ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl

@@ -0,0 +1,204 @@
+MSTRINGIFY(
+
+
+
+float mydot3a(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+
+typedef struct 
+{
+	int firstObject;
+	int endObject;
+} CollisionObjectIndices;
+
+typedef struct 
+{
+	float4 shapeTransform[4]; // column major 4x4 matrix
+	float4 linearVelocity;
+	float4 angularVelocity;
+
+	int softBodyIdentifier;
+	int collisionShapeType;
+	
+
+	// Shape information
+	// Compressed from the union
+	float radius;
+	float halfHeight;
+	int upAxis;
+		
+	float margin;
+	float friction;
+
+	int padding0;
+	
+} CollisionShapeDescription;
+
+// From btBroadphaseProxy.h
+__constant int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Multiply column-major matrix against vector
+float4 matrixVectorMul( float4 matrix[4], float4 vector )
+{
+	float4 returnVector;
+	float4 row0 = (float4)(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x);
+	float4 row1 = (float4)(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y);
+	float4 row2 = (float4)(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z);
+	float4 row3 = (float4)(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w);
+	returnVector.x = dot(row0, vector);
+	returnVector.y = dot(row1, vector);
+	returnVector.z = dot(row2, vector);
+	returnVector.w = dot(row3, vector);
+	return returnVector;
+}
+
+__kernel void 
+SolveCollisionsAndUpdateVelocitiesKernel( 
+	const int numNodes,
+	const float isolverdt,
+	__global int *g_vertexClothIdentifier,
+	__global float4 *g_vertexPreviousPositions,
+	__global float * g_perClothFriction,
+	__global float * g_clothDampingFactor,
+	__global CollisionObjectIndices * g_perClothCollisionObjectIndices,
+	__global CollisionShapeDescription * g_collisionObjectDetails,
+	__global float4 * g_vertexForces,
+	__global float4 *g_vertexVelocities,
+	__global float4 *g_vertexPositions GUID_ARG)
+{
+	int nodeID = get_global_id(0);
+	float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
+	
+	if( get_global_id(0) < numNodes )
+	{	
+		int clothIdentifier = g_vertexClothIdentifier[nodeID];
+		
+		// Abort if this is not a valid cloth
+		if( clothIdentifier < 0 )
+			return;
+
+
+		float4 position = (float4)(g_vertexPositions[nodeID].xyz, 1.f);
+		float4 previousPosition = (float4)(g_vertexPreviousPositions[nodeID].xyz, 1.f);
+			
+		float clothFriction = g_perClothFriction[clothIdentifier];
+		float dampingFactor = g_clothDampingFactor[clothIdentifier];
+		float velocityCoefficient = (1.f - dampingFactor);		
+		float4 difference = position - previousPosition;
+		float4 velocity = difference*velocityCoefficient*isolverdt;
+		
+		CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+	
+		int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+		
+		if( numObjects > 0 )
+		{
+			// We have some possible collisions to deal with
+			for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision )
+			{
+				CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision];
+				float colliderFriction = shapeDescription.friction;
+
+				if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+				{
+					// Colliding with a capsule
+
+					float capsuleHalfHeight = shapeDescription.halfHeight;
+					float capsuleRadius = shapeDescription.radius;
+					float capsuleMargin = shapeDescription.margin;
+					int capsuleupAxis = shapeDescription.upAxis;
+
+					// Four columns of worldTransform matrix
+					float4 worldTransform[4];
+					worldTransform[0] = shapeDescription.shapeTransform[0];
+					worldTransform[1] = shapeDescription.shapeTransform[1];
+					worldTransform[2] = shapeDescription.shapeTransform[2];
+					worldTransform[3] = shapeDescription.shapeTransform[3];
+
+					// Correctly define capsule centerline vector 
+					float4 c1 = (float4)(0.f, 0.f, 0.f, 1.f); 
+					float4 c2 = (float4)(0.f, 0.f, 0.f, 1.f);
+					c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 );
+					c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 );
+					c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 );
+					c2.x = -c1.x;
+					c2.y = -c1.y;
+					c2.z = -c1.z;
+
+
+					float4 worldC1 = matrixVectorMul(worldTransform, c1);
+					float4 worldC2 = matrixVectorMul(worldTransform, c2);
+					float4 segment = (worldC2 - worldC1);
+
+					// compute distance of tangent to vertex along line segment in capsule
+					float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) );
+
+					float4 closestPoint = (worldC1 + (float4)(segment * distanceAlongSegment));
+					float distanceFromLine = length(position - closestPoint);
+					float distanceFromC1 = length(worldC1 - position);
+					float distanceFromC2 = length(worldC2 - position);
+					
+					// Final distance from collision, point to push from, direction to push in
+					// for impulse force
+					float dist;
+					float4 normalVector;
+					if( distanceAlongSegment < 0 )
+					{
+						dist = distanceFromC1;
+						normalVector = (float4)(normalize(position - worldC1).xyz, 0.f);
+					} else if( distanceAlongSegment > 1.f ) {
+						dist = distanceFromC2;
+						normalVector = (float4)(normalize(position - worldC2).xyz, 0.f);	
+					} else {
+						dist = distanceFromLine;
+						normalVector = (float4)(normalize(position - closestPoint).xyz, 0.f);
+					}
+						
+					float4 colliderLinearVelocity = shapeDescription.linearVelocity;
+					float4 colliderAngularVelocity = shapeDescription.angularVelocity;
+					float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position - (float4)(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f));
+
+					float minDistance = capsuleRadius + capsuleMargin;
+					
+					// In case of no collision, this is the value of velocity
+					velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+					
+					
+					// Check for a collision
+					if( dist < minDistance )
+					{
+						// Project back to surface along normal
+						position = position + (float4)((minDistance - dist)*normalVector*0.9f);
+						velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+						float4 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+						float4 p1 = normalize(cross(normalVector, segment));
+						float4 p2 = normalize(cross(p1, normalVector));
+						// Full friction is sum of velocities in each direction of plane
+						float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
+
+						// Real friction is peak friction corrected by friction coefficients
+						frictionVector = frictionVector * (colliderFriction*clothFriction);
+
+						float approachSpeed = dot(relativeVelocity, normalVector);
+
+						if( approachSpeed <= 0.0f )
+							forceOnVertex -= frictionVector;
+					}
+				}
+			}
+		}
+
+		g_vertexVelocities[nodeID] = (float4)(velocity.xyz, 0.f);	
+
+		// Update external force
+		g_vertexForces[nodeID] = (float4)(forceOnVertex.xyz, 0.f);
+
+		g_vertexPositions[nodeID] = (float4)(position.xyz, 0.f);
+	}
+}
+
+);

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl

@@ -0,0 +1,242 @@
+MSTRINGIFY(
+
+//#pragma OPENCL EXTENSION cl_amd_printf:enable\n
+
+float mydot3a(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+float mylength3(float4 a)
+{
+	a.w = 0;
+	return length(a);
+}
+
+float4 mynormalize3(float4 a)
+{
+	a.w = 0;
+	return normalize(a);
+}
+
+typedef struct 
+{
+	int firstObject;
+	int endObject;
+} CollisionObjectIndices;
+
+typedef struct 
+{
+	float4 shapeTransform[4]; // column major 4x4 matrix
+	float4 linearVelocity;
+	float4 angularVelocity;
+
+	int softBodyIdentifier;
+	int collisionShapeType;
+	
+
+	// Shape information
+	// Compressed from the union
+	float radius;
+	float halfHeight;
+	int upAxis;
+		
+	float margin;
+	float friction;
+
+	int padding0;
+	
+} CollisionShapeDescription;
+
+// From btBroadphaseProxy.h
+__constant int CAPSULE_SHAPE_PROXYTYPE = 10;
+
+// Multiply column-major matrix against vector
+float4 matrixVectorMul( float4 matrix[4], float4 vector )
+{
+	float4 returnVector;
+	float4 row0 = (float4)(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x);
+	float4 row1 = (float4)(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y);
+	float4 row2 = (float4)(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z);
+	float4 row3 = (float4)(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w);
+	returnVector.x = dot(row0, vector);
+	returnVector.y = dot(row1, vector);
+	returnVector.z = dot(row2, vector);
+	returnVector.w = dot(row3, vector);
+	return returnVector;
+}
+
+__kernel void 
+SolveCollisionsAndUpdateVelocitiesKernel( 
+	const int numNodes,
+	const float isolverdt,
+	__global int *g_vertexClothIdentifier,
+	__global float4 *g_vertexPreviousPositions,
+	__global float * g_perClothFriction,
+	__global float * g_clothDampingFactor,
+	__global CollisionObjectIndices * g_perClothCollisionObjectIndices,
+	__global CollisionShapeDescription * g_collisionObjectDetails,
+	__global float4 * g_vertexForces,
+	__global float4 *g_vertexVelocities,
+	__global float4 *g_vertexPositions,
+	__local CollisionShapeDescription *localCollisionShapes,
+	__global float * g_vertexInverseMasses)
+{
+	int nodeID = get_global_id(0);
+	float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
+
+	int clothIdentifier = g_vertexClothIdentifier[nodeID];
+
+	// Abort if this is not a valid cloth
+	if( clothIdentifier < 0 )
+		return;
+	
+
+	float4 position = (float4)(g_vertexPositions[nodeID].xyz, 0.f);
+	float4 previousPosition = (float4)(g_vertexPreviousPositions[nodeID].xyz, 0.f);
+			
+	float clothFriction = g_perClothFriction[clothIdentifier];
+	float dampingFactor = g_clothDampingFactor[clothIdentifier];
+	float velocityCoefficient = (1.f - dampingFactor);		
+	float4 difference = position - previousPosition;
+	float4 velocity = difference*velocityCoefficient*isolverdt;			
+	float inverseMass = g_vertexInverseMasses[nodeID];
+		
+	CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
+	
+	int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+		
+	if( numObjects > 0 )
+	{
+		// We have some possible collisions to deal with
+		
+		// First load all of the collision objects into LDS
+		int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
+		if( get_local_id(0) < numObjects )
+		{
+			localCollisionShapes[get_local_id(0)] = g_collisionObjectDetails[ collisionObjectIndices.firstObject + get_local_id(0) ];
+		}
+	}
+
+	// Safe as the vertices are padded so that not more than one soft body is in a group
+	barrier(CLK_LOCAL_MEM_FENCE);
+
+	// Annoyingly, even though I know the flow control is not varying, the compiler will not let me skip this
+	if( numObjects > 0 )
+	{
+		
+		
+		// We have some possible collisions to deal with
+		for( int collision = 0; collision < numObjects; ++collision )
+		{
+			CollisionShapeDescription shapeDescription = localCollisionShapes[collision];
+			float colliderFriction = localCollisionShapes[collision].friction;
+		
+			if( localCollisionShapes[collision].collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
+			{
+				// Colliding with a capsule
+
+				float capsuleHalfHeight = localCollisionShapes[collision].halfHeight;
+				float capsuleRadius = localCollisionShapes[collision].radius;
+				float capsuleMargin = localCollisionShapes[collision].margin;
+				int capsuleupAxis = localCollisionShapes[collision].upAxis;
+
+				if ( capsuleHalfHeight <= 0 )
+						capsuleHalfHeight = 0.0001f;
+				float4 worldTransform[4];
+				worldTransform[0] = localCollisionShapes[collision].shapeTransform[0];
+				worldTransform[1] = localCollisionShapes[collision].shapeTransform[1];
+				worldTransform[2] = localCollisionShapes[collision].shapeTransform[2];
+				worldTransform[3] = localCollisionShapes[collision].shapeTransform[3];
+
+				// Correctly define capsule centerline vector 
+				float4 c1 = (float4)(0.f, 0.f, 0.f, 1.f); 
+				float4 c2 = (float4)(0.f, 0.f, 0.f, 1.f);
+				c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 );
+				c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 );
+				c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 );
+				c2.x = -c1.x;
+				c2.y = -c1.y;
+				c2.z = -c1.z;
+
+				float4 worldC1 = matrixVectorMul(worldTransform, c1);
+				float4 worldC2 = matrixVectorMul(worldTransform, c2);
+				float4 segment = (float4)((worldC2 - worldC1).xyz, 0.f);
+
+				float4 segmentNormalized = mynormalize3(segment);
+				float distanceAlongSegment =mydot3a( (position - worldC1), segmentNormalized );
+
+				float4 closestPointOnSegment = (worldC1 + (float4)(segmentNormalized * distanceAlongSegment));
+				float distanceFromLine = mylength3(position - closestPointOnSegment);
+				float distanceFromC1 = mylength3(worldC1 - position);
+				float distanceFromC2 = mylength3(worldC2 - position);
+	
+				// Final distance from collision, point to push from, direction to push in
+				// for impulse force
+				float dist;
+				float4 normalVector;
+
+				if( distanceAlongSegment < 0 )
+				{
+					dist = distanceFromC1;
+					normalVector = (float4)(normalize(position - worldC1).xyz, 0.f);		
+				} else if( distanceAlongSegment > length(segment) ) {
+					dist = distanceFromC2;
+					normalVector = (float4)(normalize(position - worldC2).xyz, 0.f);	
+				} else {
+					dist = distanceFromLine;
+					normalVector = (float4)(normalize(position - closestPointOnSegment).xyz, 0.f);
+				}
+						
+				float minDistance = capsuleRadius + capsuleMargin;
+				float4 closestPointOnSurface = (float4)((position + (minDistance - dist) * normalVector).xyz, 0.f);
+										
+				float4 colliderLinearVelocity = shapeDescription.linearVelocity;
+				float4 colliderAngularVelocity = shapeDescription.angularVelocity;
+				float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, closestPointOnSurface - (float4)(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f));
+					
+					
+				// Check for a collision
+				if( dist < minDistance )
+				{
+					// Project back to surface along normal
+					position = closestPointOnSurface;
+					velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+					float4 relativeVelocity = velocity - velocityOfSurfacePoint;
+
+					float4 p1 = mynormalize3(cross(normalVector, segment));
+					float4 p2 = mynormalize3(cross(p1, normalVector));
+					
+					float4 tangentialVel = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
+					float frictionCoef = (colliderFriction * clothFriction);
+					if (frictionCoef>1.f)
+						frictionCoef = 1.f;
+						
+					//only apply friction if objects are not moving apart
+					float projVel = mydot3a(relativeVelocity,normalVector);
+					if ( projVel >= -0.001f)
+					{
+						if ( inverseMass > 0 )
+						{
+							//float4 myforceOnVertex = -tangentialVel * frictionCoef *  isolverdt * (1.0f / inverseMass);
+							position += (-tangentialVel * frictionCoef) / (isolverdt);
+						}
+					}						
+					
+					// In case of no collision, this is the value of velocity
+					velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
+
+				}
+			}
+		}
+	}
+	
+	g_vertexVelocities[nodeID] = (float4)(velocity.xyz, 0.f);	
+
+	// Update external force
+	g_vertexForces[nodeID] = (float4)(forceOnVertex.xyz, 0.f);
+
+	g_vertexPositions[nodeID] = (float4)(position.xyz, 0.f);
+}
+
+);

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl

@@ -0,0 +1,57 @@
+
+
+
+MSTRINGIFY(
+
+
+float mydot3(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+
+__kernel void 
+SolvePositionsFromLinksKernel( 
+	const int startLink,
+	const int numLinks,
+	const float kst,
+	const float ti,
+	__global int2 * g_linksVertexIndices,
+	__global float * g_linksMassLSC,
+	__global float * g_linksRestLengthSquared,
+	__global float * g_verticesInverseMass,
+	__global float4 * g_vertexPositions GUID_ARG)
+	
+{
+	int linkID = get_global_id(0) + startLink;
+	if( get_global_id(0) < numLinks )
+	{	
+		float massLSC = g_linksMassLSC[linkID];
+		float restLengthSquared = g_linksRestLengthSquared[linkID];
+		
+		if( massLSC > 0.0f )
+		{		
+			int2 nodeIndices = g_linksVertexIndices[linkID];
+			int node0 = nodeIndices.x;
+			int node1 = nodeIndices.y;
+			
+			float4 position0 = g_vertexPositions[node0];
+			float4 position1 = g_vertexPositions[node1];
+
+			float inverseMass0 = g_verticesInverseMass[node0];
+			float inverseMass1 = g_verticesInverseMass[node1]; 
+
+			float4 del = position1 - position0;
+			float len  = mydot3(del, del);
+			float k    = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst;
+			position0 = position0 - del*(k*inverseMass0);
+			position1 = position1 + del*(k*inverseMass1);
+
+			g_vertexPositions[node0] = position0;
+			g_vertexPositions[node1] = position1;
+
+		}
+	}
+}
+
+);

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl

@@ -0,0 +1,130 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+MSTRINGIFY(
+
+float mydot3(float4 a, float4 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+__kernel __attribute__((reqd_work_group_size(WAVEFRONT_BLOCK_MULTIPLIER*WAVEFRONT_SIZE, 1, 1)))
+void 
+SolvePositionsFromLinksKernel( 
+	const int startWaveInBatch,
+	const int numWaves,
+	const float kst,
+	const float ti,
+	__global int2 *g_wavefrontBatchCountsVertexCounts,
+	__global int *g_vertexAddressesPerWavefront,
+	__global int2 * g_linksVertexIndices,
+	__global float * g_linksMassLSC,
+	__global float * g_linksRestLengthSquared,
+	__global float * g_verticesInverseMass,
+	__global float4 * g_vertexPositions,
+	__local int2 *wavefrontBatchCountsVertexCounts,
+	__local float4 *vertexPositionSharedData,
+	__local float *vertexInverseMassSharedData)
+{
+	const int laneInWavefront = (get_global_id(0) & (WAVEFRONT_SIZE-1));
+	const int wavefront = startWaveInBatch + (get_global_id(0) / WAVEFRONT_SIZE);
+	const int firstWavefrontInBlock = startWaveInBatch + get_group_id(0) * WAVEFRONT_BLOCK_MULTIPLIER;
+	const int localWavefront = wavefront - firstWavefrontInBlock;
+
+	// Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier	
+	if( wavefront < (startWaveInBatch + numWaves) )
+	{	
+		// Load the batch counts for the wavefronts
+		
+		int2 batchesAndVerticesWithinWavefront = g_wavefrontBatchCountsVertexCounts[wavefront];
+		int batchesWithinWavefront = batchesAndVerticesWithinWavefront.x;
+		int verticesUsedByWave = batchesAndVerticesWithinWavefront.y;
+
+		// Load the vertices for the wavefronts
+		for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE )
+		{
+			int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+
+			vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_vertexPositions[vertexAddress];
+			vertexInverseMassSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_verticesInverseMass[vertexAddress];
+		}
+		
+		barrier(CLK_LOCAL_MEM_FENCE);
+
+		// Loop through the batches performing the solve on each in LDS
+		int baseDataLocationForWave = WAVEFRONT_SIZE * wavefront * MAX_BATCHES_PER_WAVE;	
+
+		//for( int batch = 0; batch < batchesWithinWavefront; ++batch )
+		
+		int batch = 0;
+		do
+		{
+			int baseDataLocation = baseDataLocationForWave + WAVEFRONT_SIZE * batch;
+			int locationOfValue = baseDataLocation + laneInWavefront;
+			
+			
+			// These loads should all be perfectly linear across the WF
+			int2 localVertexIndices = g_linksVertexIndices[locationOfValue];
+			float massLSC = g_linksMassLSC[locationOfValue];
+			float restLengthSquared = g_linksRestLengthSquared[locationOfValue];
+			
+			// LDS vertex addresses based on logical wavefront number in block and loaded index
+			int vertexAddress0 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.x;
+			int vertexAddress1 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.y;
+			
+			float4 position0 = vertexPositionSharedData[vertexAddress0];
+			float4 position1 = vertexPositionSharedData[vertexAddress1];
+
+			float inverseMass0 = vertexInverseMassSharedData[vertexAddress0];
+			float inverseMass1 = vertexInverseMassSharedData[vertexAddress1]; 
+
+			float4 del = position1 - position0;
+			float len = mydot3(del, del);
+			
+			float k = 0;
+			if( massLSC > 0.0f )
+			{		
+				k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst;
+			}
+			
+			position0 = position0 - del*(k*inverseMass0);
+			position1 = position1 + del*(k*inverseMass1);
+			
+			// Ensure compiler does not re-order memory operations
+			barrier(CLK_LOCAL_MEM_FENCE);
+
+			vertexPositionSharedData[vertexAddress0] = position0;
+			vertexPositionSharedData[vertexAddress1] = position1;
+			
+			// Ensure compiler does not re-order memory operations
+			barrier(CLK_LOCAL_MEM_FENCE);
+				
+			
+			++batch;
+		} while( batch < batchesWithinWavefront );
+
+		// Update the global memory vertices for the wavefronts
+		for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE )
+		{
+			int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex];
+
+			g_vertexPositions[vertexAddress] = (float4)(vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex].xyz, 0.f);
+		}		
+		
+	}
+
+}
+
+);

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl

@@ -0,0 +1,44 @@
+MSTRINGIFY(
+
+/*#define float3 float4
+
+float dot3(float3 a, float3 b)
+{
+   return a.x*b.x + a.y*b.y + a.z*b.z;
+}*/
+
+__kernel void 
+UpdateConstantsKernel( 
+	const int numLinks,
+	__global int2 * g_linksVertexIndices,
+	__global float4 * g_vertexPositions,
+	__global float * g_vertexInverseMasses,
+	__global float * g_linksMaterialLSC,
+	__global float * g_linksMassLSC,
+	__global float * g_linksRestLengthSquared,
+	__global float * g_linksRestLengths)
+{
+	int linkID = get_global_id(0);
+	if( linkID < numLinks )
+	{	
+		int2 nodeIndices = g_linksVertexIndices[linkID];
+		int node0 = nodeIndices.x;
+		int node1 = nodeIndices.y;
+		float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ];
+		
+		float3 position0   = g_vertexPositions[node0].xyz;
+		float3 position1   = g_vertexPositions[node1].xyz;
+		float inverseMass0 = g_vertexInverseMasses[node0];
+		float inverseMass1 = g_vertexInverseMasses[node1];
+
+		float3 difference = position0 - position1;
+		float length2 = dot(difference, difference);
+		float length = sqrt(length2);
+	
+		g_linksRestLengths[linkID] = length;
+		g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient;
+		g_linksRestLengthSquared[linkID] = length*length;		
+	}
+}
+
+);

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl

@@ -0,0 +1,25 @@
+MSTRINGIFY(
+	
+__kernel void 
+UpdateFixedVertexPositions(
+	const uint numNodes,
+	__global int * g_anchorIndex,
+	__global float4 * g_vertexPositions,
+	__global float4 * g_anchorPositions GUID_ARG)
+{
+	unsigned int nodeID = get_global_id(0);
+
+	if( nodeID < numNodes )
+	{		
+		int anchorIndex  = g_anchorIndex[nodeID];
+		float4 position = g_vertexPositions[nodeID];
+
+		if ( anchorIndex >= 0 )
+		{
+			float4 anchorPosition = g_anchorPositions[anchorIndex];
+			g_vertexPositions[nodeID] = anchorPosition;
+		}
+	}		
+}
+
+);