144 lines
3.4 KiB
C
144 lines
3.4 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* rayCastKernelCL= \
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"\n"
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"#define SHAPE_CONVEX_HULL 3\n"
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"#define SHAPE_PLANE 4\n"
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"#define SHAPE_CONCAVE_TRIMESH 5\n"
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"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
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"#define SHAPE_SPHERE 7\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_from;\n"
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" float4 m_to;\n"
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"} b3RayInfo;\n"
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"\n"
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"typedef struct\n"
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"{\n"
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" float m_hitFraction;\n"
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" int m_hitResult0;\n"
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" int m_hitResult1;\n"
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" int m_hitResult2;\n"
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" float4 m_hitPoint;\n"
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" float4 m_hitNormal;\n"
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"} b3RayHit;\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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" unsigned int 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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" union {\n"
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" int m_numChildShapes;\n"
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" int m_bvhIndex;\n"
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" };\n"
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" float m_radius;\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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"\n"
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"bool sphere_intersect(float4 spherePos, float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n"
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"{\n"
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" float4 rs = rayFrom - spherePos;\n"
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" rs.w = 0.f;\n"
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" float4 rayDir = rayTo-rayFrom;\n"
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" rayDir.w = 0.f;\n"
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" float A = dot(rayDir,rayDir);\n"
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" float B = dot(rs, rayDir);\n"
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" float C = dot(rs, rs) - (radius * radius);\n"
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" \n"
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" float D = B * B - A*C;\n"
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"\n"
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" if (D > 0.0)\n"
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" {\n"
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" float t = (-B - sqrt(D))/A;\n"
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"\n"
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" if ( (t >= 0.0f) && (t < (*hitFraction)) )\n"
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" {\n"
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" *hitFraction = t;\n"
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" return true;\n"
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" }\n"
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" }\n"
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" return false;\n"
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"}\n"
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"\n"
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"float4 setInterpolate3(float4 from, float4 to, float t)\n"
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"{\n"
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" float s = 1.0f - t;\n"
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" float4 result;\n"
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" result = s * from + t * to;\n"
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" result.w = 0.f; \n"
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" return result; \n"
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"}\n"
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"\n"
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"__kernel void rayCastKernel( \n"
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" int numRays, \n"
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" const __global b3RayInfo* rays, \n"
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" __global b3RayHit* hitResults, \n"
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" const int numBodies, \n"
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" __global Body* bodies,\n"
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" __global Collidable* collidables)\n"
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"{\n"
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"\n"
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"\n"
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" int i = get_global_id(0);\n"
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" if (i<numRays)\n"
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" {\n"
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" hitResults[i].m_hitFraction = 1.f;\n"
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"\n"
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" float4 rayFrom = rays[i].m_from;\n"
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" float4 rayTo = rays[i].m_to;\n"
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" float hitFraction = 1.f;\n"
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" int hitBodyIndex= -1;\n"
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" \n"
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" int cachedCollidableIndex = -1; \n"
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" Collidable cachedCollidable;\n"
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" \n"
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" for (int b=0;b<numBodies;b++)\n"
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" {\n"
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" \n"
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" float4 pos = bodies[b].m_pos;\n"
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" // float4 orn = bodies[b].m_quat;\n"
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" if (cachedCollidableIndex !=bodies[b].m_collidableIdx)\n"
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" {\n"
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" cachedCollidableIndex = bodies[b].m_collidableIdx;\n"
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" cachedCollidable = collidables[cachedCollidableIndex];\n"
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" }\n"
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" \n"
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" if (cachedCollidable.m_shapeType == SHAPE_SPHERE)\n"
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" {\n"
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" float radius = cachedCollidable.m_radius;\n"
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" \n"
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" if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n"
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" {\n"
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" hitBodyIndex = b;\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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" if (hitBodyIndex>=0)\n"
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" {\n"
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" hitResults[i].m_hitFraction = hitFraction;\n"
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" hitResults[i].m_hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
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" float4 hitNormal = (float4) (hitResults[i].m_hitPoint-bodies[hitBodyIndex].m_pos);\n"
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" hitResults[i].m_hitNormal = normalize(hitNormal);\n"
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" hitResults[i].m_hitResult0 = hitBodyIndex;\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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