ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp

@@ -0,0 +1,1820 @@
+/*
+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.
+*/
+
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "vectormath/vmInclude.h"
+#include <stdio.h> //@todo: remove the debugging printf at some stage
+#include "btSoftBodySolver_OpenCL.h"
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyInternals.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "LinearMath/btQuickprof.h"
+#include <limits.h>
+
+
+#define BT_SUPPRESS_OPENCL_ASSERTS
+
+#ifdef USE_MINICL
+	#include "MiniCL/cl.h"
+#else //USE_MINICL
+	#ifdef __APPLE__
+		#include <OpenCL/OpenCL.h>
+	#else
+		#include <CL/cl.h>
+	#endif //__APPLE__
+#endif//USE_MINICL
+
+#define BT_DEFAULT_WORKGROUPSIZE 64
+
+
+#define RELEASE_CL_KERNEL(kernelName) {if( kernelName ){ clReleaseKernel( kernelName ); kernelName = 0; }}
+
+
+//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it
+
+////OpenCL 1.0 kernels don't use float3
+#define MSTRINGIFY(A) #A
+static const char* PrepareLinksCLString = 
+#include "OpenCLC10/PrepareLinks.cl"
+static const char* UpdatePositionsFromVelocitiesCLString = 
+#include "OpenCLC10/UpdatePositionsFromVelocities.cl"
+static const char* SolvePositionsCLString = 
+#include "OpenCLC10/SolvePositions.cl"
+static const char* UpdateNodesCLString = 
+#include "OpenCLC10/UpdateNodes.cl"
+static const char* UpdatePositionsCLString = 
+#include "OpenCLC10/UpdatePositions.cl"
+static const char* UpdateConstantsCLString = 
+#include "OpenCLC10/UpdateConstants.cl"
+static const char* IntegrateCLString = 
+#include "OpenCLC10/Integrate.cl"
+static const char* ApplyForcesCLString = 
+#include "OpenCLC10/ApplyForces.cl"
+static const char* UpdateFixedVertexPositionsCLString = 
+#include "OpenCLC10/UpdateFixedVertexPositions.cl"
+static const char* UpdateNormalsCLString = 
+#include "OpenCLC10/UpdateNormals.cl"
+static const char* VSolveLinksCLString = 
+#include "OpenCLC10/VSolveLinks.cl"
+static const char* SolveCollisionsAndUpdateVelocitiesCLString =
+#include "OpenCLC10/SolveCollisionsAndUpdateVelocities.cl"
+
+
+btSoftBodyVertexDataOpenCL::btSoftBodyVertexDataOpenCL( cl_command_queue queue, cl_context ctx) :
+    m_queue(queue),
+	m_clClothIdentifier( queue, ctx, &m_clothIdentifier, false ),
+	m_clVertexPosition( queue, ctx, &m_vertexPosition, false ),
+	m_clVertexPreviousPosition( queue, ctx, &m_vertexPreviousPosition, false ),
+	m_clVertexVelocity( queue, ctx, &m_vertexVelocity, false ),
+	m_clVertexForceAccumulator( queue, ctx, &m_vertexForceAccumulator, false ),
+	m_clVertexNormal( queue, ctx, &m_vertexNormal, false ),
+	m_clVertexInverseMass( queue, ctx, &m_vertexInverseMass, false ),
+	m_clVertexArea( queue, ctx, &m_vertexArea, false ),
+	m_clVertexTriangleCount( queue, ctx, &m_vertexTriangleCount, false )
+{
+}
+
+btSoftBodyVertexDataOpenCL::~btSoftBodyVertexDataOpenCL()
+{
+
+}
+
+bool btSoftBodyVertexDataOpenCL::onAccelerator()
+{
+	return m_onGPU;
+}
+
+bool btSoftBodyVertexDataOpenCL::moveToAccelerator()
+{
+	bool success = true;
+	success = success && m_clClothIdentifier.moveToGPU();
+	success = success && m_clVertexPosition.moveToGPU();
+	success = success && m_clVertexPreviousPosition.moveToGPU();
+	success = success && m_clVertexVelocity.moveToGPU();
+	success = success && m_clVertexForceAccumulator.moveToGPU();
+	success = success && m_clVertexNormal.moveToGPU();
+	success = success && m_clVertexInverseMass.moveToGPU();
+	success = success && m_clVertexArea.moveToGPU();
+	success = success && m_clVertexTriangleCount.moveToGPU();
+
+	if( success )
+		m_onGPU = true;
+
+	return success;
+}
+
+bool btSoftBodyVertexDataOpenCL::moveFromAccelerator(bool bCopy, bool bCopyMinimum)
+{
+	bool success = true;
+
+	if (!bCopy)
+	{
+		success = success && m_clClothIdentifier.moveFromGPU();
+		success = success && m_clVertexPosition.moveFromGPU();
+		success = success && m_clVertexPreviousPosition.moveFromGPU();
+		success = success && m_clVertexVelocity.moveFromGPU();
+		success = success && m_clVertexForceAccumulator.moveFromGPU();
+		success = success && m_clVertexNormal.moveFromGPU();
+		success = success && m_clVertexInverseMass.moveFromGPU();
+		success = success && m_clVertexArea.moveFromGPU();
+		success = success && m_clVertexTriangleCount.moveFromGPU();
+	}
+	else
+	{
+		if (bCopyMinimum)
+		{
+			success = success && m_clVertexPosition.copyFromGPU();
+			success = success && m_clVertexNormal.copyFromGPU();
+		}
+		else
+		{
+			success = success && m_clClothIdentifier.copyFromGPU();
+			success = success && m_clVertexPosition.copyFromGPU();
+			success = success && m_clVertexPreviousPosition.copyFromGPU();
+			success = success && m_clVertexVelocity.copyFromGPU();
+			success = success && m_clVertexForceAccumulator.copyFromGPU();
+			success = success && m_clVertexNormal.copyFromGPU();
+			success = success && m_clVertexInverseMass.copyFromGPU();
+			success = success && m_clVertexArea.copyFromGPU();
+			success = success && m_clVertexTriangleCount.copyFromGPU();
+		}
+	}
+
+	if( success )
+		m_onGPU = true;
+
+	return success;
+}
+
+btSoftBodyLinkDataOpenCL::btSoftBodyLinkDataOpenCL(cl_command_queue queue,  cl_context ctx) 
+:m_cqCommandQue(queue),
+	m_clLinks( queue, ctx, &m_links, false ),
+	m_clLinkStrength( queue, ctx, &m_linkStrength, false ),
+	m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ),
+	m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ),
+	m_clLinksCLength( queue, ctx, &m_linksCLength, false ),
+	m_clLinksLengthRatio( queue, ctx, &m_linksLengthRatio, false ),
+	m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ),
+	m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false )
+{
+}
+
+btSoftBodyLinkDataOpenCL::~btSoftBodyLinkDataOpenCL()
+{
+}
+
+static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec )
+{
+	Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() );
+	return outVec;
+}
+
+/** Allocate enough space in all link-related arrays to fit numLinks links */
+void btSoftBodyLinkDataOpenCL::createLinks( int numLinks )
+{
+	int previousSize = m_links.size();
+	int newSize = previousSize + numLinks;
+
+	btSoftBodyLinkData::createLinks( numLinks );
+
+	// Resize the link addresses array as well
+	m_linkAddresses.resize( newSize );
+}
+
+/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+void btSoftBodyLinkDataOpenCL::setLinkAt( 
+	const LinkDescription &link, 
+	int linkIndex )
+{
+	btSoftBodyLinkData::setLinkAt( link, linkIndex );
+
+	// Set the link index correctly for initialisation
+	m_linkAddresses[linkIndex] = linkIndex;
+}
+
+bool btSoftBodyLinkDataOpenCL::onAccelerator()
+{
+	return m_onGPU;
+}
+
+bool btSoftBodyLinkDataOpenCL::moveToAccelerator()
+{
+	bool success = true;
+	success = success && m_clLinks.moveToGPU();
+	success = success && m_clLinkStrength.moveToGPU();
+	success = success && m_clLinksMassLSC.moveToGPU();
+	success = success && m_clLinksRestLengthSquared.moveToGPU();
+	success = success && m_clLinksCLength.moveToGPU();
+	success = success && m_clLinksLengthRatio.moveToGPU();
+	success = success && m_clLinksRestLength.moveToGPU();
+	success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU();
+
+	if( success ) {
+		m_onGPU = true;
+	}
+
+	return success;
+}
+
+bool btSoftBodyLinkDataOpenCL::moveFromAccelerator()
+{
+	bool success = true;
+	success = success && m_clLinks.moveFromGPU();
+	success = success && m_clLinkStrength.moveFromGPU();
+	success = success && m_clLinksMassLSC.moveFromGPU();
+	success = success && m_clLinksRestLengthSquared.moveFromGPU();
+	success = success && m_clLinksCLength.moveFromGPU();
+	success = success && m_clLinksLengthRatio.moveFromGPU();
+	success = success && m_clLinksRestLength.moveFromGPU();
+	success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU();
+
+	if( success ) {
+		m_onGPU = false;
+	}
+
+	return success;
+}
+
+/**
+ * Generate (and later update) the batching for the entire link set.
+ * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+ * In theory we could delay it until just before we need the cloth.
+ * It's a one-off overhead, though, so that is a later optimisation.
+ */
+void btSoftBodyLinkDataOpenCL::generateBatches()
+{
+	int numLinks = getNumLinks();
+
+	// Do the graph colouring here temporarily
+	btAlignedObjectArray< int > batchValues;
+	batchValues.resize( numLinks, 0 );
+
+	// Find the maximum vertex value internally for now
+	int maxVertex = 0;
+	for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+	{
+		int vertex0 = getVertexPair(linkIndex).vertex0;
+		int vertex1 = getVertexPair(linkIndex).vertex1;
+		if( vertex0 > maxVertex )
+			maxVertex = vertex0;
+		if( vertex1 > maxVertex )
+			maxVertex = vertex1;
+	}
+	int numVertices = maxVertex + 1;
+
+	// Set of lists, one for each node, specifying which colours are connected
+	// to that node.
+	// No two edges into a node can share a colour.
+	btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists;
+	vertexConnectedColourLists.resize(numVertices);
+
+	// Simple algorithm that chooses the lowest batch number
+	// that none of the links attached to either of the connected 
+	// nodes is in
+	for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+	{				
+		int linkLocation = m_linkAddresses[linkIndex];
+
+		int vertex0 = getVertexPair(linkLocation).vertex0;
+		int vertex1 = getVertexPair(linkLocation).vertex1;
+
+		// Get the two node colour lists
+		btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] );
+		btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] );
+
+		// Choose the minimum colour that is in neither list
+		int colour = 0;
+		while( colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || colourListVertex1.findLinearSearch(colour) != colourListVertex1.size()  )
+			++colour;
+		// i should now be the minimum colour in neither list
+		// Add to the two lists so that future edges don't share
+		// And store the colour against this edge
+
+		colourListVertex0.push_back(colour);
+		colourListVertex1.push_back(colour);
+		batchValues[linkIndex] = colour;
+	}
+
+	// Check the colour counts
+	btAlignedObjectArray< int > batchCounts;
+	for( int i = 0; i < numLinks; ++i )
+	{
+		int batch = batchValues[i];
+		if( batch >= batchCounts.size() )
+			batchCounts.push_back(1);
+		else
+			++(batchCounts[batch]);
+	}
+
+	m_batchStartLengths.resize(batchCounts.size());
+	if( m_batchStartLengths.size() > 0 )
+	{
+		m_batchStartLengths.resize(batchCounts.size());
+		m_batchStartLengths[0] = BatchPair(0, 0);
+
+		int sum = 0;
+		for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex )
+		{
+			m_batchStartLengths[batchIndex].start = sum;
+			m_batchStartLengths[batchIndex].length = batchCounts[batchIndex];
+			sum += batchCounts[batchIndex];
+		}
+	}
+
+	/////////////////////////////
+	// Sort data based on batches
+
+	// Create source arrays by copying originals
+	btAlignedObjectArray<LinkNodePair>									m_links_Backup(m_links);
+	btAlignedObjectArray<float>											m_linkStrength_Backup(m_linkStrength);
+	btAlignedObjectArray<float>											m_linksMassLSC_Backup(m_linksMassLSC);
+	btAlignedObjectArray<float>											m_linksRestLengthSquared_Backup(m_linksRestLengthSquared);
+	btAlignedObjectArray<Vectormath::Aos::Vector3>						m_linksCLength_Backup(m_linksCLength);
+	btAlignedObjectArray<float>											m_linksLengthRatio_Backup(m_linksLengthRatio);
+	btAlignedObjectArray<float>											m_linksRestLength_Backup(m_linksRestLength);
+	btAlignedObjectArray<float>											m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient);
+
+
+	for( int batch = 0; batch < batchCounts.size(); ++batch )
+		batchCounts[batch] = 0;
+
+	// Do sort as single pass into destination arrays	
+	for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+	{
+		// To maintain locations run off the original link locations rather than the current position.
+		// It's not cache efficient, but as we run this rarely that should not matter.
+		// It's faster than searching the link location array for the current location and then updating it.
+		// The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+		int linkLocation = m_linkAddresses[linkIndex];
+
+		// Obtain batch and calculate target location for the
+		// next element in that batch, incrementing the batch counter
+		// afterwards
+		int batch = batchValues[linkIndex];
+		int newLocation = m_batchStartLengths[batch].start + batchCounts[batch];
+
+		batchCounts[batch] = batchCounts[batch] + 1;
+		m_links[newLocation] = m_links_Backup[linkLocation];
+#if 1
+		m_linkStrength[newLocation] = m_linkStrength_Backup[linkLocation];
+		m_linksMassLSC[newLocation] = m_linksMassLSC_Backup[linkLocation];
+		m_linksRestLengthSquared[newLocation] = m_linksRestLengthSquared_Backup[linkLocation];
+		m_linksLengthRatio[newLocation] = m_linksLengthRatio_Backup[linkLocation];
+		m_linksRestLength[newLocation] = m_linksRestLength_Backup[linkLocation];
+		m_linksMaterialLinearStiffnessCoefficient[newLocation] = m_linksMaterialLinearStiffnessCoefficient_Backup[linkLocation];
+#endif
+		// Update the locations array to account for the moved entry
+		m_linkAddresses[linkIndex] = newLocation;
+	}
+
+
+} // void generateBatches()
+
+
+
+
+
+btSoftBodyTriangleDataOpenCL::btSoftBodyTriangleDataOpenCL( cl_command_queue queue , cl_context ctx) : 
+    m_queue( queue ),
+	m_clVertexIndices( queue, ctx, &m_vertexIndices, false ),
+	m_clArea( queue, ctx, &m_area, false ),
+	m_clNormal( queue, ctx, &m_normal, false )
+{
+}
+
+btSoftBodyTriangleDataOpenCL::~btSoftBodyTriangleDataOpenCL()
+{
+}
+
+/** Allocate enough space in all link-related arrays to fit numLinks links */
+void btSoftBodyTriangleDataOpenCL::createTriangles( int numTriangles )
+{
+	int previousSize = getNumTriangles();
+	int newSize = previousSize + numTriangles;
+
+	btSoftBodyTriangleData::createTriangles( numTriangles );
+
+	// Resize the link addresses array as well
+	m_triangleAddresses.resize( newSize );
+}
+
+/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
+void btSoftBodyTriangleDataOpenCL::setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex )
+{
+	btSoftBodyTriangleData::setTriangleAt( triangle, triangleIndex );
+
+	m_triangleAddresses[triangleIndex] = triangleIndex;
+}
+
+bool btSoftBodyTriangleDataOpenCL::onAccelerator()
+{
+	return m_onGPU;
+}
+
+bool btSoftBodyTriangleDataOpenCL::moveToAccelerator()
+{
+	bool success = true;
+	success = success && m_clVertexIndices.moveToGPU();
+	success = success && m_clArea.moveToGPU();
+	success = success && m_clNormal.moveToGPU();
+
+	if( success )
+		m_onGPU = true;
+
+	return success;
+}
+
+bool btSoftBodyTriangleDataOpenCL::moveFromAccelerator()
+{
+	bool success = true;
+	success = success && m_clVertexIndices.moveFromGPU();
+	success = success && m_clArea.moveFromGPU();
+	success = success && m_clNormal.moveFromGPU();
+
+	if( success )
+		m_onGPU = true;
+
+	return success;
+}
+
+/**
+ * Generate (and later update) the batching for the entire triangle set.
+ * This redoes a lot of work because it batches the entire set when each cloth is inserted.
+ * In theory we could delay it until just before we need the cloth.
+ * It's a one-off overhead, though, so that is a later optimisation.
+ */
+void btSoftBodyTriangleDataOpenCL::generateBatches()
+{
+	int numTriangles = getNumTriangles();
+	if( numTriangles == 0 )
+		return;
+
+	// Do the graph colouring here temporarily
+	btAlignedObjectArray< int > batchValues;
+	batchValues.resize( numTriangles );
+
+	// Find the maximum vertex value internally for now
+	int maxVertex = 0;
+	for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+	{
+		int vertex0 = getVertexSet(triangleIndex).vertex0;
+		int vertex1 = getVertexSet(triangleIndex).vertex1;
+		int vertex2 = getVertexSet(triangleIndex).vertex2;
+		
+		if( vertex0 > maxVertex )
+			maxVertex = vertex0;
+		if( vertex1 > maxVertex )
+			maxVertex = vertex1;
+		if( vertex2 > maxVertex )
+			maxVertex = vertex2;
+	}
+	int numVertices = maxVertex + 1;
+
+	// Set of lists, one for each node, specifying which colours are connected
+	// to that node.
+	// No two edges into a node can share a colour.
+	btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists;
+	vertexConnectedColourLists.resize(numVertices);
+
+
+	//std::cout << "\n";
+	// Simple algorithm that chooses the lowest batch number
+	// that none of the faces attached to either of the connected 
+	// nodes is in
+	for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+	{
+		// To maintain locations run off the original link locations rather than the current position.
+		// It's not cache efficient, but as we run this rarely that should not matter.
+		// It's faster than searching the link location array for the current location and then updating it.
+		// The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+		int triangleLocation = m_triangleAddresses[triangleIndex];
+
+		int vertex0 = getVertexSet(triangleLocation).vertex0;
+		int vertex1 = getVertexSet(triangleLocation).vertex1;
+		int vertex2 = getVertexSet(triangleLocation).vertex2;
+
+		// Get the three node colour lists
+		btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] );
+		btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] );
+		btAlignedObjectArray< int > &colourListVertex2( vertexConnectedColourLists[vertex2] );
+
+		// Choose the minimum colour that is in none of the lists
+		int colour = 0;
+		while( 
+			colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || 
+			colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() ||
+			colourListVertex2.findLinearSearch(colour) != colourListVertex2.size() )
+		{
+			++colour;
+		}
+		// i should now be the minimum colour in neither list
+		// Add to the three lists so that future edges don't share
+		// And store the colour against this face
+		colourListVertex0.push_back(colour);
+		colourListVertex1.push_back(colour);
+		colourListVertex2.push_back(colour);
+
+		batchValues[triangleIndex] = colour;
+	}
+
+
+	// Check the colour counts
+	btAlignedObjectArray< int > batchCounts;
+	for( int i = 0; i < numTriangles; ++i )
+	{
+		int batch = batchValues[i];
+		if( batch >= batchCounts.size() )
+			batchCounts.push_back(1);
+		else
+			++(batchCounts[batch]);
+	}
+
+
+	m_batchStartLengths.resize(batchCounts.size());
+	m_batchStartLengths[0] = btSomePair(0,0);
+
+
+	int sum = 0;
+	for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex )
+	{
+		m_batchStartLengths[batchIndex].first = sum;
+		m_batchStartLengths[batchIndex].second = batchCounts[batchIndex];
+		sum += batchCounts[batchIndex];
+	}
+	
+	/////////////////////////////
+	// Sort data based on batches
+	
+	// Create source arrays by copying originals
+	btAlignedObjectArray<btSoftBodyTriangleData::TriangleNodeSet>							m_vertexIndices_Backup(m_vertexIndices);
+	btAlignedObjectArray<float>										m_area_Backup(m_area);
+	btAlignedObjectArray<Vectormath::Aos::Vector3>					m_normal_Backup(m_normal);
+
+
+	for( int batch = 0; batch < batchCounts.size(); ++batch )
+		batchCounts[batch] = 0;
+
+	// Do sort as single pass into destination arrays	
+	for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex )
+	{
+		// To maintain locations run off the original link locations rather than the current position.
+		// It's not cache efficient, but as we run this rarely that should not matter.
+		// It's faster than searching the link location array for the current location and then updating it.
+		// The other alternative would be to unsort before resorting, but this is equivalent to doing that.
+		int triangleLocation = m_triangleAddresses[triangleIndex];
+
+		// Obtain batch and calculate target location for the
+		// next element in that batch, incrementing the batch counter
+		// afterwards
+		int batch = batchValues[triangleIndex];
+		int newLocation = m_batchStartLengths[batch].first + batchCounts[batch];
+
+		batchCounts[batch] = batchCounts[batch] + 1;
+		m_vertexIndices[newLocation] = m_vertexIndices_Backup[triangleLocation];
+		m_area[newLocation] = m_area_Backup[triangleLocation];
+		m_normal[newLocation] = m_normal_Backup[triangleLocation];
+
+		// Update the locations array to account for the moved entry
+		m_triangleAddresses[triangleIndex] = newLocation;
+	}
+} // btSoftBodyTriangleDataOpenCL::generateBatches
+
+
+
+
+
+
+
+btOpenCLSoftBodySolver::btOpenCLSoftBodySolver(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) :
+	m_linkData(queue, ctx),
+	m_vertexData(queue, ctx),
+	m_triangleData(queue, ctx),
+	m_defaultCLFunctions(queue, ctx),
+	m_currentCLFunctions(&m_defaultCLFunctions),
+	m_clPerClothAcceleration(queue, ctx, &m_perClothAcceleration, true ),
+	m_clPerClothWindVelocity(queue, ctx, &m_perClothWindVelocity, true ),
+	m_clPerClothDampingFactor(queue,ctx, &m_perClothDampingFactor, true ),
+	m_clPerClothVelocityCorrectionCoefficient(queue, ctx,&m_perClothVelocityCorrectionCoefficient, true ),
+	m_clPerClothLiftFactor(queue, ctx,&m_perClothLiftFactor, true ),
+	m_clPerClothDragFactor(queue, ctx,&m_perClothDragFactor, true ),
+	m_clPerClothMediumDensity(queue, ctx,&m_perClothMediumDensity, true ),
+	m_clPerClothCollisionObjects( queue, ctx, &m_perClothCollisionObjects, true ),
+	m_clCollisionObjectDetails( queue, ctx, &m_collisionObjectDetails, true ),
+	m_clPerClothFriction( queue, ctx, &m_perClothFriction, false ),
+	m_clAnchorPosition( queue, ctx, &m_anchorPosition, true ),
+	m_clAnchorIndex( queue, ctx, &m_anchorIndex, true),
+	m_cqCommandQue( queue ),
+	m_cxMainContext(ctx),
+	m_defaultWorkGroupSize(BT_DEFAULT_WORKGROUPSIZE),
+	m_bUpdateAnchoredNodePos(bUpdateAchchoredNodePos)
+{
+
+	// Initial we will clearly need to update solver constants
+	// For now this is global for the cloths linked with this solver - we should probably make this body specific 
+	// for performance in future once we understand more clearly when constants need to be updated
+	m_updateSolverConstants = true;
+
+	m_shadersInitialized = false;
+
+	m_prepareLinksKernel = 0;
+	m_solvePositionsFromLinksKernel = 0;
+	m_updateConstantsKernel = 0;
+	m_integrateKernel = 0;
+	m_addVelocityKernel = 0;
+	m_updatePositionsFromVelocitiesKernel = 0;
+	m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = 0;
+	m_updateVelocitiesFromPositionsWithVelocitiesKernel = 0;
+	m_vSolveLinksKernel = 0;
+	m_solveCollisionsAndUpdateVelocitiesKernel = 0;
+	m_resetNormalsAndAreasKernel = 0;
+	m_updateSoftBodiesKernel = 0;
+	m_normalizeNormalsAndAreasKernel = 0;
+	m_outputToVertexArrayKernel = 0;
+	m_applyForcesKernel = 0;
+	m_updateFixedVertexPositionsKernel = 0;
+}
+
+btOpenCLSoftBodySolver::~btOpenCLSoftBodySolver()
+{
+	releaseKernels();
+}
+
+void btOpenCLSoftBodySolver::releaseKernels()
+{
+	RELEASE_CL_KERNEL( m_prepareLinksKernel );
+	RELEASE_CL_KERNEL( m_solvePositionsFromLinksKernel );
+	RELEASE_CL_KERNEL( m_updateConstantsKernel );
+	RELEASE_CL_KERNEL( m_integrateKernel );
+	RELEASE_CL_KERNEL( m_addVelocityKernel );
+	RELEASE_CL_KERNEL( m_updatePositionsFromVelocitiesKernel );
+	RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithoutVelocitiesKernel );
+	RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithVelocitiesKernel );
+	RELEASE_CL_KERNEL( m_vSolveLinksKernel );
+	RELEASE_CL_KERNEL( m_solveCollisionsAndUpdateVelocitiesKernel );
+	RELEASE_CL_KERNEL( m_resetNormalsAndAreasKernel );
+	RELEASE_CL_KERNEL( m_normalizeNormalsAndAreasKernel );
+	RELEASE_CL_KERNEL( m_outputToVertexArrayKernel );
+	RELEASE_CL_KERNEL( m_applyForcesKernel );
+	RELEASE_CL_KERNEL( m_updateFixedVertexPositionsKernel );
+
+	m_shadersInitialized = false;
+}
+
+void btOpenCLSoftBodySolver::copyBackToSoftBodies(bool bMove)
+{
+
+	// Move the vertex data back to the host first
+	m_vertexData.moveFromAccelerator(!bMove);
+
+	// Loop over soft bodies, copying all the vertex positions back for each body in turn
+	for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+	{
+		btOpenCLAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[ softBodyIndex ];
+		btSoftBody *softBody = softBodyInterface->getSoftBody();
+
+		int firstVertex = softBodyInterface->getFirstVertex();
+		int numVertices = softBodyInterface->getNumVertices();
+
+		// Copy vertices from solver back into the softbody
+		for( int vertex = 0; vertex < numVertices; ++vertex )
+		{
+			using Vectormath::Aos::Point3;
+			Point3 vertexPosition( m_vertexData.getVertexPositions()[firstVertex + vertex] );
+			Point3 normal(m_vertexData.getNormal(firstVertex + vertex));
+
+			softBody->m_nodes[vertex].m_x.setX( vertexPosition.getX() );
+			softBody->m_nodes[vertex].m_x.setY( vertexPosition.getY() );
+			softBody->m_nodes[vertex].m_x.setZ( vertexPosition.getZ() );
+
+			softBody->m_nodes[vertex].m_n.setX( normal.getX() );
+			softBody->m_nodes[vertex].m_n.setY( normal.getY() );
+			softBody->m_nodes[vertex].m_n.setZ( normal.getZ() );
+		}
+	}	
+} // btOpenCLSoftBodySolver::copyBackToSoftBodies
+
+void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate )
+{
+	if( forceUpdate || m_softBodySet.size() != softBodies.size() )
+	{
+		// Have a change in the soft body set so update, reloading all the data
+		getVertexData().clear();
+		getTriangleData().clear();
+		getLinkData().clear();
+		m_softBodySet.resize(0);
+		m_anchorIndex.clear();
+
+		int maxPiterations = 0;
+		int maxViterations = 0;
+
+		for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
+		{
+			btSoftBody *softBody = softBodies[ softBodyIndex ];
+			using Vectormath::Aos::Matrix3;
+			using Vectormath::Aos::Point3;
+
+			// Create SoftBody that will store the information within the solver
+			btOpenCLAcceleratedSoftBodyInterface *newSoftBody = new btOpenCLAcceleratedSoftBodyInterface( softBody );
+			m_softBodySet.push_back( newSoftBody );
+
+			m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) );
+			m_perClothDampingFactor.push_back(softBody->m_cfg.kDP);
+			m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF );
+			m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
+			m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
+			m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
+			// Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
+			m_perClothFriction.push_back(softBody->m_cfg.kDF);
+			m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
+
+			// Add space for new vertices and triangles in the default solver for now
+			// TODO: Include space here for tearing too later
+			int firstVertex = getVertexData().getNumVertices();
+			int numVertices = softBody->m_nodes.size();
+			int maxVertices = numVertices;
+			// Allocate space for new vertices in all the vertex arrays
+			getVertexData().createVertices( maxVertices, softBodyIndex );
+
+			int firstTriangle = getTriangleData().getNumTriangles();
+			int numTriangles = softBody->m_faces.size();
+			int maxTriangles = numTriangles;
+			getTriangleData().createTriangles( maxTriangles );
+
+			// Copy vertices from softbody into the solver
+			for( int vertex = 0; vertex < numVertices; ++vertex )
+			{
+				Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ());
+				btSoftBodyVertexData::VertexDescription desc;
+
+				// TODO: Position in the softbody might be pre-transformed
+				// or we may need to adapt for the pose.
+				//desc.setPosition( cloth.getMeshTransform()*multPoint );
+				desc.setPosition( multPoint );
+
+				float vertexInverseMass = softBody->m_nodes[vertex].m_im;
+				desc.setInverseMass(vertexInverseMass);
+				getVertexData().setVertexAt( desc, firstVertex + vertex );
+
+				m_anchorIndex.push_back(-1.0);
+			}
+
+			// Copy triangles similarly
+			// We're assuming here that vertex indices are based on the firstVertex rather than the entire scene
+			for( int triangle = 0; triangle < numTriangles; ++triangle )
+			{
+				// Note that large array storage is relative to the array not to the cloth
+				// So we need to add firstVertex to each value
+				int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0]));
+				int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0]));
+				int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0]));
+				btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex);
+				getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle );
+				
+				// Increase vertex triangle counts for this triangle		
+				getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++;
+				getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++;
+				getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++;
+			}
+
+			int firstLink = getLinkData().getNumLinks();
+			int numLinks = softBody->m_links.size();
+			int maxLinks = numLinks;
+			
+			// Allocate space for the links
+			getLinkData().createLinks( numLinks );
+
+			// Add the links
+			for( int link = 0; link < numLinks; ++link )
+			{
+				int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]);
+				int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]);
+
+				btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST);
+				newLink.setLinkStrength(1.f);
+				getLinkData().setLinkAt(newLink, firstLink + link);
+			}
+			
+			newSoftBody->setFirstVertex( firstVertex );
+			newSoftBody->setFirstTriangle( firstTriangle );
+			newSoftBody->setNumVertices( numVertices );
+			newSoftBody->setMaxVertices( maxVertices );
+			newSoftBody->setNumTriangles( numTriangles );
+			newSoftBody->setMaxTriangles( maxTriangles );
+			newSoftBody->setFirstLink( firstLink );
+			newSoftBody->setNumLinks( numLinks );
+
+			// Find maximum piterations and viterations
+			int piterations = softBody->m_cfg.piterations;
+
+            if ( piterations > maxPiterations )
+                  maxPiterations = piterations;
+
+            int viterations = softBody->m_cfg.viterations;
+
+			if ( viterations > maxViterations )
+                  maxViterations = viterations;
+
+			// zero mass
+			for( int vertex = 0; vertex < numVertices; ++vertex )
+			{
+				if ( softBody->m_nodes[vertex].m_im == 0 )
+				{
+					AnchorNodeInfoCL nodeInfo;
+					nodeInfo.clVertexIndex = firstVertex + vertex;
+					nodeInfo.pNode = &softBody->m_nodes[vertex];
+
+					m_anchorNodeInfoArray.push_back(nodeInfo);
+				}
+			}			
+
+			// anchor position
+			if ( numVertices > 0 )
+			{
+				for ( int anchorIndex = 0; anchorIndex < softBody->m_anchors.size(); anchorIndex++ )
+				{
+					btSoftBody::Node* anchorNode = softBody->m_anchors[anchorIndex].m_node;
+					btSoftBody::Node* firstNode = &softBody->m_nodes[0];
+
+					AnchorNodeInfoCL nodeInfo;
+					nodeInfo.clVertexIndex = firstVertex + (int)(anchorNode - firstNode);
+					nodeInfo.pNode = anchorNode;
+
+					m_anchorNodeInfoArray.push_back(nodeInfo);
+				}
+			}			
+		}
+
+		
+		m_anchorPosition.clear();		
+		m_anchorPosition.resize(m_anchorNodeInfoArray.size());
+
+		for ( int anchorNode = 0; anchorNode < m_anchorNodeInfoArray.size(); anchorNode++ )
+		{
+			const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[anchorNode];
+			m_anchorIndex[anchorNodeInfo.clVertexIndex] = anchorNode;
+			getVertexData().getInverseMass(anchorNodeInfo.clVertexIndex) = 0.0f;
+		}
+		
+		updateConstants(0.f);
+
+		// set position and velocity iterations
+		setNumberOfPositionIterations(maxPiterations);
+		setNumberOfVelocityIterations(maxViterations);
+
+		// set wind velocity
+		m_perClothWindVelocity.resize( m_softBodySet.size() );
+		for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+		{
+			btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody();			
+			m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity());
+		}
+
+		m_clPerClothWindVelocity.changedOnCPU();
+
+		// generate batches
+		m_linkData.generateBatches();		
+		m_triangleData.generateBatches();
+
+		// Build the shaders to match the batching parameters
+		buildShaders();
+	}
+}
+
+
+btSoftBodyLinkData &btOpenCLSoftBodySolver::getLinkData()
+{
+	// TODO: Consider setting link data to "changed" here
+	return m_linkData;
+}
+
+btSoftBodyVertexData &btOpenCLSoftBodySolver::getVertexData()
+{
+	// TODO: Consider setting vertex data to "changed" here
+	return m_vertexData;
+}
+
+btSoftBodyTriangleData &btOpenCLSoftBodySolver::getTriangleData()
+{
+	// TODO: Consider setting triangle data to "changed" here
+	return m_triangleData;
+}
+
+void btOpenCLSoftBodySolver::resetNormalsAndAreas( int numVertices )
+{
+	cl_int ciErrNum;
+	ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 0, sizeof(numVertices), (void*)&numVertices); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
+	ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 1, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexNormal.m_buffer);//oclCHECKERROR(ciErrNum, CL_SUCCESS);
+	ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel,  2, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexArea.m_buffer); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
+	size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_resetNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0 );
+
+		if( ciErrNum != CL_SUCCESS )
+		{
+			btAssert( 0 && "enqueueNDRangeKernel(m_resetNormalsAndAreasKernel)" );
+		}
+	}
+
+}
+
+void btOpenCLSoftBodySolver::normalizeNormalsAndAreas( int numVertices )
+{
+	cl_int ciErrNum;
+
+	ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 0, sizeof(int),(void*) &numVertices);
+	ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 1, sizeof(cl_mem), &m_vertexData.m_clVertexTriangleCount.m_buffer);
+	ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
+	ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
+	size_t	numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_normalizeNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
+		if( ciErrNum != CL_SUCCESS ) 
+		{
+			btAssert( 0 && "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)");
+		}
+	}
+
+}
+
+void btOpenCLSoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int numTriangles )
+{
+	cl_int ciErrNum;
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 0, sizeof(int), (void*) &firstTriangle);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 1, sizeof(int), &numTriangles);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 2, sizeof(cl_mem), &m_triangleData.m_clVertexIndices.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 6, sizeof(cl_mem), &m_triangleData.m_clNormal.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 7, sizeof(cl_mem), &m_triangleData.m_clArea.m_buffer);
+
+	size_t numWorkItems = m_defaultWorkGroupSize*((numTriangles + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_updateSoftBodiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum != CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)");
+	}
+
+}
+
+void btOpenCLSoftBodySolver::updateSoftBodies()
+{
+	using namespace Vectormath::Aos;
+
+
+	int numVertices = m_vertexData.getNumVertices();
+	int numTriangles = m_triangleData.getNumTriangles();
+
+	// Ensure data is on accelerator
+	m_vertexData.moveToAccelerator();
+	m_triangleData.moveToAccelerator();
+
+	resetNormalsAndAreas( numVertices );
+
+
+	// Go through triangle batches so updates occur correctly
+	for( int batchIndex = 0; batchIndex < m_triangleData.m_batchStartLengths.size(); ++batchIndex )
+	{
+
+		int startTriangle = m_triangleData.m_batchStartLengths[batchIndex].first;
+		int numTriangles = m_triangleData.m_batchStartLengths[batchIndex].second;
+
+		executeUpdateSoftBodies( startTriangle, numTriangles );
+	}
+
+
+	normalizeNormalsAndAreas( numVertices );
+} // updateSoftBodies
+
+
+Vectormath::Aos::Vector3 btOpenCLSoftBodySolver::ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a )
+{
+	return a*Vectormath::Aos::dot(v, a);
+}
+
+void btOpenCLSoftBodySolver::ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce )
+{
+	float dtInverseMass = solverdt*inverseMass;
+	if( Vectormath::Aos::lengthSqr(force * dtInverseMass) > Vectormath::Aos::lengthSqr(vertexVelocity) )
+	{
+		vertexForce -= ProjectOnAxis( vertexVelocity, normalize( force ) )/dtInverseMass;
+	} else {
+		vertexForce += force;
+	}
+}
+
+void btOpenCLSoftBodySolver::updateFixedVertexPositions()
+{	
+	// Ensure data is on accelerator
+	m_vertexData.moveToAccelerator();
+	m_clAnchorPosition.moveToGPU();
+	m_clAnchorIndex.moveToGPU();
+
+	cl_int ciErrNum ;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel, 0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,1, sizeof(cl_mem), &m_clAnchorIndex.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,3, sizeof(cl_mem), &m_clAnchorPosition.m_buffer);
+
+	size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateFixedVertexPositionsKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
+		if( ciErrNum != CL_SUCCESS ) 
+		{
+			btAssert( 0 &&  "enqueueNDRangeKernel(m_updateFixedVertexPositionsKernel)");
+		}
+	}
+
+}
+
+void btOpenCLSoftBodySolver::applyForces( float solverdt )
+{	
+	// Ensure data is on accelerator
+	m_vertexData.moveToAccelerator();
+	m_clPerClothAcceleration.moveToGPU();
+	m_clPerClothLiftFactor.moveToGPU();
+	m_clPerClothDragFactor.moveToGPU();
+	m_clPerClothMediumDensity.moveToGPU();
+	m_clPerClothWindVelocity.moveToGPU();	
+
+	cl_int ciErrNum ;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 1, sizeof(float), &solverdt);
+	float fl = FLT_EPSILON;
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 2, sizeof(float), &fl);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 7, sizeof(cl_mem), &m_clPerClothLiftFactor.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 8 ,sizeof(cl_mem), &m_clPerClothDragFactor.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel, 9, sizeof(cl_mem), &m_clPerClothWindVelocity.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel,10, sizeof(cl_mem), &m_clPerClothAcceleration.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel,11, sizeof(cl_mem), &m_clPerClothMediumDensity.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel,12, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
+	ciErrNum = clSetKernelArg(m_applyForcesKernel,13, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+
+	size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_applyForcesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
+		if( ciErrNum != CL_SUCCESS ) 
+		{
+			btAssert( 0 &&  "enqueueNDRangeKernel(m_applyForcesKernel)");
+		}
+	}
+
+}
+
+/**
+ * Integrate motion on the solver.
+ */
+void btOpenCLSoftBodySolver::integrate( float solverdt )
+{
+	// Ensure data is on accelerator
+	m_vertexData.moveToAccelerator();
+
+	cl_int ciErrNum;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_integrateKernel, 0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_integrateKernel, 1, sizeof(float), &solverdt);
+	ciErrNum = clSetKernelArg(m_integrateKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+	ciErrNum = clSetKernelArg(m_integrateKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_integrateKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+	ciErrNum = clSetKernelArg(m_integrateKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_integrateKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
+
+	size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_integrateKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+		if( ciErrNum != CL_SUCCESS )
+		{
+			btAssert( 0 &&  "enqueueNDRangeKernel(m_integrateKernel)");
+		}
+	}
+
+}
+
+float btOpenCLSoftBodySolver::computeTriangleArea( 
+	const Vectormath::Aos::Point3 &vertex0,
+	const Vectormath::Aos::Point3 &vertex1,
+	const Vectormath::Aos::Point3 &vertex2 )
+{
+	Vectormath::Aos::Vector3 a = vertex1 - vertex0;
+	Vectormath::Aos::Vector3 b = vertex2 - vertex0;
+	Vectormath::Aos::Vector3 crossProduct = cross(a, b);
+	float area = length( crossProduct );
+	return area;
+}
+
+
+void btOpenCLSoftBodySolver::updateBounds()
+{	
+	for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+	{
+		btVector3 minBound(-1e30,-1e30,-1e30), maxBound(1e30,1e30,1e30);
+		m_softBodySet[softBodyIndex]->updateBounds( minBound, maxBound );
+	}
+
+} // btOpenCLSoftBodySolver::updateBounds
+
+
+void btOpenCLSoftBodySolver::updateConstants( float timeStep )
+{			
+
+	using namespace Vectormath::Aos;
+
+	if( m_updateSolverConstants )
+	{
+		m_updateSolverConstants = false;
+
+		// Will have to redo this if we change the structure (tear, maybe) or various other possible changes
+
+		// Initialise link constants
+		const int numLinks = m_linkData.getNumLinks();
+		for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex )
+		{
+			btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) );
+			m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 )));
+			float invMass0 = m_vertexData.getInverseMass(vertices.vertex0);
+			float invMass1 = m_vertexData.getInverseMass(vertices.vertex1);
+			float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex);
+			float massLSC = (invMass0 + invMass1)/linearStiffness;
+			m_linkData.getMassLSC(linkIndex) = massLSC;
+			float restLength = m_linkData.getRestLength(linkIndex);
+			float restLengthSquared = restLength*restLength;
+			m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared;
+		}
+	}
+
+}
+
+class QuickSortCompare
+{
+	public:
+
+	bool operator() ( const CollisionShapeDescription& a, const CollisionShapeDescription& b ) const
+	{
+		return ( a.softBodyIdentifier < b.softBodyIdentifier );
+	}
+};
+
+
+/**
+ * Sort the collision object details array and generate indexing into it for the per-cloth collision object array.
+ */
+void btOpenCLSoftBodySolver::prepareCollisionConstraints()
+{
+	// First do a simple sort on the collision objects
+	btAlignedObjectArray<int> numObjectsPerClothPrefixSum;
+	btAlignedObjectArray<int> numObjectsPerCloth;
+	numObjectsPerCloth.resize( m_softBodySet.size(), 0 );
+	numObjectsPerClothPrefixSum.resize( m_softBodySet.size(), 0 );
+
+
+	
+	m_collisionObjectDetails.quickSort( QuickSortCompare() );
+
+	if (!m_perClothCollisionObjects.size())
+		return;
+
+	// Generating indexing for perClothCollisionObjects
+	// First clear the previous values with the "no collision object for cloth" constant
+	for( int clothIndex = 0; clothIndex < m_perClothCollisionObjects.size(); ++clothIndex )
+	{
+		m_perClothCollisionObjects[clothIndex].firstObject = -1;
+		m_perClothCollisionObjects[clothIndex].endObject = -1;
+	}
+	int currentCloth = 0;
+	int startIndex = 0;
+	for( int collisionObject = 0; collisionObject < m_collisionObjectDetails.size(); ++collisionObject )
+	{
+		int nextCloth = m_collisionObjectDetails[collisionObject].softBodyIdentifier;
+		if( nextCloth != currentCloth )
+		{	
+			// Changed cloth in the array
+			// Set the end index and the range is what we need for currentCloth
+			m_perClothCollisionObjects[currentCloth].firstObject = startIndex;
+			m_perClothCollisionObjects[currentCloth].endObject = collisionObject;
+			currentCloth = nextCloth;
+			startIndex = collisionObject;
+		}
+	}
+
+	// And update last cloth	
+	m_perClothCollisionObjects[currentCloth].firstObject = startIndex;
+	m_perClothCollisionObjects[currentCloth].endObject =  m_collisionObjectDetails.size();
+	
+} // btOpenCLSoftBodySolver::prepareCollisionConstraints
+
+
+
+void btOpenCLSoftBodySolver::solveConstraints( float solverdt )
+{
+
+	using Vectormath::Aos::Vector3;
+	using Vectormath::Aos::Point3;
+	using Vectormath::Aos::lengthSqr;
+	using Vectormath::Aos::dot;
+
+	// Prepare links
+	int numLinks = m_linkData.getNumLinks();
+	int numVertices = m_vertexData.getNumVertices();
+
+	float kst = 1.f;
+	float ti = 0.f;
+
+
+	m_clPerClothDampingFactor.moveToGPU();
+	m_clPerClothVelocityCorrectionCoefficient.moveToGPU();
+
+
+	// Ensure data is on accelerator
+	m_linkData.moveToAccelerator();
+	m_vertexData.moveToAccelerator();
+
+	prepareLinks();	
+
+
+
+	for( int iteration = 0; iteration < m_numberOfVelocityIterations ; ++iteration )
+	{
+		for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i )
+		{
+			int startLink = m_linkData.m_batchStartLengths[i].start;
+			int numLinks = m_linkData.m_batchStartLengths[i].length;
+
+			solveLinksForVelocity( startLink, numLinks, kst );
+		}
+	}
+
+	
+	prepareCollisionConstraints();
+
+	// Compute new positions from velocity
+	// Also update the previous position so that our position computation is now based on the new position from the velocity solution
+	// rather than based directly on the original positions
+	if( m_numberOfVelocityIterations > 0 )
+	{
+		updateVelocitiesFromPositionsWithVelocities( 1.f/solverdt );
+	} else {
+		updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt );
+	}
+
+	// Solve position
+	for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+	{
+		for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i )
+		{
+			int startLink = m_linkData.m_batchStartLengths[i].start;
+			int numLinks = m_linkData.m_batchStartLengths[i].length;
+
+			solveLinksForPosition( startLink, numLinks, kst, ti );
+		}
+		
+	} // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+
+	
+	// At this point assume that the force array is blank - we will overwrite it
+	solveCollisionsAndUpdateVelocities( 1.f/solverdt );
+
+}
+
+
+//////////////////////////////////////
+// Kernel dispatches
+void btOpenCLSoftBodySolver::prepareLinks()
+{
+	cl_int ciErrNum;
+	int numLinks = m_linkData.getNumLinks();
+	ciErrNum = clSetKernelArg(m_prepareLinksKernel,0, sizeof(int), &numLinks);
+	ciErrNum = clSetKernelArg(m_prepareLinksKernel,1, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
+	ciErrNum = clSetKernelArg(m_prepareLinksKernel,2, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
+	ciErrNum = clSetKernelArg(m_prepareLinksKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_prepareLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
+	ciErrNum = clSetKernelArg(m_prepareLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((m_linkData.getNumLinks() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_prepareLinksKernel, 1 , NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum != CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_prepareLinksKernel)");
+	}
+
+}
+
+void btOpenCLSoftBodySolver::updatePositionsFromVelocities( float solverdt )
+{
+	cl_int ciErrNum;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,1, sizeof(float), &solverdt);
+	ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+	ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,4, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updatePositionsFromVelocitiesKernel, 1, NULL, &numWorkItems,&m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum != CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_updatePositionsFromVelocitiesKernel)");
+	}
+
+}
+
+void btOpenCLSoftBodySolver::solveLinksForPosition( int startLink, int numLinks, float kst, float ti )
+{
+	cl_int ciErrNum;
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startLink);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numLinks);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum!= CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)");
+	}
+
+} // solveLinksForPosition
+
+
+void btOpenCLSoftBodySolver::solveLinksForVelocity( int startLink, int numLinks, float kst )
+{
+	cl_int ciErrNum;
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 0, sizeof(int), &startLink);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 1, sizeof(int), &numLinks);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 2, sizeof(float), &kst);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 3, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+	ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_vSolveLinksKernel,1,NULL,&numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum != CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_vSolveLinksKernel)");
+	}
+
+}
+
+void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float isolverdt )
+{
+	cl_int ciErrNum;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel,0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, sizeof(float), &isolverdt);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 5, sizeof(cl_mem), &m_clPerClothVelocityCorrectionCoefficient.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 6, sizeof(cl_mem), &m_clPerClothDampingFactor.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 8, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum != CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithVelocitiesKernel)");
+	}
+
+
+} // updateVelocitiesFromPositionsWithVelocities
+
+void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( float isolverdt )
+{
+	cl_int ciErrNum;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, sizeof(float), &isolverdt);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 4, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 6, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
+	ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 7, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+	if( ciErrNum != CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
+	}
+
+} // updateVelocitiesFromPositionsWithoutVelocities
+
+
+
+void btOpenCLSoftBodySolver::solveCollisionsAndUpdateVelocities( float isolverdt )
+{
+	// Copy kernel parameters to GPU
+	m_vertexData.moveToAccelerator();
+	m_clPerClothFriction.moveToGPU();
+	m_clPerClothDampingFactor.moveToGPU();
+	m_clPerClothCollisionObjects.moveToGPU();
+	m_clCollisionObjectDetails.moveToGPU();
+
+	cl_int ciErrNum;
+	int numVerts = m_vertexData.getNumVertices();
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
+
+	size_t	numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
+		if( ciErrNum != CL_SUCCESS ) 
+		{
+			btAssert( 0 &&  "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
+		}
+	}
+
+} // btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities
+
+
+
+// End kernel dispatches
+/////////////////////////////////////
+
+
+void btSoftBodySolverOutputCLtoCPU::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer )
+{
+
+	btSoftBodySolver *solver = softBody->getSoftBodySolver();
+	btAssert( solver->getSolverType() == btSoftBodySolver::CL_SOLVER || solver->getSolverType() == btSoftBodySolver::CL_SIMD_SOLVER );
+	btOpenCLSoftBodySolver *dxSolver = static_cast< btOpenCLSoftBodySolver * >( solver );
+
+	btOpenCLAcceleratedSoftBodyInterface* currentCloth = dxSolver->findSoftBodyInterface( softBody );
+	btSoftBodyVertexDataOpenCL &vertexData( dxSolver->m_vertexData );
+	
+
+	const int firstVertex = currentCloth->getFirstVertex();
+	const int lastVertex = firstVertex + currentCloth->getNumVertices();
+
+	if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER )
+	{		
+		const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer);						
+		float *basePointer = cpuVertexBuffer->getBasePointer();						
+
+		vertexData.m_clVertexPosition.copyFromGPU();
+		vertexData.m_clVertexNormal.copyFromGPU();
+
+		if( vertexBuffer->hasVertexPositions() )
+		{
+			const int vertexOffset = cpuVertexBuffer->getVertexOffset();
+			const int vertexStride = cpuVertexBuffer->getVertexStride();
+			float *vertexPointer = basePointer + vertexOffset;
+
+			for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex )
+			{
+				Vectormath::Aos::Point3 position = vertexData.getPosition(vertexIndex);
+				*(vertexPointer + 0) = position.getX();
+				*(vertexPointer + 1) = position.getY();
+				*(vertexPointer + 2) = position.getZ();
+				vertexPointer += vertexStride;
+			}
+		}
+		if( vertexBuffer->hasNormals() )
+		{
+			const int normalOffset = cpuVertexBuffer->getNormalOffset();
+			const int normalStride = cpuVertexBuffer->getNormalStride();
+			float *normalPointer = basePointer + normalOffset;
+
+			for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex )
+			{
+				Vectormath::Aos::Vector3 normal = vertexData.getNormal(vertexIndex);
+				*(normalPointer + 0) = normal.getX();
+				*(normalPointer + 1) = normal.getY();
+				*(normalPointer + 2) = normal.getZ();
+				normalPointer += normalStride;
+			}
+		}
+	}
+
+} // btSoftBodySolverOutputCLtoCPU::outputToVertexBuffers
+
+
+
+cl_kernel CLFunctions::compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros ,const char* orgSrcFileNameForCaching)
+{
+	printf("compiling kernelName: %s ",kernelName);
+	cl_kernel kernel=0;
+	cl_int ciErrNum;
+	size_t program_length = strlen(kernelSource);
+
+	cl_program m_cpProgram = clCreateProgramWithSource(m_cxMainContext, 1, (const char**)&kernelSource, &program_length, &ciErrNum);
+//	oclCHECKERROR(ciErrNum, CL_SUCCESS);
+		
+    // Build the program with 'mad' Optimization option
+
+	
+#ifdef MAC
+	char* flags = "-cl-mad-enable -DMAC -DGUID_ARG";
+#else
+	//const char* flags = "-DGUID_ARG= -fno-alias";
+	const char* flags = "-DGUID_ARG= ";
+#endif
+
+	char* compileFlags = new char[strlen(additionalMacros) + strlen(flags) + 5];
+	sprintf(compileFlags, "%s %s", flags, additionalMacros);
+    ciErrNum = clBuildProgram(m_cpProgram, 0, NULL, compileFlags, NULL, NULL);
+    if (ciErrNum != CL_SUCCESS)
+    {
+		size_t numDevices;
+		clGetProgramInfo( m_cpProgram, CL_PROGRAM_DEVICES, 0, 0, &numDevices );
+		cl_device_id *devices = new cl_device_id[numDevices];
+		clGetProgramInfo( m_cpProgram, CL_PROGRAM_DEVICES, numDevices, devices, &numDevices );
+        for( int i = 0; i < 2; ++i )
+		{
+			char *build_log;
+			size_t ret_val_size;
+			clGetProgramBuildInfo(m_cpProgram, devices[i], CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size);
+			build_log = new char[ret_val_size+1];
+			clGetProgramBuildInfo(m_cpProgram, devices[i], CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL);
+    
+			// to be carefully, terminate with \0
+			// there's no information in the reference whether the string is 0 terminated or not
+			build_log[ret_val_size] = '\0';
+        
+
+			printf("Error in clBuildProgram, Line %u in file %s, Log: \n%s\n !!!\n\n", __LINE__, __FILE__, build_log);
+			delete[] build_log;
+		}
+#ifndef BT_SUPPRESS_OPENCL_ASSERTS
+		btAssert(0);
+#endif //BT_SUPPRESS_OPENCL_ASSERTS
+		m_kernelCompilationFailures++;
+		return 0;
+    }
+	
+	
+    // Create the kernel
+    kernel = clCreateKernel(m_cpProgram, kernelName, &ciErrNum);
+    if (ciErrNum != CL_SUCCESS)
+    {
+		const char* msg = "";
+        switch(ciErrNum)
+        {
+        case CL_INVALID_PROGRAM:
+            msg = "Program is not a valid program object.";
+            break;
+        case CL_INVALID_PROGRAM_EXECUTABLE:
+            msg = "There is no successfully built executable for program.";
+            break;
+        case CL_INVALID_KERNEL_NAME:
+            msg = "kernel_name is not found in program.";
+            break;
+        case CL_INVALID_KERNEL_DEFINITION:
+            msg = "the function definition for __kernel function given by kernel_name such as the number of arguments, the argument types are not the same for all devices for which the program executable has been built.";
+            break;
+        case CL_INVALID_VALUE:
+            msg = "kernel_name is NULL.";
+            break;
+        case CL_OUT_OF_HOST_MEMORY:
+            msg = "Failure to allocate resources required by the OpenCL implementation on the host.";
+            break;
+		default:
+			{
+			}
+        }
+
+        printf("Error in clCreateKernel for kernel '%s', error is \"%s\", Line %u in file %s !!!\n\n", kernelName, msg, __LINE__, __FILE__);
+
+#ifndef BT_SUPPRESS_OPENCL_ASSERTS
+		btAssert(0);
+#endif //BT_SUPPRESS_OPENCL_ASSERTS
+		m_kernelCompilationFailures++;
+		return 0;
+    }
+
+	printf("ready. \n");
+	delete [] compileFlags;
+	if (!kernel)
+		m_kernelCompilationFailures++;
+	return kernel;
+
+}
+
+void btOpenCLSoftBodySolver::predictMotion( float timeStep )
+{
+	// Clear the collision shape array for the next frame
+	// Ensure that the DX11 ones are moved off the device so they will be updated correctly
+	m_clCollisionObjectDetails.changedOnCPU();
+	m_clPerClothCollisionObjects.changedOnCPU();
+	m_collisionObjectDetails.clear();	
+
+	if ( m_bUpdateAnchoredNodePos )
+	{
+		// In OpenCL cloth solver, if softbody node has zero inverse mass(infinite mass) or anchor attached, 
+		// we need to update the node position in case the node or anchor is animated externally.
+		// If there is no such node, we can eliminate the unnecessary CPU-to-GPU data trasferring. 
+		for ( int i = 0; i < m_anchorNodeInfoArray.size(); i++ )
+		{
+			const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[i];
+			btSoftBody::Node* node = anchorNodeInfo.pNode;
+
+			using Vectormath::Aos::Point3;
+			Point3 pos((float)node->m_x.getX(), (float)node->m_x.getY(), (float)node->m_x.getZ());				
+			m_anchorPosition[i] = pos;
+		}
+
+		if ( m_anchorNodeInfoArray.size() > 0 )
+			m_clAnchorPosition.changedOnCPU();
+
+		updateFixedVertexPositions();
+	}
+		
+	{
+		BT_PROFILE("applyForces");
+		// Apply forces that we know about to the cloths
+		applyForces(  timeStep * getTimeScale() );
+	}
+
+	{
+		BT_PROFILE("integrate");
+		// Itegrate motion for all soft bodies dealt with by the solver
+		integrate( timeStep * getTimeScale() );
+	}
+
+	{
+		BT_PROFILE("updateBounds");
+		updateBounds();
+	}
+	// End prediction work for solvers
+}
+
+static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform )
+{
+	Vectormath::Aos::Transform3 outTransform;
+	outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0)));
+	outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1)));
+	outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2)));
+	outTransform.setCol(3, toVector3(transform.getOrigin()));
+	return outTransform;	
+}
+
+void btOpenCLAcceleratedSoftBodyInterface::updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound )
+{
+	float scalarMargin = (float)getSoftBody()->getCollisionShape()->getMargin();
+	btVector3 vectorMargin( scalarMargin, scalarMargin, scalarMargin );
+	m_softBody->m_bounds[0] = lowerBound - vectorMargin;
+	m_softBody->m_bounds[1] = upperBound + vectorMargin;
+}  // btOpenCLSoftBodySolver::btDX11AcceleratedSoftBodyInterface::updateBounds
+
+void btOpenCLSoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
+{
+
+}
+
+// Add the collision object to the set to deal with for a particular soft body
+void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, btCollisionObject* collisionObject )
+{
+ 	int softBodyIndex = findSoftBodyIndex( softBody );
+
+	if( softBodyIndex >= 0 )
+	{
+		btCollisionShape *collisionShape = collisionObject->getCollisionShape();
+		float friction = collisionObject->getFriction();
+		int shapeType = collisionShape->getShapeType();
+		if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
+		{
+			// Add to the list of expected collision objects
+			CollisionShapeDescription newCollisionShapeDescription;
+			newCollisionShapeDescription.softBodyIdentifier = softBodyIndex;
+			newCollisionShapeDescription.collisionShapeType = shapeType;
+			// TODO: May need to transpose this matrix either here or in HLSL
+			newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
+			btCapsuleShape *capsule = static_cast<btCapsuleShape*>( collisionShape );
+			newCollisionShapeDescription.radius = capsule->getRadius();
+			newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
+			newCollisionShapeDescription.margin = capsule->getMargin();
+			newCollisionShapeDescription.upAxis = capsule->getUpAxis();
+			newCollisionShapeDescription.friction = friction;
+			btRigidBody* body = static_cast< btRigidBody* >( collisionObject );
+			newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
+			newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
+			m_collisionObjectDetails.push_back( newCollisionShapeDescription );
+
+		} 		
+		else {
+#ifdef _DEBUG
+			printf("Unsupported collision shape type\n");
+#endif
+			//btAssert(0 && "Unsupported collision shape type\n");
+		}
+	} else {
+		btAssert(0 && "Unknown soft body");
+	}
+} // btOpenCLSoftBodySolver::processCollision
+
+
+
+
+
+btOpenCLAcceleratedSoftBodyInterface* btOpenCLSoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody )
+{
+	for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+	{
+		btOpenCLAcceleratedSoftBodyInterface* softBodyInterface = m_softBodySet[softBodyIndex];
+		if( softBodyInterface->getSoftBody() == softBody )
+			return softBodyInterface;
+	}
+	return 0;
+}
+
+
+int btOpenCLSoftBodySolver::findSoftBodyIndex( const btSoftBody* const softBody )
+{
+	for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
+	{
+		btOpenCLAcceleratedSoftBodyInterface* softBodyInterface = m_softBodySet[softBodyIndex];
+		if( softBodyInterface->getSoftBody() == softBody )
+			return softBodyIndex;
+	}
+	return 1;
+}
+
+bool btOpenCLSoftBodySolver::checkInitialized()
+{
+	if( !m_shadersInitialized )
+		if( buildShaders() )
+			m_shadersInitialized = true;
+
+	return m_shadersInitialized;
+}
+
+bool btOpenCLSoftBodySolver::buildShaders()
+{
+	if( m_shadersInitialized )
+		return true;
+
+	const char* additionalMacros="";
+
+	// Ensure current kernels are released first
+	releaseKernels();
+	
+	m_currentCLFunctions->clearKernelCompilationFailures();
+
+	m_prepareLinksKernel = m_currentCLFunctions->compileCLKernelFromString( PrepareLinksCLString, "PrepareLinksKernel",additionalMacros,"OpenCLC10/PrepareLinks.cl" );
+	m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl");
+	m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel",additionalMacros,"OpenCLC10/SolvePositions.cl" );
+	m_vSolveLinksKernel = m_currentCLFunctions->compileCLKernelFromString( VSolveLinksCLString, "VSolveLinksKernel" ,additionalMacros,"OpenCLC10/VSolveLinks.cl");
+	m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdateNodes.cl");
+	m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdatePositions.cl");
+	m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel" ,additionalMacros,"OpenCLC10/SolveCollisionsAndUpdateVelocities.cl");
+	m_integrateKernel = m_currentCLFunctions->compileCLKernelFromString( IntegrateCLString, "IntegrateKernel" ,additionalMacros,"OpenCLC10/Integrate.cl");
+	m_applyForcesKernel = m_currentCLFunctions->compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel" ,additionalMacros,"OpenCLC10/ApplyForces.cl");
+	m_updateFixedVertexPositionsKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateFixedVertexPositionsCLString, "UpdateFixedVertexPositions" , additionalMacros, "OpenCLC10/UpdateFixedVertexPositions.cl");
+
+	// TODO: Rename to UpdateSoftBodies
+	m_resetNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl");
+	m_normalizeNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl");
+	m_updateSoftBodiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl");
+
+
+	if( m_currentCLFunctions->getKernelCompilationFailures()==0 )
+		m_shadersInitialized = true;
+
+	return m_shadersInitialized;
+}
+