	float		m_cfm;\n"
"	\n"
"    float		m_lowerLimit;\n"
"	float		m_upperLimit;\n"
"	float		m_rhsPenetration;\n"
"\n"
"    union\n"
"	{\n"
"		void*		m_originalContactPoint;\n"
"		float m_unusedPadding4;\n"
"	};\n"
"\n"
"	int	m_overrideNumSolverIterations;\n"
"    int			m_frictionIndex;\n"
"	int m_solverBodyIdA;\n"
"	int m_solverBodyIdB;\n"
"\n"
"} b3SolverConstraint;\n"
"\n"
"typedef struct\n"
"{\n"
"	int m_bodyAPtrAndSignBit;\n"
"	int m_bodyBPtrAndSignBit;\n"
"	int	m_constraintRowOffset;\n"
"	short int	m_numConstraintRows;\n"
"	short int m_batchId;\n"
"\n"
"} b3BatchConstraint;\n"
"\n"
"#define mymake_float4 (float4)\n"
"\n"
"\n"
"__inline float dot3F4(float4 a, float4 b)\n"
"{\n"
"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
"	return dot(a1, b1);\n"
"}\n"
"\n"
"__inline void internalApplyImpulse(__global b3SolverBody* body,  float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
"{\n"
"	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
"	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
"}\n"
"\n"
"\n"
"void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3SolverBody* body2, __global b3SolverConstraint* c)\n"
"{\n"
"	float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;\n"
"	float deltaVel1Dotn	=	dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
"	float deltaVel2Dotn	=	-dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
"\n"
"	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;\n"
"	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;\n"
"\n"
"	float sum = c->m_appliedImpulse.x + deltaImpulse;\n"
"	if (sum < c->m_lowerLimit)\n"
"	{\n"
"		deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse.x;\n"
"		c->m_appliedImpulse.x = c->m_lowerLimit;\n"
"	}\n"
"	else if (sum > c->m_upperLimit) \n"
"	{\n"
"		deltaImpulse = c->m_upperLimit-c->m_appliedImpulse.x;\n"
"		c->m_appliedImpulse.x = c->m_upperLimit;\n"
"	}\n"
"	else\n"
"	{\n"
"		c->m_appliedImpulse.x = sum;\n"
"	}\n"
"\n"
"	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
"	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
"\n"
"}\n"
"\n"
"__kernel\n"
"void solveJointConstraintRows(__global b3SolverBody* solverBodies,\n"
"					  __global b3BatchConstraint* batchConstraints,\n"
"					  	__global b3SolverConstraint* rows,\n"
"						int batchOffset,\n"
"						int constraintOffset,\n"
"						int numConstraintsInBatch\n"
"                      )\n"
"{\n"
"	int b = get_global_id(0);\n"
"	if (b>=numConstraintsInBatch)\n"
"		return;\n"
"\n"
"	__global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n"
"	for (int jj=0;jj<c->m_numConstraintRows;jj++)\n"
"	{\n"
"		__global b3SolverConstraint* constraint = &rows[c->m_constraintRowOffset+jj];\n"
"		resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
"	}\n"
"};\n"
;