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watrabi
2025-09-18 17:55:52 -04:00
commit 977f1ff4b8
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App.BulletPhysics/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl
+45
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MSTRINGIFY(
__kernel void
VSolveLinksKernel(
int startLink,
int numLinks,
float kst,
__global int2 * g_linksVertexIndices,
__global float * g_linksLengthRatio,
__global float4 * g_linksCurrentLength,
__global float * g_vertexInverseMass,
__global float4 * g_vertexVelocity GUID_ARG)
{
int linkID = get_global_id(0) + startLink;
if( get_global_id(0) < numLinks )
{
int2 nodeIndices = g_linksVertexIndices[linkID];
int node0 = nodeIndices.x;
int node1 = nodeIndices.y;
float linkLengthRatio = g_linksLengthRatio[linkID];
float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz;
float3 vertexVelocity0 = g_vertexVelocity[node0].xyz;
float3 vertexVelocity1 = g_vertexVelocity[node1].xyz;
float vertexInverseMass0 = g_vertexInverseMass[node0];
float vertexInverseMass1 = g_vertexInverseMass[node1];
float3 nodeDifference = vertexVelocity0 - vertexVelocity1;
float dotResult = dot(linkCurrentLength, nodeDifference);
float j = -dotResult*linkLengthRatio*kst;
float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0);
float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1);
vertexVelocity0 += velocityChange0;
vertexVelocity1 -= velocityChange1;
g_vertexVelocity[node0] = (float4)(vertexVelocity0, 0.f);
g_vertexVelocity[node1] = (float4)(vertexVelocity1, 0.f);
}
}
);