ruby-bullet 0.0.2-x86-mingw32

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

@@ -0,0 +1,1101 @@
+/*
+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_OpenCLSIMDAware.h"
+#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include <limits.h>
+
+#define WAVEFRONT_SIZE 32
+#define WAVEFRONT_BLOCK_MULTIPLIER 2
+#define GROUP_SIZE (WAVEFRONT_SIZE*WAVEFRONT_BLOCK_MULTIPLIER)
+#define LINKS_PER_SIMD_LANE 16
+
+static const size_t workGroupSize = GROUP_SIZE;
+
+
+//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* UpdatePositionsFromVelocitiesCLString = 
+#include "OpenCLC10/UpdatePositionsFromVelocities.cl"
+static const char* SolvePositionsCLString = 
+#include "OpenCLC10/SolvePositionsSIMDBatched.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/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl"
+static const char* OutputToVertexArrayCLString =
+#include "OpenCLC10/OutputToVertexArray.cl"
+
+
+
+btSoftBodyLinkDataOpenCLSIMDAware::btSoftBodyLinkDataOpenCLSIMDAware(cl_command_queue queue,  cl_context ctx) :
+	m_cqCommandQue(queue),
+	m_wavefrontSize( WAVEFRONT_SIZE ),
+	m_linksPerWorkItem( LINKS_PER_SIMD_LANE ),
+	m_maxBatchesWithinWave( 0 ),
+	m_maxLinksPerWavefront( m_wavefrontSize * m_linksPerWorkItem ),
+	m_numWavefronts( 0 ),
+	m_maxVertex( 0 ),
+	m_clNumBatchesAndVerticesWithinWaves( queue, ctx, &m_numBatchesAndVerticesWithinWaves, true ),
+	m_clWavefrontVerticesGlobalAddresses( queue, ctx, &m_wavefrontVerticesGlobalAddresses, true ),
+	m_clLinkVerticesLocalAddresses( queue, ctx, &m_linkVerticesLocalAddresses, true ),
+	m_clLinkStrength( queue, ctx, &m_linkStrength, false ),
+	m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ),
+	m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ),
+	m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ),
+	m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false )
+{
+}
+
+btSoftBodyLinkDataOpenCLSIMDAware::~btSoftBodyLinkDataOpenCLSIMDAware()
+{
+}
+
+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 btSoftBodyLinkDataOpenCLSIMDAware::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 btSoftBodyLinkDataOpenCLSIMDAware::setLinkAt( 
+	const LinkDescription &link, 
+	int linkIndex )
+{
+	btSoftBodyLinkData::setLinkAt( link, linkIndex );
+
+	if( link.getVertex0() > m_maxVertex )
+		m_maxVertex = link.getVertex0();
+	if( link.getVertex1() > m_maxVertex )
+		m_maxVertex = link.getVertex1();
+
+	// Set the link index correctly for initialisation
+	m_linkAddresses[linkIndex] = linkIndex;
+}
+
+bool btSoftBodyLinkDataOpenCLSIMDAware::onAccelerator()
+{
+	return m_onGPU;
+}
+
+bool btSoftBodyLinkDataOpenCLSIMDAware::moveToAccelerator()
+{
+	bool success = true;
+	success = success && m_clNumBatchesAndVerticesWithinWaves.moveToGPU();
+	success = success && m_clWavefrontVerticesGlobalAddresses.moveToGPU();
+	success = success && m_clLinkVerticesLocalAddresses.moveToGPU();
+	success = success && m_clLinkStrength.moveToGPU();
+	success = success && m_clLinksMassLSC.moveToGPU();
+	success = success && m_clLinksRestLengthSquared.moveToGPU();
+	success = success && m_clLinksRestLength.moveToGPU();
+	success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU();
+
+	if( success ) {
+		m_onGPU = true;
+	}
+
+	return success;
+}
+
+bool btSoftBodyLinkDataOpenCLSIMDAware::moveFromAccelerator()
+{
+	bool success = true;
+	success = success && m_clNumBatchesAndVerticesWithinWaves.moveToGPU();
+	success = success && m_clWavefrontVerticesGlobalAddresses.moveToGPU();
+	success = success && m_clLinkVerticesLocalAddresses.moveToGPU();
+	success = success && m_clLinkStrength.moveFromGPU();
+	success = success && m_clLinksMassLSC.moveFromGPU();
+	success = success && m_clLinksRestLengthSquared.moveFromGPU();
+	success = success && m_clLinksRestLength.moveFromGPU();
+	success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU();
+
+	if( success ) {
+		m_onGPU = false;
+	}
+
+	return success;
+}
+
+
+
+
+
+
+
+
+btOpenCLSoftBodySolverSIMDAware::btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) :
+	btOpenCLSoftBodySolver( queue, ctx, bUpdateAchchoredNodePos ),
+	m_linkData(queue, ctx)
+{
+	// 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;
+}
+
+btOpenCLSoftBodySolverSIMDAware::~btOpenCLSoftBodySolverSIMDAware()
+{
+	releaseKernels();
+}
+
+void btOpenCLSoftBodySolverSIMDAware::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();
+			// Round maxVertices to a multiple of the workgroup size so we know we're safe to run over in a given group
+			// maxVertices can be increased to allow tearing, but should be used sparingly because these extra verts will always be processed
+			int maxVertices = GROUP_SIZE*((numVertices+GROUP_SIZE)/GROUP_SIZE);
+			// Allocate space for new vertices in all the vertex arrays
+			getVertexData().createVertices( numVertices, softBodyIndex, maxVertices );
+
+
+			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);
+			}
+			for( int vertex = numVertices; vertex < maxVertices; ++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 &btOpenCLSoftBodySolverSIMDAware::getLinkData()
+{
+	// TODO: Consider setting link data to "changed" here
+	return m_linkData;
+}
+
+
+
+
+void btOpenCLSoftBodySolverSIMDAware::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;
+		}
+	}
+
+}
+
+
+
+void btOpenCLSoftBodySolverSIMDAware::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();	
+
+	prepareCollisionConstraints();
+
+	// Solve drift
+	for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration )
+	{
+
+		for( int i = 0; i < m_linkData.m_wavefrontBatchStartLengths.size(); ++i )
+		{
+			int startWave = m_linkData.m_wavefrontBatchStartLengths[i].start;
+			int numWaves = m_linkData.m_wavefrontBatchStartLengths[i].length;
+			solveLinksForPosition( startWave, numWaves, 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 btOpenCLSoftBodySolverSIMDAware::solveLinksForPosition( int startWave, int numWaves, float kst, float ti )
+{
+	cl_int ciErrNum;
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startWave);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numWaves);
+	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_clNumBatchesAndVerticesWithinWaves.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clWavefrontVerticesGlobalAddresses.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinkVerticesLocalAddresses.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
+
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,9, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,10, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
+
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,11, WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_int2), 0);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,12, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float4), 0);
+	ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,13, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float), 0);
+
+	size_t	numWorkItems = workGroupSize*((numWaves*WAVEFRONT_SIZE + (workGroupSize-1)) / workGroupSize);
+	
+	ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&workGroupSize,0,0,0);
+	
+	if( ciErrNum!= CL_SUCCESS ) 
+	{
+		btAssert( 0 &&  "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)");
+	}
+
+} // solveLinksForPosition
+
+void btOpenCLSoftBodySolverSIMDAware::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);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 11, sizeof(CollisionShapeDescription)*16,0);
+	ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 12, sizeof(cl_mem),&m_vertexData.m_clVertexInverseMass.m_buffer);
+	size_t	numWorkItems = workGroupSize*((m_vertexData.getNumVertices() + (workGroupSize-1)) / workGroupSize);
+	
+	if (numWorkItems)
+	{
+		ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0,0,0);
+		
+		if( ciErrNum != CL_SUCCESS ) 
+		{
+			btAssert( 0 &&  "enqueueNDRangeKernel(m_solveCollisionsAndUpdateVelocitiesKernel)");
+		}
+	}
+
+} // btOpenCLSoftBodySolverSIMDAware::updateVelocitiesFromPositionsWithoutVelocities
+
+// End kernel dispatches
+/////////////////////////////////////
+
+
+
+bool btOpenCLSoftBodySolverSIMDAware::buildShaders()
+{
+	releaseKernels();
+
+	if( m_shadersInitialized )
+		return true;
+
+	const char* additionalMacros="";
+
+	m_currentCLFunctions->clearKernelCompilationFailures();
+
+	char *wavefrontMacros = new char[256];
+
+	sprintf(
+		wavefrontMacros, 
+		"-DMAX_NUM_VERTICES_PER_WAVE=%d -DMAX_BATCHES_PER_WAVE=%d -DWAVEFRONT_SIZE=%d -DWAVEFRONT_BLOCK_MULTIPLIER=%d -DBLOCK_SIZE=%d", 
+		m_linkData.getMaxVerticesPerWavefront(),
+		m_linkData.getMaxBatchesPerWavefront(),
+		m_linkData.getWavefrontSize(),
+		WAVEFRONT_BLOCK_MULTIPLIER,
+		WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize());
+	
+	m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl");
+	m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros ,"OpenCLC10/SolvePositionsSIMDBatched.cl");
+	m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", additionalMacros ,"OpenCLC10/UpdateNodes.cl");
+	m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositions.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");
+	m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", additionalMacros ,"OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.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");
+
+	delete [] wavefrontMacros;
+
+	if( m_currentCLFunctions->getKernelCompilationFailures()==0)
+	{
+		m_shadersInitialized = true;
+	}
+
+	return m_shadersInitialized;
+}
+
+
+
+
+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;	
+}
+
+
+static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, btSoftBodyLinkData &linkData, int numVertices, btAlignedObjectArray < btAlignedObjectArray <int> > &wavefrontBatches )
+{
+	// A per-batch map of truth values stating whether a given vertex is in that batch
+	// This allows us to significantly optimize the batching
+	btAlignedObjectArray <btAlignedObjectArray<bool> > mapOfVerticesInBatches;
+
+	for( int waveIndex = 0; waveIndex < linksForWavefronts.size(); ++waveIndex )
+	{
+		btAlignedObjectArray <int> &wavefront( linksForWavefronts[waveIndex] );
+
+		int batch = 0;
+		bool placed = false;
+		while( batch < wavefrontBatches.size() && !placed )
+		{
+			// Test the current batch, see if this wave shares any vertex with the waves in the batch
+			bool foundSharedVertex = false;
+			for( int link = 0; link < wavefront.size(); ++link )
+			{
+				btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+				if( (mapOfVerticesInBatches[batch])[vertices.vertex0] || (mapOfVerticesInBatches[batch])[vertices.vertex1] )
+				{
+					foundSharedVertex = true;
+				}
+			}
+
+			if( !foundSharedVertex )
+			{
+				wavefrontBatches[batch].push_back( waveIndex );	
+				// Insert vertices into this batch too
+				for( int link = 0; link < wavefront.size(); ++link )
+				{
+					btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+					(mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
+					(mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
+				}
+				placed = true;
+			}
+			batch++;
+		}
+		if( batch == wavefrontBatches.size() && !placed )
+		{
+			wavefrontBatches.resize( batch + 1 );
+			wavefrontBatches[batch].push_back( waveIndex );
+
+			// And resize map as well
+			mapOfVerticesInBatches.resize( batch + 1 );
+			
+			// Resize maps with total number of vertices
+			mapOfVerticesInBatches[batch].resize( numVertices+1, false );
+
+			// Insert vertices into this batch too
+			for( int link = 0; link < wavefront.size(); ++link )
+			{
+				btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] );
+				(mapOfVerticesInBatches[batch])[vertices.vertex0] = true;
+				(mapOfVerticesInBatches[batch])[vertices.vertex1] = true;
+			}
+		}
+	}
+	mapOfVerticesInBatches.clear();
+}
+
+// Function to remove an object from a vector maintaining correct ordering of the vector
+template< typename T > static void removeFromVector( btAlignedObjectArray< T > &vectorToUpdate, int indexToRemove )
+{
+	int currentSize = vectorToUpdate.size();
+	for( int i = indexToRemove; i < (currentSize-1); ++i )
+	{
+		vectorToUpdate[i] = vectorToUpdate[i+1];
+	}
+	if( currentSize > 0 )
+		vectorToUpdate.resize( currentSize - 1 );
+}
+
+/**
+ * Insert element into vectorToUpdate at index index.
+ */
+template< typename T > static void insertAtIndex( btAlignedObjectArray< T > &vectorToUpdate, int index, T element )
+{
+	vectorToUpdate.resize( vectorToUpdate.size() + 1 );
+	for( int i = (vectorToUpdate.size() - 1); i > index; --i )
+	{
+		vectorToUpdate[i] = vectorToUpdate[i-1];
+	}
+	vectorToUpdate[index] = element;
+}
+
+/** 
+ * Insert into btAlignedObjectArray assuming the array is ordered and maintaining both ordering and uniqueness.
+ * ie it treats vectorToUpdate as an ordered set.
+ */
+template< typename T > static void insertUniqueAndOrderedIntoVector( btAlignedObjectArray<T> &vectorToUpdate, T element )
+{
+	int index = 0;
+	while( index < vectorToUpdate.size() && vectorToUpdate[index] < element )
+	{
+		index++;
+	}
+	if( index == vectorToUpdate.size() || vectorToUpdate[index] != element )
+		insertAtIndex( vectorToUpdate, index, element );
+}
+
+static void generateLinksPerVertex( int numVertices, btSoftBodyLinkData &linkData, btAlignedObjectArray< int > &listOfLinksPerVertex, btAlignedObjectArray <int> &numLinksPerVertex, int &maxLinks )
+{
+	for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+	{
+		btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+		numLinksPerVertex[nodes.vertex0]++;
+		numLinksPerVertex[nodes.vertex1]++;
+	}
+	int maxLinksPerVertex = 0;
+	for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+	{
+		maxLinksPerVertex = btMax(numLinksPerVertex[vertexIndex], maxLinksPerVertex);
+	}
+	maxLinks = maxLinksPerVertex;
+
+	btAlignedObjectArray< int > linksFoundPerVertex;
+	linksFoundPerVertex.resize( numVertices, 0 );
+
+	listOfLinksPerVertex.resize( maxLinksPerVertex * numVertices );
+
+	for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+	{
+		btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+		{
+			// Do vertex 0
+			int vertexIndex = nodes.vertex0;
+			int linkForVertex = linksFoundPerVertex[nodes.vertex0];
+			int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
+
+			listOfLinksPerVertex[linkAddress] = linkIndex;
+
+			linksFoundPerVertex[nodes.vertex0] = linkForVertex + 1;
+		}
+		{
+			// Do vertex 1
+			int vertexIndex = nodes.vertex1;
+			int linkForVertex = linksFoundPerVertex[nodes.vertex1];
+			int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex;
+
+			listOfLinksPerVertex[linkAddress] = linkIndex;
+
+			linksFoundPerVertex[nodes.vertex1] = linkForVertex + 1;
+		}
+	}
+}
+
+static void computeBatchingIntoWavefronts( 
+	btSoftBodyLinkData &linkData, 
+	int wavefrontSize, 
+	int linksPerWorkItem, 
+	int maxLinksPerWavefront, 
+	btAlignedObjectArray < btAlignedObjectArray <int> > &linksForWavefronts, 
+	btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > &batchesWithinWaves, /* wave, batch, links in batch */
+	btAlignedObjectArray< btAlignedObjectArray< int > > &verticesForWavefronts /* wavefront, vertex */
+	)
+{
+	
+
+	// Attempt generation of larger batches of links.
+	btAlignedObjectArray< bool > processedLink;
+	processedLink.resize( linkData.getNumLinks() );
+	btAlignedObjectArray< int > listOfLinksPerVertex;
+	int maxLinksPerVertex = 0;
+
+	// Count num vertices
+	int numVertices = 0;
+	for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex )
+	{
+		btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) );
+		numVertices = btMax( numVertices, nodes.vertex0 + 1 );
+		numVertices = btMax( numVertices, nodes.vertex1 + 1 );
+	}
+
+	// Need list of links per vertex
+	// Compute valence of each vertex
+	btAlignedObjectArray <int> numLinksPerVertex;
+	numLinksPerVertex.resize(0);
+	numLinksPerVertex.resize( numVertices, 0 );
+
+	generateLinksPerVertex( numVertices, linkData, listOfLinksPerVertex, numLinksPerVertex, maxLinksPerVertex );
+
+	if (!numVertices)
+		return;
+
+	for( int vertex = 0; vertex < 10; ++vertex )
+	{
+		for( int link = 0; link < numLinksPerVertex[vertex]; ++link )
+		{
+			int linkAddress = vertex * maxLinksPerVertex + link;
+		}
+	}
+
+
+	// At this point we know what links we have for each vertex so we can start batching
+	
+	// We want a vertex to start with, let's go with 0
+	int currentVertex = 0;
+	int linksProcessed = 0;
+
+	btAlignedObjectArray <int> verticesToProcess;
+
+	while( linksProcessed < linkData.getNumLinks() )
+	{
+		// Next wavefront
+		int nextWavefront = linksForWavefronts.size();
+		linksForWavefronts.resize( nextWavefront + 1 );
+		btAlignedObjectArray <int> &linksForWavefront(linksForWavefronts[nextWavefront]);
+		verticesForWavefronts.resize( nextWavefront + 1 );
+		btAlignedObjectArray<int> &vertexSet( verticesForWavefronts[nextWavefront] );
+
+		linksForWavefront.resize(0);
+
+		// Loop to find enough links to fill the wavefront
+		// Stopping if we either run out of links, or fill it
+		while( linksProcessed < linkData.getNumLinks() && linksForWavefront.size() < maxLinksPerWavefront )
+		{
+			// Go through the links for the current vertex
+			for( int link = 0; link < numLinksPerVertex[currentVertex] && linksForWavefront.size() < maxLinksPerWavefront; ++link )
+			{
+				int linkAddress = currentVertex * maxLinksPerVertex + link;
+				int linkIndex = listOfLinksPerVertex[linkAddress];
+				
+				// If we have not already processed this link, add it to the wavefront
+				// Claim it as another processed link
+				// Add the vertex at the far end to the list of vertices to process.
+				if( !processedLink[linkIndex] )
+				{
+					linksForWavefront.push_back( linkIndex );
+					linksProcessed++;
+					processedLink[linkIndex] = true;
+					int v0 = linkData.getVertexPair(linkIndex).vertex0;
+					int v1 = linkData.getVertexPair(linkIndex).vertex1;
+					if( v0 == currentVertex )
+						verticesToProcess.push_back( v1 );
+					else
+						verticesToProcess.push_back( v0 );
+				}
+			}
+			if( verticesToProcess.size() > 0 )
+			{
+				// Get the element on the front of the queue and remove it
+				currentVertex = verticesToProcess[0];
+				removeFromVector( verticesToProcess, 0 );
+			} else {		
+				// If we've not yet processed all the links, find the first unprocessed one
+				// and select one of its vertices as the current vertex
+				if( linksProcessed < linkData.getNumLinks() )
+				{
+					int searchLink = 0;
+					while( processedLink[searchLink] )
+						searchLink++;
+					currentVertex = linkData.getVertexPair(searchLink).vertex0;
+				}	
+			}
+		}
+
+		// We have either finished or filled a wavefront
+		for( int link = 0; link < linksForWavefront.size(); ++link )
+		{
+			int v0 = linkData.getVertexPair( linksForWavefront[link] ).vertex0;
+			int v1 = linkData.getVertexPair( linksForWavefront[link] ).vertex1;
+			insertUniqueAndOrderedIntoVector( vertexSet, v0 );
+			insertUniqueAndOrderedIntoVector( vertexSet, v1 );
+		}
+		// Iterate over links mapped to the wave and batch those
+		// We can run a batch on each cycle trivially
+		
+		batchesWithinWaves.resize( batchesWithinWaves.size() + 1 );
+		btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWave( batchesWithinWaves[batchesWithinWaves.size()-1] );
+		
+
+		for( int link = 0; link < linksForWavefront.size(); ++link )
+		{
+			int linkIndex = linksForWavefront[link];
+			btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( linkIndex );
+			
+			int batch = 0;
+			bool placed = false;
+			while( batch < batchesWithinWave.size() && !placed )
+			{
+				bool foundSharedVertex = false;
+				if( batchesWithinWave[batch].size() >= wavefrontSize )
+				{
+					// If we have already filled this batch, move on to another
+					foundSharedVertex = true;
+				} else {
+					for( int link2 = 0; link2 < batchesWithinWave[batch].size(); ++link2 )
+					{
+						btSoftBodyLinkData::LinkNodePair vertices2 = linkData.getVertexPair( (batchesWithinWave[batch])[link2] );
+
+						if( vertices.vertex0 == vertices2.vertex0 ||
+							vertices.vertex1 == vertices2.vertex0 ||
+							vertices.vertex0 == vertices2.vertex1 ||
+							vertices.vertex1 == vertices2.vertex1 )
+						{
+							foundSharedVertex = true;
+							break;
+						}
+					}
+				}
+				if( !foundSharedVertex )
+				{
+					batchesWithinWave[batch].push_back( linkIndex );
+					placed = true;
+				} else {
+					++batch;
+				}
+			}
+			if( batch == batchesWithinWave.size() && !placed )
+			{
+				batchesWithinWave.resize( batch + 1 );
+				batchesWithinWave[batch].push_back( linkIndex );
+			}
+		}
+		
+	}
+
+}
+
+void btSoftBodyLinkDataOpenCLSIMDAware::generateBatches()
+{
+	btAlignedObjectArray < btAlignedObjectArray <int> > linksForWavefronts;
+	btAlignedObjectArray < btAlignedObjectArray <int> > wavefrontBatches;
+	btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray <int> > > batchesWithinWaves;
+	btAlignedObjectArray< btAlignedObjectArray< int > > verticesForWavefronts; // wavefronts, vertices in wavefront as an ordered set
+
+	// Group the links into wavefronts
+	computeBatchingIntoWavefronts( *this, m_wavefrontSize, m_linksPerWorkItem, m_maxLinksPerWavefront, linksForWavefronts, batchesWithinWaves, verticesForWavefronts );
+
+
+	// Batch the wavefronts
+	generateBatchesOfWavefronts( linksForWavefronts, *this, m_maxVertex, wavefrontBatches );
+
+	m_numWavefronts = linksForWavefronts.size();
+
+	// At this point we have a description of which links we need to process in each wavefront
+
+	// First correctly fill the batch ranges vector
+	int numBatches = wavefrontBatches.size();
+	m_wavefrontBatchStartLengths.resize(0);
+	int prefixSum = 0;
+	for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
+	{
+		int wavesInBatch = wavefrontBatches[batchIndex].size();
+		int nextPrefixSum = prefixSum + wavesInBatch;
+		m_wavefrontBatchStartLengths.push_back( BatchPair( prefixSum, nextPrefixSum - prefixSum ) );
+
+		prefixSum += wavesInBatch;
+	}
+	
+	// Also find max number of batches within a wave
+	m_maxBatchesWithinWave = 0;
+	m_maxVerticesWithinWave = 0;
+	m_numBatchesAndVerticesWithinWaves.resize( m_numWavefronts );
+	for( int waveIndex = 0; waveIndex < m_numWavefronts; ++waveIndex )
+	{
+		// See if the number of batches in this wave is greater than the current maxium
+		int batchesInCurrentWave = batchesWithinWaves[waveIndex].size();
+		int verticesInCurrentWave = verticesForWavefronts[waveIndex].size();
+		m_maxBatchesWithinWave = btMax( batchesInCurrentWave, m_maxBatchesWithinWave );
+		m_maxVerticesWithinWave = btMax( verticesInCurrentWave, m_maxVerticesWithinWave );
+	}
+	
+	// Add padding values both for alignment and as dudd addresses within LDS to compute junk rather than branch around
+	m_maxVerticesWithinWave = 16*((m_maxVerticesWithinWave/16)+2);
+
+	// Now we know the maximum number of vertices per-wave we can resize the global vertices array
+	m_wavefrontVerticesGlobalAddresses.resize( m_maxVerticesWithinWave * m_numWavefronts );
+
+	// Grab backup copies of all the link data arrays for the sorting process
+	btAlignedObjectArray<btSoftBodyLinkData::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);
+
+	// Resize to a wavefront sized batch per batch per wave so we get perfectly coherent memory accesses.
+	m_links.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+	m_linkVerticesLocalAddresses.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+	m_linkStrength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+	m_linksMassLSC.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+	m_linksRestLengthSquared.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+	m_linksRestLength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );
+	m_linksMaterialLinearStiffnessCoefficient.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts );	
+		
+	// Then re-order links into wavefront blocks
+
+	// Total number of wavefronts moved. This will decide the ordering of sorted wavefronts.
+	int wavefrontCount = 0;
+
+	// Iterate over batches of wavefronts, then wavefronts in the batch
+	for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex )
+	{
+		btAlignedObjectArray <int> &batch( wavefrontBatches[batchIndex] );
+		int wavefrontsInBatch = batch.size();
+
+		
+		for( int wavefrontIndex = 0; wavefrontIndex < wavefrontsInBatch; ++wavefrontIndex )
+		{	
+
+			int originalWavefrontIndex = batch[wavefrontIndex];
+			btAlignedObjectArray< int > &wavefrontVertices( verticesForWavefronts[originalWavefrontIndex] );
+			int verticesUsedByWavefront = wavefrontVertices.size();
+
+			// Copy the set of vertices into the correctly structured array for use on the device
+			// Fill the non-vertices with -1s
+			// so we can mask out those reads
+			for( int vertex = 0; vertex < verticesUsedByWavefront; ++vertex )
+			{
+				m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = wavefrontVertices[vertex];
+			}
+			for( int vertex = verticesUsedByWavefront; vertex < m_maxVerticesWithinWave; ++vertex )
+			{
+				m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = -1;
+			}
+
+			// Obtain the set of batches within the current wavefront
+			btAlignedObjectArray < btAlignedObjectArray <int> > &batchesWithinWavefront( batchesWithinWaves[originalWavefrontIndex] );
+			// Set the size of the batches for use in the solver, correctly ordered
+			NumBatchesVerticesPair batchesAndVertices;
+			batchesAndVertices.numBatches = batchesWithinWavefront.size();
+			batchesAndVertices.numVertices = verticesUsedByWavefront;
+			m_numBatchesAndVerticesWithinWaves[wavefrontCount] = batchesAndVertices;
+			
+
+			// Now iterate over batches within the wavefront to structure the links correctly
+			for( int wavefrontBatch = 0; wavefrontBatch < batchesWithinWavefront.size(); ++wavefrontBatch )
+			{
+				btAlignedObjectArray <int> &linksInBatch( batchesWithinWavefront[wavefrontBatch] );
+				int wavefrontBatchSize = linksInBatch.size();
+
+				int batchAddressInTarget = m_maxBatchesWithinWave * m_wavefrontSize * wavefrontCount + m_wavefrontSize * wavefrontBatch;
+
+				for( int linkIndex = 0; linkIndex < wavefrontBatchSize; ++linkIndex )
+				{
+					int originalLinkAddress = linksInBatch[linkIndex];
+					// Reorder simple arrays trivially
+					m_links[batchAddressInTarget + linkIndex] = m_links_Backup[originalLinkAddress];
+					m_linkStrength[batchAddressInTarget + linkIndex] = m_linkStrength_Backup[originalLinkAddress];
+					m_linksMassLSC[batchAddressInTarget + linkIndex] = m_linksMassLSC_Backup[originalLinkAddress];
+					m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = m_linksRestLengthSquared_Backup[originalLinkAddress];
+					m_linksRestLength[batchAddressInTarget + linkIndex] = m_linksRestLength_Backup[originalLinkAddress];
+					m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = m_linksMaterialLinearStiffnessCoefficient_Backup[originalLinkAddress];
+
+					// The local address is more complicated. We need to work out where a given vertex will end up
+					// by searching the set of vertices for this link and using the index as the local address
+					btSoftBodyLinkData::LinkNodePair localPair;
+					btSoftBodyLinkData::LinkNodePair globalPair = m_links[batchAddressInTarget + linkIndex];
+					localPair.vertex0 = wavefrontVertices.findLinearSearch( globalPair.vertex0 );
+					localPair.vertex1 = wavefrontVertices.findLinearSearch( globalPair.vertex1 );
+					m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
+				}
+				for( int linkIndex = wavefrontBatchSize; linkIndex < m_wavefrontSize; ++linkIndex )
+				{
+					// Put 0s into these arrays for padding for cleanliness
+					m_links[batchAddressInTarget + linkIndex] = btSoftBodyLinkData::LinkNodePair(0, 0);
+					m_linkStrength[batchAddressInTarget + linkIndex] = 0.f;
+					m_linksMassLSC[batchAddressInTarget + linkIndex] = 0.f;
+					m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = 0.f;
+					m_linksRestLength[batchAddressInTarget + linkIndex] = 0.f;
+					m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = 0.f;
+
+
+					// For local addresses of junk data choose a set of addresses just above the range of valid ones 
+					// and cycling tyhrough % 16 so that we don't have bank conficts between all dud addresses
+					// The valid addresses will do scatter and gather in the valid range, the junk ones should happily work
+					// off the end of that range so we need no control
+					btSoftBodyLinkData::LinkNodePair localPair;
+					localPair.vertex0 = verticesUsedByWavefront + (linkIndex % 16);
+					localPair.vertex1 = verticesUsedByWavefront + (linkIndex % 16);
+					m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair;
+				}
+
+			}
+
+			
+			wavefrontCount++;
+		}
+
+	
+	}
+
+} // void btSoftBodyLinkDataDX11SIMDAware::generateBatches()
+
+
+