200 lines
5.2 KiB
C
200 lines
5.2 KiB
C
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* updateAabbsKernelCL= \
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"\n"
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"#define SHAPE_CONVEX_HULL 3\n"
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"\n"
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"typedef float4 Quaternion;\n"
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"\n"
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"__inline\n"
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"float4 cross3(float4 a, float4 b)\n"
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"{\n"
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" return cross(a,b);\n"
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"}\n"
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"\n"
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"__inline\n"
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"float dot3F4(float4 a, float4 b)\n"
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"{\n"
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" float4 a1 = (float4)(a.xyz,0.f);\n"
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" float4 b1 = (float4)(b.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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"}\n"
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"\n"
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"\n"
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"__inline\n"
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"Quaternion qtMul(Quaternion a, Quaternion b)\n"
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"{\n"
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" Quaternion ans;\n"
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" ans = cross3( a, b );\n"
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" ans += a.w*b+b.w*a;\n"
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" ans.w = a.w*b.w - dot3F4(a, b);\n"
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" return ans;\n"
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"}\n"
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"\n"
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"__inline\n"
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"Quaternion qtInvert(Quaternion q)\n"
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"{\n"
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" return (Quaternion)(-q.xyz, q.w);\n"
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"}\n"
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"\n"
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"__inline\n"
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"float4 qtRotate(Quaternion q, float4 vec)\n"
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"{\n"
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" Quaternion qInv = qtInvert( q );\n"
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" float4 vcpy = vec;\n"
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" vcpy.w = 0.f;\n"
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" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
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" return out;\n"
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"}\n"
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"\n"
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"__inline\n"
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"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
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"{\n"
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" return qtRotate( *orientation, *p ) + (*translation);\n"
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"}\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float4 m_row[3];\n"
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"} Matrix3x3;\n"
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"\n"
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"typedef unsigned int u32;\n"
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"\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float4 m_pos;\n"
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" float4 m_quat;\n"
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" float4 m_linVel;\n"
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" float4 m_angVel;\n"
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"\n"
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" u32 m_collidableIdx;\n"
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" float m_invMass;\n"
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" float m_restituitionCoeff;\n"
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" float m_frictionCoeff;\n"
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"} Body;\n"
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"\n"
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"typedef struct Collidable\n"
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"{\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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" int m_shapeType;\n"
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" int m_shapeIndex;\n"
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"} Collidable;\n"
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"\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" Matrix3x3 m_invInertia;\n"
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" Matrix3x3 m_initInvInertia;\n"
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"} Shape;\n"
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"\n"
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"\n"
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"__inline\n"
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"Matrix3x3 qtGetRotationMatrix(float4 quat)\n"
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"{\n"
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" float4 quat2 = (float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
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" Matrix3x3 out;\n"
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"\n"
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" out.m_row[0].x=fabs(1-2*quat2.y-2*quat2.z);\n"
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" out.m_row[0].y=fabs(2*quat.x*quat.y-2*quat.w*quat.z);\n"
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" out.m_row[0].z=fabs(2*quat.x*quat.z+2*quat.w*quat.y);\n"
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" out.m_row[0].w = 0.f;\n"
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"\n"
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" out.m_row[1].x=fabs(2*quat.x*quat.y+2*quat.w*quat.z);\n"
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" out.m_row[1].y=fabs(1-2*quat2.x-2*quat2.z);\n"
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" out.m_row[1].z=fabs(2*quat.y*quat.z-2*quat.w*quat.x);\n"
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" out.m_row[1].w = 0.f;\n"
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"\n"
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" out.m_row[2].x=fabs(2*quat.x*quat.z-2*quat.w*quat.y);\n"
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" out.m_row[2].y=fabs(2*quat.y*quat.z+2*quat.w*quat.x);\n"
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" out.m_row[2].z=fabs(1-2*quat2.x-2*quat2.y);\n"
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" out.m_row[2].w = 0.f;\n"
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"\n"
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" return out;\n"
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"}\n"
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"\n"
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"\n"
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"typedef struct \n"
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"{\n"
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" float fx;\n"
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" float fy;\n"
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" float fz;\n"
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" int uw;\n"
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"} btAABBCL;\n"
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"\n"
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"__inline\n"
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"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
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"{\n"
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" Matrix3x3 out;\n"
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" out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
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" out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
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" out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
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" return out;\n"
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"}\n"
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"\n"
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"\n"
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"\n"
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"__inline\n"
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"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
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"{\n"
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" Matrix3x3 transB;\n"
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" transB = mtTranspose( b );\n"
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" Matrix3x3 ans;\n"
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" // why this doesn't run when 0ing in the for{}\n"
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" a.m_row[0].w = 0.f;\n"
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" a.m_row[1].w = 0.f;\n"
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" a.m_row[2].w = 0.f;\n"
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" for(int i=0; i<3; i++)\n"
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" {\n"
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"// a.m_row[i].w = 0.f;\n"
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" ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
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" ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
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" ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
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" ans.m_row[i].w = 0.f;\n"
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" }\n"
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" return ans;\n"
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"}\n"
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"\n"
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"\n"
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"__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global btAABBCL* plocalShapeAABB, __global btAABBCL* pAABB)\n"
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"{\n"
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" int nodeID = get_global_id(0);\n"
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" \n"
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" if( nodeID < numNodes )\n"
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" {\n"
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" float4 position = gBodies[nodeID].m_pos;\n"
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" float4 orientation = gBodies[nodeID].m_quat;\n"
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" \n"
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" \n"
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" int collidableIndex = gBodies[nodeID].m_collidableIdx;\n"
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" int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
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" \n"
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" if (shapeIndex>=0)\n"
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" {\n"
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" btAABBCL minAabb = plocalShapeAABB[collidableIndex*2];\n"
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" btAABBCL maxAabb = plocalShapeAABB[collidableIndex*2+1];\n"
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" \n"
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" float4 halfExtents = ((float4)(maxAabb.fx - minAabb.fx,maxAabb.fy - minAabb.fy,maxAabb.fz - minAabb.fz,0.f))*0.5f;\n"
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" float4 localCenter = ((float4)(maxAabb.fx + minAabb.fx,maxAabb.fy + minAabb.fy,maxAabb.fz + minAabb.fz,0.f))*0.5f;\n"
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" \n"
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" float4 worldCenter = transform(&localCenter,&position,&orientation);\n"
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" \n"
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" Matrix3x3 abs_b = qtGetRotationMatrix(orientation);\n"
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" float4 extent = (float4) ( dot(abs_b.m_row[0],halfExtents),dot(abs_b.m_row[1],halfExtents),dot(abs_b.m_row[2],halfExtents),0.f);\n"
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" \n"
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" \n"
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" pAABB[nodeID*2].fx = worldCenter.x-extent.x;\n"
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" pAABB[nodeID*2].fy = worldCenter.y-extent.y;\n"
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" pAABB[nodeID*2].fz = worldCenter.z-extent.z;\n"
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" pAABB[nodeID*2].uw = nodeID;\n"
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" \n"
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" pAABB[nodeID*2+1].fx = worldCenter.x+extent.x;\n"
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" pAABB[nodeID*2+1].fy = worldCenter.y+extent.y;\n"
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" pAABB[nodeID*2+1].fz = worldCenter.z+extent.z;\n"
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" pAABB[nodeID*2+1].uw = gBodies[nodeID].m_invMass==0.f? 0 : 1;\n"
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" }\n"
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" } \n"
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"}\n"
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"\n"
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;
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