Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl

   1 MSTRINGIFY(
   2
   3 /*#define float3 float4
   4
   5 float dot3(float3 a, float3 b)
   6 {
   7    return a.x*b.x + a.y*b.y + a.z*b.z;
   8 }*/
   9
  10 __kernel void
  11 UpdateConstantsKernel(
  12         const int numLinks,
  13         __global int2 * g_linksVertexIndices,
  14         __global float4 * g_vertexPositions,
  15         __global float * g_vertexInverseMasses,
  16         __global float * g_linksMaterialLSC,
  17         __global float * g_linksMassLSC,
  18         __global float * g_linksRestLengthSquared,
  19         __global float * g_linksRestLengths)
  20 {
  21         int linkID = get_global_id(0);
  22         if( linkID < numLinks )
  23         {
  24                 int2 nodeIndices = g_linksVertexIndices[linkID];
  25                 int node0 = nodeIndices.x;
  26                 int node1 = nodeIndices.y;
  27                 float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ];
  28
  29                 float3 position0   = g_vertexPositions[node0].xyz;
  30                 float3 position1   = g_vertexPositions[node1].xyz;
  31                 float inverseMass0 = g_vertexInverseMasses[node0];
  32                 float inverseMass1 = g_vertexInverseMasses[node1];
  33
  34                 float3 difference = position0 - position1;
  35                 float length2 = dot(difference, difference);
  36                 float length = sqrt(length2);
  37
  38                 g_linksRestLengths[linkID] = length;
  39                 g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient;
  40                 g_linksRestLengthSquared[linkID] = length*length;
  41         }
  42 }
  43
  44 );