mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
80 lines
2.6 KiB
Common Lisp
80 lines
2.6 KiB
Common Lisp
__kernel void moveObjectsKernel(__global float4* posOrnColors, int numObjects)
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{
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int iGID = get_global_id(0);
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if (iGID>=numObjects)
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return;
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__global float4* positions = &posOrnColors[0];
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if (iGID<0.5*numObjects)
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{
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positions[iGID].y +=0.01f;
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}
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__global float4* colors = &posOrnColors[numObjects*2];
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colors[iGID] = (float4)(0,0,1,1);
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}
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__kernel void colorPairsKernel2(__global float4* posOrnColors, int numObjects, __global const int4* pairs, int indexOffset, int numPairs)
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{
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int iPairId = get_global_id(0);
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if (iPairId>=numPairs)
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return;
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__global float4* colors = &posOrnColors[numObjects*2];
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int iObjectA = pairs[iPairId].x-indexOffset;
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int iObjectB = pairs[iPairId].y-indexOffset;
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colors[iObjectA] = (float4)(1,0,0,1);
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colors[iObjectB] = (float4)(1,0,0,1);
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}
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__kernel void
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sineWaveKernel( __global float4* posOrnColors, __global float* pBodyTimes,float timeStepPos, float mAmplitude,const int numNodes)
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{
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int nodeID = get_global_id(0);
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if( nodeID < numNodes )
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{
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pBodyTimes[nodeID] += timeStepPos;
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float4 position = posOrnColors[nodeID];
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position.x = native_cos(pBodyTimes[nodeID]*2.17f)*mAmplitude + native_sin(pBodyTimes[nodeID])*mAmplitude*0.5f;
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position.y = native_cos(pBodyTimes[nodeID]*1.38f)*mAmplitude + native_sin(pBodyTimes[nodeID]*mAmplitude);
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position.z = native_cos(pBodyTimes[nodeID]*2.17f)*mAmplitude + native_sin(pBodyTimes[nodeID]*0.777f)*mAmplitude;
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posOrnColors[nodeID] = position;
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__global float4* colors = &posOrnColors[numNodes*2];
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colors[nodeID] = (float4)(0,0,1,1);
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}
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}
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typedef struct
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{
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float fx;
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float fy;
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float fz;
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int uw;
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} b3AABBCL;
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__kernel void updateAabbSimple( __global float4* posOrnColors, const int numNodes, __global b3AABBCL* pAABB)
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{
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int nodeId = get_global_id(0);
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if( nodeId < numNodes )
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{
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b3AABBCL orgAabbMin = pAABB[nodeId*2];
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b3AABBCL orgAabbMax = pAABB[nodeId*2+1];
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int orgNodeId = orgAabbMin.uw;
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int orgBroadphaseIndex = orgAabbMax.uw;
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float4 position = posOrnColors[nodeId];
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float4 argAabbMinVec = (float4)(orgAabbMin.fx,orgAabbMin.fy,orgAabbMin.fz,0.f);
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float4 argAabbMaxVec = (float4)(orgAabbMax.fx,orgAabbMax.fy,orgAabbMax.fz,0.f);
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float4 halfExtents = 0.5f*(argAabbMaxVec-argAabbMinVec);
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pAABB[nodeId*2].fx = position.x-halfExtents.x;
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pAABB[nodeId*2].fy = position.y-halfExtents.y;
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pAABB[nodeId*2].fz = position.z-halfExtents.z;
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pAABB[nodeId*2].uw = orgNodeId;
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pAABB[nodeId*2+1].fx = position.x+halfExtents.x;
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pAABB[nodeId*2+1].fy = position.y+halfExtents.y;
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pAABB[nodeId*2+1].fz = position.z+halfExtents.z;
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pAABB[nodeId*2+1].uw = orgBroadphaseIndex;
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}
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}
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