* Adjustment: Initial CMake reworking.

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h

@@ -0,0 +1,44 @@
+
+#ifndef B3_GPU_BROADPHASE_INTERFACE_H
+#define B3_GPU_BROADPHASE_INTERFACE_H
+
+#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "b3SapAabb.h"
+#include "Bullet3Common/shared/b3Int2.h"
+#include "Bullet3Common/shared/b3Int4.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
+
+class b3GpuBroadphaseInterface
+{
+public:
+
+	typedef class b3GpuBroadphaseInterface* (CreateFunc)(cl_context ctx,cl_device_id device, cl_command_queue  q);
+
+	virtual ~b3GpuBroadphaseInterface()
+	{
+	}
+
+	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
+	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
+
+	virtual void  calculateOverlappingPairs(int maxPairs)=0;
+	virtual void  calculateOverlappingPairsHost(int maxPairs)=0;
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	virtual void writeAabbsToGpu()=0;
+
+	virtual cl_mem	getAabbBufferWS()=0;
+	virtual int	getNumOverlap()=0;
+	virtual cl_mem	getOverlappingPairBuffer()=0;
+
+	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()=0;
+	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()=0;
+	
+	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU() = 0;
+	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU() = 0;
+	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU() = 0;
+
+};
+
+#endif //B3_GPU_BROADPHASE_INTERFACE_H

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp

@@ -0,0 +1,384 @@
+
+#include "b3GpuGridBroadphase.h"
+#include "Bullet3Geometry/b3AabbUtil.h"
+#include "kernels/gridBroadphaseKernels.h"
+#include "kernels/sapKernels.h"
+//#include "kernels/gridBroadphase.cl"
+
+
+#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
+
+
+
+#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
+#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"
+
+cl_kernel kCalcHashAABB;
+cl_kernel kClearCellStart;
+cl_kernel kFindCellStart;
+cl_kernel kFindOverlappingPairs;
+cl_kernel m_copyAabbsKernel;
+cl_kernel m_sap2Kernel;
+
+
+
+
+
+//int maxPairsPerBody = 64;
+int maxBodiesPerCell = 256;//??
+
+b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q )
+:m_context(ctx),
+m_device(device),
+m_queue(q),
+m_allAabbsGPU1(ctx,q),
+m_smallAabbsMappingGPU(ctx,q),
+m_largeAabbsMappingGPU(ctx,q),
+m_gpuPairs(ctx,q),
+
+m_hashGpu(ctx,q),
+m_paramsGPU(ctx,q),
+m_cellStartGpu(ctx,q)
+{
+
+	
+	b3Vector3 gridSize = b3MakeVector3(3,3,3);
+	b3Vector3 invGridSize = b3MakeVector3(1.f/gridSize[0],1.f/gridSize[1],1.f/gridSize[2]);
+
+	m_paramsCPU.m_gridSize[0] = 128;
+	m_paramsCPU.m_gridSize[1] = 128;
+	m_paramsCPU.m_gridSize[2] = 128;
+	m_paramsCPU.m_gridSize[3] = maxBodiesPerCell;
+	m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell);
+	m_paramsCPU.m_invCellSize[0] = invGridSize[0];
+	m_paramsCPU.m_invCellSize[1] = invGridSize[1];
+	m_paramsCPU.m_invCellSize[2] = invGridSize[2];
+	m_paramsCPU.m_invCellSize[3] = 0.f;
+	m_paramsGPU.push_back(m_paramsCPU);
+
+	cl_int errNum=0;
+
+	{
+		const char* sapSrc = sapCL;
+		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
+		b3Assert(errNum==CL_SUCCESS);
+		m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
+		m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
+		b3Assert(errNum==CL_SUCCESS);
+	}
+
+	{
+		
+		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,gridBroadphaseCL,&errNum,"",B3_GRID_BROADPHASE_PATH);
+		b3Assert(errNum==CL_SUCCESS);
+
+		kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kCalcHashAABB",&errNum,gridProg);
+		b3Assert(errNum==CL_SUCCESS);
+	
+		kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kClearCellStart",&errNum,gridProg);
+		b3Assert(errNum==CL_SUCCESS);
+
+		kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindCellStart",&errNum,gridProg);
+		b3Assert(errNum==CL_SUCCESS);
+
+	
+		kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindOverlappingPairs",&errNum,gridProg);
+		b3Assert(errNum==CL_SUCCESS);
+
+		
+		
+		
+	}
+
+	m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);
+
+}
+b3GpuGridBroadphase::~b3GpuGridBroadphase()
+{
+	clReleaseKernel( kCalcHashAABB);
+	clReleaseKernel( kClearCellStart);
+	clReleaseKernel( kFindCellStart);
+	clReleaseKernel( kFindOverlappingPairs);
+	clReleaseKernel( m_sap2Kernel);
+	clReleaseKernel( m_copyAabbsKernel);
+	
+	
+	
+	delete m_sorter;
+}
+
+
+
+void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+{
+	b3SapAabb aabb;
+	aabb.m_minVec = aabbMin;
+	aabb.m_maxVec = aabbMax;
+	aabb.m_minIndices[3] = userPtr;
+	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
+	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
+
+	m_allAabbsCPU1.push_back(aabb);
+
+}
+void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+{
+	b3SapAabb aabb;
+	aabb.m_minVec = aabbMin;
+	aabb.m_maxVec = aabbMax;
+	aabb.m_minIndices[3] = userPtr;
+	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
+	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
+
+	m_allAabbsCPU1.push_back(aabb);
+}
+
+void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
+{
+	B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
+	
+
+	if (0)
+	{
+		calculateOverlappingPairsHost(maxPairs);
+	/*
+		b3AlignedObjectArray<b3Int4> cpuPairs;
+		m_gpuPairs.copyToHost(cpuPairs);
+		printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
+		for (int i=0;i<m_gpuPairs.size();i++)
+		{
+			printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
+		}
+		*/
+		return;
+	}
+	
+	
+
+
+	
+	int numSmallAabbs = m_smallAabbsMappingGPU.size();
+
+	b3OpenCLArray<int> pairCount(m_context,m_queue);
+	pairCount.push_back(0);
+	m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody);
+
+	{
+		int numLargeAabbs = m_largeAabbsMappingGPU.size();
+		if (numLargeAabbs && numSmallAabbs)
+		{
+			B3_PROFILE("sap2Kernel");
+			b3BufferInfoCL bInfo[] = { 
+				b3BufferInfoCL( m_allAabbsGPU1.getBufferCL() ),
+				b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
+				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ), 
+				b3BufferInfoCL( m_gpuPairs.getBufferCL() ), 
+				b3BufferInfoCL(pairCount.getBufferCL())};
+			b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
+			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst(   numLargeAabbs  );
+			launcher.setConst( numSmallAabbs);
+			launcher.setConst( 0  );//axis is not used
+			launcher.setConst( maxPairs  );
+	//@todo: use actual maximum work item sizes of the device instead of hardcoded values
+			launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
+                
+			int numPairs = pairCount.at(0);
+			
+			if (numPairs >maxPairs)
+			{
+				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+				numPairs =maxPairs;
+			}
+		}
+	}
+
+
+
+
+	if (numSmallAabbs)
+	{
+		B3_PROFILE("gridKernel");
+		m_hashGpu.resize(numSmallAabbs);
+		{
+			B3_PROFILE("kCalcHashAABB");
+			b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
+			launch.setConst(numSmallAabbs);
+			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
+			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
+			launch.setBuffer(m_hashGpu.getBufferCL());
+			launch.setBuffer(this->m_paramsGPU.getBufferCL());
+			launch.launch1D(numSmallAabbs);
+		}
+
+		m_sorter->execute(m_hashGpu);
+		
+		int numCells = this->m_paramsCPU.m_gridSize[0]*this->m_paramsCPU.m_gridSize[1]*this->m_paramsCPU.m_gridSize[2];
+		m_cellStartGpu.resize(numCells);
+		//b3AlignedObjectArray<int >			cellStartCpu;
+				
+		
+		{
+			B3_PROFILE("kClearCellStart");
+			b3LauncherCL launch(m_queue,kClearCellStart,"kClearCellStart");
+			launch.setConst(numCells);
+			launch.setBuffer(m_cellStartGpu.getBufferCL());
+			launch.launch1D(numCells);
+			//m_cellStartGpu.copyToHost(cellStartCpu);
+			//printf("??\n");
+
+		}
+
+
+		{
+			B3_PROFILE("kFindCellStart");
+			b3LauncherCL launch(m_queue,kFindCellStart,"kFindCellStart");
+			launch.setConst(numSmallAabbs);
+			launch.setBuffer(m_hashGpu.getBufferCL());
+			launch.setBuffer(m_cellStartGpu.getBufferCL());
+			launch.launch1D(numSmallAabbs);
+			//m_cellStartGpu.copyToHost(cellStartCpu);
+			//printf("??\n");
+
+		}
+		
+		{
+			B3_PROFILE("kFindOverlappingPairs");
+			
+			
+			b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs");
+			launch.setConst(numSmallAabbs);
+			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
+			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
+			launch.setBuffer(m_hashGpu.getBufferCL());
+			launch.setBuffer(m_cellStartGpu.getBufferCL());
+			
+			launch.setBuffer(m_paramsGPU.getBufferCL());
+			//launch.setBuffer(0);
+			launch.setBuffer(pairCount.getBufferCL());
+			launch.setBuffer(m_gpuPairs.getBufferCL());
+			
+			launch.setConst(maxPairs);
+			launch.launch1D(numSmallAabbs);
+			
+
+			int numPairs = pairCount.at(0);
+			if (numPairs >maxPairs)
+			{
+				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+				numPairs =maxPairs;
+			}
+			
+			m_gpuPairs.resize(numPairs);
+	
+			if (0)
+			{
+				b3AlignedObjectArray<b3Int4> pairsCpu;
+				m_gpuPairs.copyToHost(pairsCpu);
+
+				int sz = m_gpuPairs.size();
+				printf("m_gpuPairs.size()=%d\n",sz);
+				for (int i=0;i<m_gpuPairs.size();i++)
+				{
+					printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y);
+				}
+
+				printf("?!?\n");
+			}
+			
+		}
+	
+
+	}
+
+	
+
+
+
+	//calculateOverlappingPairsHost(maxPairs);
+}
+void  b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
+{
+
+	m_hostPairs.resize(0);
+	m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
+	for (int i=0;i<m_allAabbsCPU1.size();i++)
+	{
+		for (int j=i+1;j<m_allAabbsCPU1.size();j++)
+		{
+			if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
+				m_allAabbsCPU1[j].m_minVec,m_allAabbsCPU1[j].m_maxVec))
+			{
+				b3Int4 pair;
+				int a = m_allAabbsCPU1[j].m_minIndices[3];
+				int b = m_allAabbsCPU1[i].m_minIndices[3];
+				if (a<=b)
+				{
+					pair.x = a; 
+					pair.y = b;//store the original index in the unsorted aabb array
+				} else
+				{
+					pair.x = b;
+					pair.y = a;//store the original index in the unsorted aabb array
+				}
+					
+				if (m_hostPairs.size()<maxPairs)
+				{
+					m_hostPairs.push_back(pair);
+				}
+			}
+		}
+	}
+
+
+	m_gpuPairs.copyFromHost(m_hostPairs);
+
+
+}
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+void b3GpuGridBroadphase::writeAabbsToGpu()
+{
+	m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
+	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
+	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
+
+}
+
+cl_mem	b3GpuGridBroadphase::getAabbBufferWS()
+{
+	return this->m_allAabbsGPU1.getBufferCL();
+}
+int	b3GpuGridBroadphase::getNumOverlap()
+{
+	return m_gpuPairs.size();
+}
+cl_mem	b3GpuGridBroadphase::getOverlappingPairBuffer()
+{
+	return m_gpuPairs.getBufferCL();
+}
+
+b3OpenCLArray<b3SapAabb>&	b3GpuGridBroadphase::getAllAabbsGPU()
+{
+	return m_allAabbsGPU1;
+}
+
+b3AlignedObjectArray<b3SapAabb>&	b3GpuGridBroadphase::getAllAabbsCPU()
+{
+	return m_allAabbsCPU1;
+}
+
+b3OpenCLArray<b3Int4>& b3GpuGridBroadphase::getOverlappingPairsGPU()
+{
+	return m_gpuPairs;
+}
+b3OpenCLArray<int>& b3GpuGridBroadphase::getSmallAabbIndicesGPU()
+{
+	return m_smallAabbsMappingGPU;
+}
+b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
+{
+	return m_largeAabbsMappingGPU;
+}
+

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h

@@ -0,0 +1,88 @@
+#ifndef B3_GPU_GRID_BROADPHASE_H
+#define B3_GPU_GRID_BROADPHASE_H
+
+#include "b3GpuBroadphaseInterface.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
+
+struct b3ParamsGridBroadphaseCL
+{
+
+	float m_invCellSize[4];
+	int   m_gridSize[4];
+
+	int	getMaxBodiesPerCell() const
+	{
+		return m_gridSize[3];
+	}
+
+	void setMaxBodiesPerCell(int maxOverlap) 
+	{
+		m_gridSize[3] = maxOverlap;
+	}
+};
+
+
+class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
+{
+protected:
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+
+	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU1;
+	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU1;
+
+	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
+
+	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
+
+	b3AlignedObjectArray<b3Int4> m_hostPairs;
+	b3OpenCLArray<b3Int4>			m_gpuPairs;
+
+	b3OpenCLArray<b3SortData>			m_hashGpu;
+	b3OpenCLArray<int>			m_cellStartGpu;
+	
+
+	b3ParamsGridBroadphaseCL		m_paramsCPU;
+	b3OpenCLArray<b3ParamsGridBroadphaseCL>		m_paramsGPU;
+
+	class b3RadixSort32CL*			m_sorter;
+
+public:
+
+	b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	virtual ~b3GpuGridBroadphase();
+
+	static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	{
+		return new b3GpuGridBroadphase(ctx,device,q);
+	}
+
+	
+
+
+	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+
+	virtual void  calculateOverlappingPairs(int maxPairs);
+	virtual void  calculateOverlappingPairsHost(int maxPairs);
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	virtual void writeAabbsToGpu();
+
+	virtual cl_mem	getAabbBufferWS();
+	virtual int	getNumOverlap();
+	virtual cl_mem	getOverlappingPairBuffer();
+
+	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU();
+	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU();
+	
+	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
+	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
+	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
+
+};
+
+#endif //B3_GPU_GRID_BROADPHASE_H

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp

@@ -0,0 +1,577 @@
+/*
+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.
+*/
+//Initial Author Jackson Lee, 2014
+
+#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
+
+#include "b3GpuParallelLinearBvh.h"
+
+b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
+	m_queue(queue),
+	m_radixSorter(context, device, queue),
+	
+	m_rootNodeIndex(context, queue),
+	m_maxDistanceFromRoot(context, queue),
+	m_temp(context, queue),
+	
+	m_internalNodeAabbs(context, queue),
+	m_internalNodeLeafIndexRanges(context, queue),
+	m_internalNodeChildNodes(context, queue),
+	m_internalNodeParentNodes(context, queue),
+	
+	m_commonPrefixes(context, queue),
+	m_commonPrefixLengths(context, queue),
+	m_distanceFromRoot(context, queue),
+	
+	m_leafNodeParentNodes(context, queue),
+	m_mortonCodesAndAabbIndicies(context, queue),
+	m_mergedAabb(context, queue),
+	m_leafNodeAabbs(context, queue),
+	
+	m_largeAabbs(context, queue)
+{
+	m_rootNodeIndex.resize(1);
+	m_maxDistanceFromRoot.resize(1);
+	m_temp.resize(1);
+	
+	//
+	const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
+	
+	const char* kernelSource = parallelLinearBvhCL;	//parallelLinearBvhCL.h
+	cl_int error;
+	char* additionalMacros = 0;
+	m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
+	b3Assert(m_parallelLinearBvhProgram);
+	
+	m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_separateAabbsKernel);
+	m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_findAllNodesMergedAabbKernel);
+	m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
+	
+	m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_computeAdjacentPairCommonPrefixKernel);
+	m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_buildBinaryRadixTreeLeafNodesKernel);
+	m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_buildBinaryRadixTreeInternalNodesKernel);
+	m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_findDistanceFromRootKernel);
+	m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel);
+	
+	m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_findLeafIndexRangesKernel);
+	
+	m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_plbvhCalculateOverlappingPairsKernel);
+	m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_plbvhRayTraverseKernel);
+	m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_plbvhLargeAabbAabbTestKernel);
+	m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros );
+	b3Assert(m_plbvhLargeAabbRayTestKernel);
+}
+
+b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh() 
+{
+	clReleaseKernel(m_separateAabbsKernel);
+	clReleaseKernel(m_findAllNodesMergedAabbKernel);
+	clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
+	
+	clReleaseKernel(m_computeAdjacentPairCommonPrefixKernel);
+	clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel);
+	clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel);
+	clReleaseKernel(m_findDistanceFromRootKernel);
+	clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel);
+	
+	clReleaseKernel(m_findLeafIndexRangesKernel);
+	
+	clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
+	clReleaseKernel(m_plbvhRayTraverseKernel);
+	clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
+	clReleaseKernel(m_plbvhLargeAabbRayTestKernel);
+	
+	clReleaseProgram(m_parallelLinearBvhProgram);
+}
+
+void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices, 
+									const b3OpenCLArray<int>& largeAabbIndices)
+{
+	B3_PROFILE("b3ParallelLinearBvh::build()");
+	
+	int numLargeAabbs = largeAabbIndices.size();
+	int numSmallAabbs = smallAabbIndices.size();
+	
+	//Since all AABBs(both large and small) are input as a contiguous array, 
+	//with 2 additional arrays used to indicate the indices of large and small AABBs,
+	//it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH.
+	{
+		B3_PROFILE("Separate large and small AABBs");
+		
+		m_largeAabbs.resize(numLargeAabbs);
+		m_leafNodeAabbs.resize(numSmallAabbs);
+		
+		//Write large AABBs into m_largeAabbs
+		{
+			b3BufferInfoCL bufferInfo[] = 
+			{
+				b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
+				b3BufferInfoCL( largeAabbIndices.getBufferCL() ),
+				
+				b3BufferInfoCL( m_largeAabbs.getBufferCL() )
+			};
+			
+			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
+			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst(numLargeAabbs);
+			
+			launcher.launch1D(numLargeAabbs);
+		}
+		
+		//Write small AABBs into m_leafNodeAabbs
+		{
+			b3BufferInfoCL bufferInfo[] = 
+			{
+				b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
+				b3BufferInfoCL( smallAabbIndices.getBufferCL() ),
+				
+				b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() )
+			};
+			
+			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
+			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst(numSmallAabbs);
+			
+			launcher.launch1D(numSmallAabbs);
+		}
+		
+		clFinish(m_queue);
+	}
+	
+	//
+	int numLeaves = numSmallAabbs;	//Number of leaves in the BVH == Number of rigid bodies with small AABBs
+	int numInternalNodes = numLeaves - 1;
+	
+	if(numLeaves < 2)
+	{
+		//Number of leaf nodes is checked in calculateOverlappingPairs() and testRaysAgainstBvhAabbs(),
+		//so it does not matter if numLeaves == 0 and rootNodeIndex == -1
+		int rootNodeIndex = numLeaves - 1;
+		m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
+		
+		//Since the AABBs need to be rearranged(sorted) for the BVH construction algorithm,
+		//m_mortonCodesAndAabbIndicies.m_value is used to map a sorted AABB index to the unsorted AABB index
+		//instead of directly moving the AABBs. It needs to be set for the ray cast traversal kernel to work.
+		//( m_mortonCodesAndAabbIndicies[].m_value == unsorted index == index of m_leafNodeAabbs )
+		if(numLeaves == 1)
+		{
+			b3SortData leaf;
+			leaf.m_value = 0;		//1 leaf so index is always 0; leaf.m_key does not need to be set
+			
+			m_mortonCodesAndAabbIndicies.resize(1);
+			m_mortonCodesAndAabbIndicies.copyFromHostPointer(&leaf, 1);
+		}
+		
+		return;
+	}
+	
+	//
+	{
+		m_internalNodeAabbs.resize(numInternalNodes);
+		m_internalNodeLeafIndexRanges.resize(numInternalNodes);
+		m_internalNodeChildNodes.resize(numInternalNodes);
+		m_internalNodeParentNodes.resize(numInternalNodes);
+
+		m_commonPrefixes.resize(numInternalNodes);
+		m_commonPrefixLengths.resize(numInternalNodes);
+		m_distanceFromRoot.resize(numInternalNodes);
+	
+		m_leafNodeParentNodes.resize(numLeaves);
+		m_mortonCodesAndAabbIndicies.resize(numLeaves);
+		m_mergedAabb.resize(numLeaves);
+	}
+	
+	//Find the merged AABB of all small AABBs; this is used to define the size of 
+	//each cell in the virtual grid for the next kernel(2^10 cells in each dimension).
+	{
+		B3_PROFILE("Find AABB of merged nodes");
+	
+		m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs);	//Need to make a copy since the kernel modifies the array
+			
+		for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2; 
+				numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
+		{
+			b3BufferInfoCL bufferInfo[] = 
+			{
+				b3BufferInfoCL( m_mergedAabb.getBufferCL() )		//Resulting AABB is stored in m_mergedAabb[0]
+			};
+			
+			b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
+			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst(numAabbsNeedingMerge);
+			
+			launcher.launch1D(numAabbsNeedingMerge);
+		}
+		
+		clFinish(m_queue);
+	}
+	
+	//Insert the center of the AABBs into a virtual grid,
+	//then convert the discrete grid coordinates into a morton code
+	//For each element in m_mortonCodesAndAabbIndicies, set
+	//	m_key == morton code (value to sort by)
+	//	m_value == small AABB index
+	{
+		B3_PROFILE("Assign morton codes");
+	
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
+			b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
+			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numLeaves);
+		
+		launcher.launch1D(numLeaves);
+		clFinish(m_queue);
+	}
+	
+	//
+	{
+		B3_PROFILE("Sort leaves by morton codes");
+	
+		m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
+		clFinish(m_queue);
+	}
+	
+	//
+	constructBinaryRadixTree();
+	
+	
+	//Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices.
+	//The root node contains leaf node indices in the range [0, numLeafNodes - 1].
+	//The child nodes of each node split their parent's index range into 2 contiguous halves.
+	//
+	//For example, if the root has indices [0, 31], its children might partition that range into [0, 11] and [12, 31].
+	//The next level in the tree could then split those ranges into [0, 2], [3, 11], [12, 22], and [23, 31].
+	//
+	//This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice
+	{
+		B3_PROFILE("m_findLeafIndexRangesKernel");
+	
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numInternalNodes);
+		
+		launcher.launch1D(numInternalNodes);
+		clFinish(m_queue);
+	}
+}
+
+void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& out_overlappingPairs)
+{
+	int maxPairs = out_overlappingPairs.size();
+	b3OpenCLArray<int>& numPairsGpu = m_temp;
+	
+	int reset = 0;
+	numPairsGpu.copyFromHostPointer(&reset, 1);
+	
+	//
+	if( m_leafNodeAabbs.size() > 1 )
+	{
+		B3_PROFILE("PLBVH small-small AABB test");
+	
+		int numQueryAabbs = m_leafNodeAabbs.size();
+		
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
+			
+			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
+			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
+			
+			b3BufferInfoCL( numPairsGpu.getBufferCL() ),
+			b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(maxPairs);
+		launcher.setConst(numQueryAabbs);
+		
+		launcher.launch1D(numQueryAabbs);
+		clFinish(m_queue);
+	}
+	
+	int numLargeAabbRigids = m_largeAabbs.size();
+	if( numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0 )
+	{
+		B3_PROFILE("PLBVH large-small AABB test");
+	
+		int numQueryAabbs = m_leafNodeAabbs.size();
+		
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
+			b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
+			
+			b3BufferInfoCL( numPairsGpu.getBufferCL() ),
+			b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(maxPairs);
+		launcher.setConst(numLargeAabbRigids);
+		launcher.setConst(numQueryAabbs);
+		
+		launcher.launch1D(numQueryAabbs);
+		clFinish(m_queue);
+	}
+	
+	
+	//
+	int numPairs = -1;
+	numPairsGpu.copyToHostPointer(&numPairs, 1);
+	if(numPairs > maxPairs)
+	{
+		b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+		numPairs = maxPairs;
+		numPairsGpu.copyFromHostPointer(&maxPairs, 1);
+	}
+	
+	out_overlappingPairs.resize(numPairs);
+}
+
+
+void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays, 
+							b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
+{
+	B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
+	
+	int numRays = rays.size();
+	int maxRayRigidPairs = out_rayRigidPairs.size();
+	
+	int reset = 0;
+	out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
+	
+	//
+	if( m_leafNodeAabbs.size() > 0 )
+	{
+		B3_PROFILE("PLBVH ray test small AABB");
+	
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
+			
+			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
+			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
+			
+			b3BufferInfoCL( rays.getBufferCL() ),
+			
+			b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
+			b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(maxRayRigidPairs);
+		launcher.setConst(numRays);
+		
+		launcher.launch1D(numRays);
+		clFinish(m_queue);
+	}
+	
+	int numLargeAabbRigids = m_largeAabbs.size();
+	if(numLargeAabbRigids > 0)
+	{
+		B3_PROFILE("PLBVH ray test large AABB");
+		
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
+			b3BufferInfoCL( rays.getBufferCL() ),
+			
+			b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
+			b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numLargeAabbRigids);
+		launcher.setConst(maxRayRigidPairs);
+		launcher.setConst(numRays);
+		
+		launcher.launch1D(numRays);
+		clFinish(m_queue);
+	}
+	
+	//
+	int numRayRigidPairs = -1;
+	out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
+	
+	if(numRayRigidPairs > maxRayRigidPairs)
+		b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
+	
+}
+
+void b3GpuParallelLinearBvh::constructBinaryRadixTree()
+{
+	B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()");
+	
+	int numLeaves = m_leafNodeAabbs.size();
+	int numInternalNodes = numLeaves - 1;
+	
+	//Each internal node is placed in between 2 leaf nodes.
+	//By using this arrangement and computing the common prefix between
+	//these 2 adjacent leaf nodes, it is possible to quickly construct a binary radix tree.
+	{
+		B3_PROFILE("m_computeAdjacentPairCommonPrefixKernel");
+		
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
+			b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
+			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_computeAdjacentPairCommonPrefixKernel, "m_computeAdjacentPairCommonPrefixKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numInternalNodes);
+		
+		launcher.launch1D(numInternalNodes);
+		clFinish(m_queue);
+	}
+	
+	//For each leaf node, select its parent node by 
+	//comparing the 2 nearest internal nodes and assign child node indices
+	{
+		B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel");
+		
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
+			b3BufferInfoCL( m_leafNodeParentNodes.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numLeaves);
+		
+		launcher.launch1D(numLeaves);
+		clFinish(m_queue);
+	}
+	
+	//For each internal node, perform 2 binary searches among the other internal nodes
+	//to its left and right to find its potential parent nodes and assign child node indices
+	{
+		B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel");
+		
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
+			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
+			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numInternalNodes);
+		
+		launcher.launch1D(numInternalNodes);
+		clFinish(m_queue);
+	}
+	
+	//Find the number of nodes seperating each internal node and the root node
+	//so that the AABBs can be set using the next kernel.
+	//Also determine the maximum number of nodes separating an internal node and the root node.
+	{
+		B3_PROFILE("m_findDistanceFromRootKernel");
+	
+		b3BufferInfoCL bufferInfo[] = 
+		{
+			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
+			b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
+			b3BufferInfoCL( m_maxDistanceFromRoot.getBufferCL() ),
+			b3BufferInfoCL( m_distanceFromRoot.getBufferCL() )
+		};
+		
+		b3LauncherCL launcher(m_queue, m_findDistanceFromRootKernel, "m_findDistanceFromRootKernel");
+		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(numInternalNodes);
+		
+		launcher.launch1D(numInternalNodes);
+		clFinish(m_queue);
+	}
+	
+	//Starting from the internal nodes nearest to the leaf nodes, recursively move up
+	//the tree towards the root to set the AABBs of each internal node; each internal node
+	//checks its children and merges their AABBs
+	{
+		B3_PROFILE("m_buildBinaryRadixTreeAabbsRecursiveKernel");
+		
+		int maxDistanceFromRoot = -1;
+		{
+			B3_PROFILE("copy maxDistanceFromRoot to CPU");
+			m_maxDistanceFromRoot.copyToHostPointer(&maxDistanceFromRoot, 1);
+			clFinish(m_queue);
+		}
+		
+		for(int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
+		{
+			b3BufferInfoCL bufferInfo[] = 
+			{
+				b3BufferInfoCL( m_distanceFromRoot.getBufferCL() ),
+				b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
+				b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
+				b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
+				b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() )
+			};
+			
+			b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeAabbsRecursiveKernel, "m_buildBinaryRadixTreeAabbsRecursiveKernel");
+			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst(maxDistanceFromRoot);
+			launcher.setConst(distanceFromRoot);
+			launcher.setConst(numInternalNodes);
+			
+			//It may seem inefficent to launch a thread for each internal node when a
+			//much smaller number of nodes is actually processed, but this is actually
+			//faster than determining the exact nodes that are ready to merge their child AABBs. 
+			launcher.launch1D(numInternalNodes);
+		}
+		
+		clFinish(m_queue);
+	}
+}
+
+	

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h

@@ -0,0 +1,125 @@
+/*
+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.
+*/
+//Initial Author Jackson Lee, 2014
+
+#ifndef B3_GPU_PARALLEL_LINEAR_BVH_H
+#define B3_GPU_PARALLEL_LINEAR_BVH_H
+
+//#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
+#include "Bullet3Common/shared/b3Int2.h"
+#include "Bullet3Common/shared/b3Int4.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
+
+#include "Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h"
+
+#define b3Int64 cl_long
+
+///@brief GPU Parallel Linearized Bounding Volume Heirarchy(LBVH) that is reconstructed every frame
+///@remarks
+///See presentation in docs/b3GpuParallelLinearBvh.pdf for algorithm details.
+///@par
+///Related papers: \n
+///"Fast BVH Construction on GPUs" [Lauterbach et al. 2009] \n
+///"Maximizing Parallelism in the Construction of BVHs, Octrees, and k-d trees" [Karras 2012] \n
+///@par
+///The basic algorithm for building the BVH as presented in [Lauterbach et al. 2009] consists of 4 stages:
+/// - [fully parallel] Assign morton codes for each AABB using its center (after quantizing the AABB centers into a virtual grid) 
+/// - [fully parallel] Sort morton codes
+/// - [somewhat parallel] Build binary radix tree (assign parent/child pointers for internal nodes of the BVH) 
+/// - [somewhat parallel] Set internal node AABBs 
+///@par
+///[Karras 2012] improves on the algorithm by introducing fully parallel methods for the last 2 stages.
+///The BVH implementation here shares many concepts with [Karras 2012], but a different method is used for constructing the tree.
+///Instead of searching for the child nodes of each internal node, we search for the parent node of each node.
+///Additionally, a non-atomic traversal that starts from the leaf nodes and moves towards the root node is used to set the AABBs.
+class b3GpuParallelLinearBvh
+{
+	cl_command_queue m_queue;
+	
+	cl_program m_parallelLinearBvhProgram;
+	
+	cl_kernel m_separateAabbsKernel;
+	cl_kernel m_findAllNodesMergedAabbKernel;
+	cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
+	
+	//Binary radix tree construction kernels
+	cl_kernel m_computeAdjacentPairCommonPrefixKernel;
+	cl_kernel m_buildBinaryRadixTreeLeafNodesKernel;
+	cl_kernel m_buildBinaryRadixTreeInternalNodesKernel;
+	cl_kernel m_findDistanceFromRootKernel;
+	cl_kernel m_buildBinaryRadixTreeAabbsRecursiveKernel;
+	
+	cl_kernel m_findLeafIndexRangesKernel;
+	
+	//Traversal kernels
+	cl_kernel m_plbvhCalculateOverlappingPairsKernel;
+	cl_kernel m_plbvhRayTraverseKernel;
+	cl_kernel m_plbvhLargeAabbAabbTestKernel;
+	cl_kernel m_plbvhLargeAabbRayTestKernel;
+	
+	b3RadixSort32CL m_radixSorter;
+	
+	//1 element
+	b3OpenCLArray<int> m_rootNodeIndex;							//Most significant bit(0x80000000) is set to indicate internal node
+	b3OpenCLArray<int> m_maxDistanceFromRoot;					//Max number of internal nodes between an internal node and the root node
+	b3OpenCLArray<int> m_temp;									//Used to hold the number of pairs in calculateOverlappingPairs()
+	
+	//1 element per internal node (number_of_internal_nodes == number_of_leaves - 1)
+	b3OpenCLArray<b3SapAabb> m_internalNodeAabbs;
+	b3OpenCLArray<b3Int2> m_internalNodeLeafIndexRanges;		//x == min leaf index, y == max leaf index
+	b3OpenCLArray<b3Int2> m_internalNodeChildNodes;				//x == left child, y == right child; msb(0x80000000) is set to indicate internal node
+	b3OpenCLArray<int> m_internalNodeParentNodes;				//For parent node index, msb(0x80000000) is not set since it is always internal
+	
+	//1 element per internal node; for binary radix tree construction
+	b3OpenCLArray<b3Int64> m_commonPrefixes;
+	b3OpenCLArray<int> m_commonPrefixLengths;
+	b3OpenCLArray<int> m_distanceFromRoot;						//Number of internal nodes between this node and the root
+	
+	//1 element per leaf node (leaf nodes only include small AABBs)
+	b3OpenCLArray<int> m_leafNodeParentNodes;					//For parent node index, msb(0x80000000) is not set since it is always internal
+	b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies;		//m_key == morton code, m_value == aabb index in m_leafNodeAabbs
+	b3OpenCLArray<b3SapAabb> m_mergedAabb;						//m_mergedAabb[0] contains the merged AABB of all leaf nodes
+	b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;					//Contains only small AABBs
+	
+	//1 element per large AABB, which is not stored in the BVH
+	b3OpenCLArray<b3SapAabb> m_largeAabbs;
+	
+public:
+	b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue);
+	virtual ~b3GpuParallelLinearBvh();
+	
+	///Must be called before any other function
+	void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices, 
+				const b3OpenCLArray<int>& largeAabbIndices);
+	
+	///calculateOverlappingPairs() uses the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.
+	///@param out_overlappingPairs The size() of this array is used to determine the max number of pairs.
+	///If the number of overlapping pairs is < out_overlappingPairs.size(), out_overlappingPairs is resized.
+	void calculateOverlappingPairs(b3OpenCLArray<b3Int4>& out_overlappingPairs);
+	
+	///@param out_numRigidRayPairs Array of length 1; contains the number of detected ray-rigid AABB intersections;
+	///this value may be greater than out_rayRigidPairs.size() if out_rayRigidPairs is not large enough.
+	///@param out_rayRigidPairs Contains an array of rays intersecting rigid AABBs; x == ray index, y == rigid body index.
+	///If the size of this array is insufficient to hold all ray-rigid AABB intersections, additional intersections are discarded.
+	void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays, 
+								b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs);
+								
+private:
+	void constructBinaryRadixTree();
+};
+
+#endif

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp

@@ -0,0 +1,80 @@
+/*
+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.
+*/
+//Initial Author Jackson Lee, 2014
+
+#include "b3GpuParallelLinearBvhBroadphase.h"
+
+b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) : 
+	m_plbvh(context, device, queue),
+	
+	m_overlappingPairsGpu(context, queue),
+	
+	m_aabbsGpu(context, queue),
+	m_smallAabbsMappingGpu(context, queue),
+	m_largeAabbsMappingGpu(context, queue)
+{
+}
+
+void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
+{
+	int newAabbIndex = m_aabbsCpu.size();
+
+	b3SapAabb aabb;
+	aabb.m_minVec = aabbMin;
+	aabb.m_maxVec = aabbMax;
+	
+	aabb.m_minIndices[3] = userPtr;
+	aabb.m_signedMaxIndices[3] = newAabbIndex;
+	
+	m_smallAabbsMappingCpu.push_back(newAabbIndex);
+	
+	m_aabbsCpu.push_back(aabb);
+}
+void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
+{
+	int newAabbIndex = m_aabbsCpu.size();
+
+	b3SapAabb aabb;
+	aabb.m_minVec = aabbMin;
+	aabb.m_maxVec = aabbMax;
+	
+	aabb.m_minIndices[3] = userPtr;
+	aabb.m_signedMaxIndices[3] = newAabbIndex;
+	
+	m_largeAabbsMappingCpu.push_back(newAabbIndex);
+	
+	m_aabbsCpu.push_back(aabb);
+}
+
+void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairs(int maxPairs)
+{
+	//Reconstruct BVH
+	m_plbvh.build(m_aabbsGpu, m_smallAabbsMappingGpu, m_largeAabbsMappingGpu);
+	
+	//
+	m_overlappingPairsGpu.resize(maxPairs);
+	m_plbvh.calculateOverlappingPairs(m_overlappingPairsGpu);
+}
+void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairsHost(int maxPairs)
+{
+	b3Assert(0);	//CPU version not implemented
+}
+
+void b3GpuParallelLinearBvhBroadphase::writeAabbsToGpu() 
+{ 
+	m_aabbsGpu.copyFromHost(m_aabbsCpu); 
+	m_smallAabbsMappingGpu.copyFromHost(m_smallAabbsMappingCpu);
+	m_largeAabbsMappingGpu.copyFromHost(m_largeAabbsMappingCpu);
+}
+	
+	
+	

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h

@@ -0,0 +1,66 @@
+/*
+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.
+*/
+//Initial Author Jackson Lee, 2014
+
+#ifndef B3_GPU_PARALLEL_LINEAR_BVH_BROADPHASE_H
+#define B3_GPU_PARALLEL_LINEAR_BVH_BROADPHASE_H
+
+#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
+
+#include "b3GpuParallelLinearBvh.h"
+
+class b3GpuParallelLinearBvhBroadphase : public b3GpuBroadphaseInterface
+{
+	b3GpuParallelLinearBvh m_plbvh;
+	
+	b3OpenCLArray<b3Int4> m_overlappingPairsGpu;
+	
+	b3OpenCLArray<b3SapAabb> m_aabbsGpu;
+	b3OpenCLArray<int> m_smallAabbsMappingGpu;
+	b3OpenCLArray<int> m_largeAabbsMappingGpu;
+	
+	b3AlignedObjectArray<b3SapAabb> m_aabbsCpu;
+	b3AlignedObjectArray<int> m_smallAabbsMappingCpu;
+	b3AlignedObjectArray<int> m_largeAabbsMappingCpu;
+	
+public:
+	b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
+	virtual ~b3GpuParallelLinearBvhBroadphase() {}
+
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
+	
+	virtual void calculateOverlappingPairs(int maxPairs);
+	virtual void calculateOverlappingPairsHost(int maxPairs);
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	virtual void writeAabbsToGpu();
+	
+	virtual int	getNumOverlap() { return m_overlappingPairsGpu.size(); }
+	virtual cl_mem getOverlappingPairBuffer() { return m_overlappingPairsGpu.getBufferCL(); }
+
+	virtual cl_mem getAabbBufferWS() { return m_aabbsGpu.getBufferCL(); }
+	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() { return m_aabbsGpu; }
+	
+	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU() { return m_overlappingPairsGpu; }
+	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU() { return m_smallAabbsMappingGpu; }
+	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU() { return m_largeAabbsMappingGpu; }
+	
+	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() { return m_aabbsCpu; }
+	
+	static b3GpuBroadphaseInterface* CreateFunc(cl_context context, cl_device_id device, cl_command_queue queue)
+	{
+		return new b3GpuParallelLinearBvhBroadphase(context, device, queue);
+	}
+};
+
+#endif

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h

@@ -0,0 +1,151 @@
+#ifndef B3_GPU_SAP_BROADPHASE_H
+#define B3_GPU_SAP_BROADPHASE_H
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
+class b3Vector3;
+#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
+
+#include "b3SapAabb.h"
+#include "Bullet3Common/shared/b3Int2.h"
+
+#include "b3GpuBroadphaseInterface.h"
+
+
+class b3GpuSapBroadphase : public b3GpuBroadphaseInterface
+{
+	
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+	cl_kernel				m_flipFloatKernel;
+	cl_kernel				m_scatterKernel ;
+	cl_kernel				m_copyAabbsKernel;
+	cl_kernel				m_sapKernel;
+	cl_kernel				m_sap2Kernel;
+	cl_kernel				m_prepareSumVarianceKernel;
+	
+
+	class b3RadixSort32CL* m_sorter;
+
+	///test for 3d SAP
+	b3AlignedObjectArray<b3SortData>		m_sortedAxisCPU[3][2];
+	b3AlignedObjectArray<b3UnsignedInt2>	m_objectMinMaxIndexCPU[3][2];
+	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis0;
+	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis1;
+	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis2;
+	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis0prev;
+	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis1prev;
+	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis2prev;
+
+	b3OpenCLArray<b3SortData>				m_sortedAxisGPU0;
+	b3OpenCLArray<b3SortData>				m_sortedAxisGPU1;
+	b3OpenCLArray<b3SortData>				m_sortedAxisGPU2;
+	b3OpenCLArray<b3SortData>				m_sortedAxisGPU0prev;
+	b3OpenCLArray<b3SortData>				m_sortedAxisGPU1prev;
+	b3OpenCLArray<b3SortData>				m_sortedAxisGPU2prev;
+
+
+	b3OpenCLArray<b3Int4>					m_addedHostPairsGPU;
+	b3OpenCLArray<b3Int4>					m_removedHostPairsGPU;
+	b3OpenCLArray<int>						m_addedCountGPU;
+	b3OpenCLArray<int>						m_removedCountGPU;
+	
+	int	m_currentBuffer;
+
+public:
+
+	b3OpenCLArray<int> m_pairCount;
+
+
+	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU;
+	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
+
+	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()
+	{
+		return m_allAabbsGPU;
+	}
+	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()
+	{
+		return m_allAabbsCPU;
+	}
+
+	b3OpenCLArray<b3Vector3>	m_sum;
+	b3OpenCLArray<b3Vector3>	m_sum2;
+	b3OpenCLArray<b3Vector3>	m_dst;
+
+	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
+
+	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
+
+	
+	b3OpenCLArray<b3Int4>		m_overlappingPairs;
+
+	//temporary gpu work memory
+	b3OpenCLArray<b3SortData>	m_gpuSmallSortData;
+	b3OpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;
+
+	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;
+
+	enum b3GpuSapKernelType
+	{
+		B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU=1,
+		B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU,
+		B3_GPU_SAP_KERNEL_ORIGINAL,
+		B3_GPU_SAP_KERNEL_BARRIER,
+		B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY
+	};
+
+	b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q , b3GpuSapKernelType kernelType=B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
+	virtual ~b3GpuSapBroadphase();
+	
+	static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	{
+		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU);
+	}
+
+	static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	{
+		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU);
+	}
+
+	static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	{
+		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_ORIGINAL);
+	}
+	static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	{
+		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BARRIER);
+	}
+	static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	{
+		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
+	}
+	
+
+	virtual void  calculateOverlappingPairs(int maxPairs);
+	virtual void  calculateOverlappingPairsHost(int maxPairs);
+	
+	void  reset();
+
+	void init3dSap();
+	virtual void calculateOverlappingPairsHostIncremental3Sap();
+
+	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	virtual void writeAabbsToGpu();
+
+	virtual cl_mem	getAabbBufferWS();
+	virtual int	getNumOverlap();
+	virtual cl_mem	getOverlappingPairBuffer();
+	
+	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
+	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
+	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
+};
+
+#endif //B3_GPU_SAP_BROADPHASE_H

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h

@@ -0,0 +1,14 @@
+#ifndef B3_SAP_AABB_H
+#define B3_SAP_AABB_H
+
+#include "Bullet3Common/b3Scalar.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+
+///just make sure that the b3Aabb is 16-byte aligned
+B3_ATTRIBUTE_ALIGNED16(struct) b3SapAabb : public b3Aabb
+{
+
+};
+
+
+#endif //B3_SAP_AABB_H

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl

@@ -0,0 +1,216 @@
+
+
+int getPosHash(int4 gridPos, __global float4* pParams)
+{
+	int4 gridDim = *((__global int4*)(pParams + 1));
+	gridPos.x &= gridDim.x - 1;
+	gridPos.y &= gridDim.y - 1;
+	gridPos.z &= gridDim.z - 1;
+	int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;
+	return hash;
+} 
+
+int4 getGridPos(float4 worldPos, __global float4* pParams)
+{
+    int4 gridPos;
+	int4 gridDim = *((__global int4*)(pParams + 1));
+    gridPos.x = (int)floor(worldPos.x * pParams[0].x) & (gridDim.x - 1);
+    gridPos.y = (int)floor(worldPos.y * pParams[0].y) & (gridDim.y - 1);
+    gridPos.z = (int)floor(worldPos.z * pParams[0].z) & (gridDim.z - 1);
+    return gridPos;
+}
+
+
+// calculate grid hash value for each body using its AABB
+__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )
+{
+    int index = get_global_id(0);
+    if(index >= numObjects)
+	{
+		return;
+	}
+	float4 bbMin = allpAABB[smallAabbMapping[index]*2];
+	float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];
+	float4 pos;
+	pos.x = (bbMin.x + bbMax.x) * 0.5f;
+	pos.y = (bbMin.y + bbMax.y) * 0.5f;
+	pos.z = (bbMin.z + bbMax.z) * 0.5f;
+	pos.w = 0.f;
+    // get address in grid
+    int4 gridPos = getGridPos(pos, pParams);
+    int gridHash = getPosHash(gridPos, pParams);
+    // store grid hash and body index
+    int2 hashVal;
+    hashVal.x = gridHash;
+    hashVal.y = index;
+    pHash[index] = hashVal;
+}
+
+__kernel void kClearCellStart(	int numCells, 
+								__global int* pCellStart )
+{
+    int index = get_global_id(0);
+    if(index >= numCells)
+	{
+		return;
+	}
+	pCellStart[index] = -1;
+}
+
+__kernel void kFindCellStart(int numObjects, __global int2* pHash, __global int* cellStart )
+{
+	__local int sharedHash[513];
+    int index = get_global_id(0);
+	int2 sortedData;
+
+    if(index < numObjects)
+	{
+		sortedData = pHash[index];
+		// Load hash data into shared memory so that we can look 
+		// at neighboring body's hash value without loading
+		// two hash values per thread
+		sharedHash[get_local_id(0) + 1] = sortedData.x;
+		if((index > 0) && (get_local_id(0) == 0))
+		{
+			// first thread in block must load neighbor body hash
+			sharedHash[0] = pHash[index-1].x;
+		}
+	}
+    barrier(CLK_LOCAL_MEM_FENCE);
+    if(index < numObjects)
+	{
+		if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))
+		{
+			cellStart[sortedData.x] = index;
+		}
+	}
+}
+
+int testAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)
+{
+	return	(min0.x <= max1.x)&& (min1.x <= max0.x) && 
+			(min0.y <= max1.y)&& (min1.y <= max0.y) && 
+			(min0.z <= max1.z)&& (min1.z <= max0.z); 
+}
+
+
+
+
+//search for AABB 'index' against other AABBs' in this cell
+void findPairsInCell(	int numObjects,
+						int4	gridPos,
+						int    index,
+						__global int2*  pHash,
+						__global int*   pCellStart,
+						__global float4* allpAABB, 
+						__global const int* smallAabbMapping,
+						__global float4* pParams,
+							volatile  __global int* pairCount,
+						__global int4*   pPairBuff2,
+						int maxPairs
+						)
+{
+	int4 pGridDim = *((__global int4*)(pParams + 1));
+	int maxBodiesPerCell = pGridDim.w;
+    int gridHash = getPosHash(gridPos, pParams);
+    // get start of bucket for this cell
+    int bucketStart = pCellStart[gridHash];
+    if (bucketStart == -1)
+	{
+        return;   // cell empty
+	}
+	// iterate over bodies in this cell
+    int2 sortedData = pHash[index];
+	int unsorted_indx = sortedData.y;
+    float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0]; 
+	float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];
+	int handleIndex =  as_int(min0.w);
+	
+	int bucketEnd = bucketStart + maxBodiesPerCell;
+	bucketEnd = (bucketEnd > numObjects) ? numObjects : bucketEnd;
+	for(int index2 = bucketStart; index2 < bucketEnd; index2++) 
+	{
+        int2 cellData = pHash[index2];
+        if (cellData.x != gridHash)
+        {
+			break;   // no longer in same bucket
+		}
+		int unsorted_indx2 = cellData.y;
+        //if (unsorted_indx2 < unsorted_indx) // check not colliding with self
+		if (unsorted_indx2 != unsorted_indx) // check not colliding with self
+        {   
+			float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];
+			float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];
+			if(testAABBOverlap(min0, max0, min1, max1))
+			{
+				if (pairCount)
+				{
+					int handleIndex2 = as_int(min1.w);
+					if (handleIndex<handleIndex2)
+					{
+						int curPair = atomic_add(pairCount,1);
+						if (curPair<maxPairs)
+						{
+							int4 newpair;
+							newpair.x = handleIndex;
+							newpair.y = handleIndex2;
+							newpair.z = -1;
+							newpair.w = -1;
+							pPairBuff2[curPair] = newpair;
+						}
+					}
+				
+				}
+			}
+		}
+	}
+}
+
+__kernel void kFindOverlappingPairs(	int numObjects,
+										__global float4* allpAABB, 
+										__global const int* smallAabbMapping,
+										__global int2* pHash, 
+										__global int* pCellStart, 
+										__global float4* pParams ,
+										volatile  __global int* pairCount,
+										__global int4*   pPairBuff2,
+										int maxPairs
+										)
+
+{
+    int index = get_global_id(0);
+    if(index >= numObjects)
+	{
+		return;
+	}
+    int2 sortedData = pHash[index];
+	int unsorted_indx = sortedData.y;
+	float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];
+	float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];
+	float4 pos;
+	pos.x = (bbMin.x + bbMax.x) * 0.5f;
+	pos.y = (bbMin.y + bbMax.y) * 0.5f;
+	pos.z = (bbMin.z + bbMax.z) * 0.5f;
+    // get address in grid
+    int4 gridPosA = getGridPos(pos, pParams);
+    int4 gridPosB; 
+    // examine only neighbouring cells
+    for(int z=-1; z<=1; z++) 
+    {
+		gridPosB.z = gridPosA.z + z;
+        for(int y=-1; y<=1; y++) 
+        {
+			gridPosB.y = gridPosA.y + y;
+            for(int x=-1; x<=1; x++) 
+            {
+				gridPosB.x = gridPosA.x + x;
+                findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);
+            }
+        }
+    }
+}
+
+
+
+
+

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h

@@ -0,0 +1,199 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* gridBroadphaseCL= \
+"int getPosHash(int4 gridPos, __global float4* pParams)\n"
+"{\n"
+"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
+"	gridPos.x &= gridDim.x - 1;\n"
+"	gridPos.y &= gridDim.y - 1;\n"
+"	gridPos.z &= gridDim.z - 1;\n"
+"	int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;\n"
+"	return hash;\n"
+"} \n"
+"int4 getGridPos(float4 worldPos, __global float4* pParams)\n"
+"{\n"
+"    int4 gridPos;\n"
+"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
+"    gridPos.x = (int)floor(worldPos.x * pParams[0].x) & (gridDim.x - 1);\n"
+"    gridPos.y = (int)floor(worldPos.y * pParams[0].y) & (gridDim.y - 1);\n"
+"    gridPos.z = (int)floor(worldPos.z * pParams[0].z) & (gridDim.z - 1);\n"
+"    return gridPos;\n"
+"}\n"
+"// calculate grid hash value for each body using its AABB\n"
+"__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )\n"
+"{\n"
+"    int index = get_global_id(0);\n"
+"    if(index >= numObjects)\n"
+"	{\n"
+"		return;\n"
+"	}\n"
+"	float4 bbMin = allpAABB[smallAabbMapping[index]*2];\n"
+"	float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];\n"
+"	float4 pos;\n"
+"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
+"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
+"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
+"	pos.w = 0.f;\n"
+"    // get address in grid\n"
+"    int4 gridPos = getGridPos(pos, pParams);\n"
+"    int gridHash = getPosHash(gridPos, pParams);\n"
+"    // store grid hash and body index\n"
+"    int2 hashVal;\n"
+"    hashVal.x = gridHash;\n"
+"    hashVal.y = index;\n"
+"    pHash[index] = hashVal;\n"
+"}\n"
+"__kernel void kClearCellStart(	int numCells, \n"
+"								__global int* pCellStart )\n"
+"{\n"
+"    int index = get_global_id(0);\n"
+"    if(index >= numCells)\n"
+"	{\n"
+"		return;\n"
+"	}\n"
+"	pCellStart[index] = -1;\n"
+"}\n"
+"__kernel void kFindCellStart(int numObjects, __global int2* pHash, __global int* cellStart )\n"
+"{\n"
+"	__local int sharedHash[513];\n"
+"    int index = get_global_id(0);\n"
+"	int2 sortedData;\n"
+"    if(index < numObjects)\n"
+"	{\n"
+"		sortedData = pHash[index];\n"
+"		// Load hash data into shared memory so that we can look \n"
+"		// at neighboring body's hash value without loading\n"
+"		// two hash values per thread\n"
+"		sharedHash[get_local_id(0) + 1] = sortedData.x;\n"
+"		if((index > 0) && (get_local_id(0) == 0))\n"
+"		{\n"
+"			// first thread in block must load neighbor body hash\n"
+"			sharedHash[0] = pHash[index-1].x;\n"
+"		}\n"
+"	}\n"
+"    barrier(CLK_LOCAL_MEM_FENCE);\n"
+"    if(index < numObjects)\n"
+"	{\n"
+"		if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))\n"
+"		{\n"
+"			cellStart[sortedData.x] = index;\n"
+"		}\n"
+"	}\n"
+"}\n"
+"int testAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)\n"
+"{\n"
+"	return	(min0.x <= max1.x)&& (min1.x <= max0.x) && \n"
+"			(min0.y <= max1.y)&& (min1.y <= max0.y) && \n"
+"			(min0.z <= max1.z)&& (min1.z <= max0.z); \n"
+"}\n"
+"//search for AABB 'index' against other AABBs' in this cell\n"
+"void findPairsInCell(	int numObjects,\n"
+"						int4	gridPos,\n"
+"						int    index,\n"
+"						__global int2*  pHash,\n"
+"						__global int*   pCellStart,\n"
+"						__global float4* allpAABB, \n"
+"						__global const int* smallAabbMapping,\n"
+"						__global float4* pParams,\n"
+"							volatile  __global int* pairCount,\n"
+"						__global int4*   pPairBuff2,\n"
+"						int maxPairs\n"
+"						)\n"
+"{\n"
+"	int4 pGridDim = *((__global int4*)(pParams + 1));\n"
+"	int maxBodiesPerCell = pGridDim.w;\n"
+"    int gridHash = getPosHash(gridPos, pParams);\n"
+"    // get start of bucket for this cell\n"
+"    int bucketStart = pCellStart[gridHash];\n"
+"    if (bucketStart == -1)\n"
+"	{\n"
+"        return;   // cell empty\n"
+"	}\n"
+"	// iterate over bodies in this cell\n"
+"    int2 sortedData = pHash[index];\n"
+"	int unsorted_indx = sortedData.y;\n"
+"    float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0]; \n"
+"	float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
+"	int handleIndex =  as_int(min0.w);\n"
+"	\n"
+"	int bucketEnd = bucketStart + maxBodiesPerCell;\n"
+"	bucketEnd = (bucketEnd > numObjects) ? numObjects : bucketEnd;\n"
+"	for(int index2 = bucketStart; index2 < bucketEnd; index2++) \n"
+"	{\n"
+"        int2 cellData = pHash[index2];\n"
+"        if (cellData.x != gridHash)\n"
+"        {\n"
+"			break;   // no longer in same bucket\n"
+"		}\n"
+"		int unsorted_indx2 = cellData.y;\n"
+"        //if (unsorted_indx2 < unsorted_indx) // check not colliding with self\n"
+"		if (unsorted_indx2 != unsorted_indx) // check not colliding with self\n"
+"        {   \n"
+"			float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];\n"
+"			float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];\n"
+"			if(testAABBOverlap(min0, max0, min1, max1))\n"
+"			{\n"
+"				if (pairCount)\n"
+"				{\n"
+"					int handleIndex2 = as_int(min1.w);\n"
+"					if (handleIndex<handleIndex2)\n"
+"					{\n"
+"						int curPair = atomic_add(pairCount,1);\n"
+"						if (curPair<maxPairs)\n"
+"						{\n"
+"							int4 newpair;\n"
+"							newpair.x = handleIndex;\n"
+"							newpair.y = handleIndex2;\n"
+"							newpair.z = -1;\n"
+"							newpair.w = -1;\n"
+"							pPairBuff2[curPair] = newpair;\n"
+"						}\n"
+"					}\n"
+"				\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void kFindOverlappingPairs(	int numObjects,\n"
+"										__global float4* allpAABB, \n"
+"										__global const int* smallAabbMapping,\n"
+"										__global int2* pHash, \n"
+"										__global int* pCellStart, \n"
+"										__global float4* pParams ,\n"
+"										volatile  __global int* pairCount,\n"
+"										__global int4*   pPairBuff2,\n"
+"										int maxPairs\n"
+"										)\n"
+"{\n"
+"    int index = get_global_id(0);\n"
+"    if(index >= numObjects)\n"
+"	{\n"
+"		return;\n"
+"	}\n"
+"    int2 sortedData = pHash[index];\n"
+"	int unsorted_indx = sortedData.y;\n"
+"	float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];\n"
+"	float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
+"	float4 pos;\n"
+"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
+"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
+"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
+"    // get address in grid\n"
+"    int4 gridPosA = getGridPos(pos, pParams);\n"
+"    int4 gridPosB; \n"
+"    // examine only neighbouring cells\n"
+"    for(int z=-1; z<=1; z++) \n"
+"    {\n"
+"		gridPosB.z = gridPosA.z + z;\n"
+"        for(int y=-1; y<=1; y++) \n"
+"        {\n"
+"			gridPosB.y = gridPosA.y + y;\n"
+"            for(int x=-1; x<=1; x++) \n"
+"            {\n"
+"				gridPosB.x = gridPosA.x + x;\n"
+"                findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);\n"
+"            }\n"
+"        }\n"
+"    }\n"
+"}\n"
+;

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl

@@ -0,0 +1,767 @@
+/*
+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.
+*/
+//Initial Author Jackson Lee, 2014
+
+typedef float b3Scalar;
+typedef float4 b3Vector3;
+#define b3Max max
+#define b3Min min
+#define b3Sqrt sqrt
+
+typedef struct
+{
+	unsigned int m_key;
+	unsigned int m_value;
+} SortDataCL;
+
+typedef struct 
+{
+	union
+	{
+		float4	m_min;
+		float   m_minElems[4];
+		int			m_minIndices[4];
+	};
+	union
+	{
+		float4	m_max;
+		float   m_maxElems[4];
+		int			m_maxIndices[4];
+	};
+} b3AabbCL;
+
+
+unsigned int interleaveBits(unsigned int x)
+{
+	//........ ........ ......12 3456789A	//x
+	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x after interleaving bits
+	
+	//......12 3456789A ......12 3456789A	//x ^ (x << 16)
+	//11111111 ........ ........ 11111111	//0x FF 00 00 FF
+	//......12 ........ ........ 3456789A	//x = (x ^ (x << 16)) & 0xFF0000FF;
+	
+	//......12 ........ 3456789A 3456789A	//x ^ (x <<  8)
+	//......11 ........ 1111.... ....1111	//0x 03 00 F0 0F
+	//......12 ........ 3456.... ....789A	//x = (x ^ (x <<  8)) & 0x0300F00F;
+	
+	//..12..12 ....3456 3456.... 789A789A	//x ^ (x <<  4)
+	//......11 ....11.. ..11.... 11....11	//0x 03 0C 30 C3
+	//......12 ....34.. ..56.... 78....9A	//x = (x ^ (x <<  4)) & 0x030C30C3;
+	
+	//....1212 ..3434.. 5656..78 78..9A9A	//x ^ (x <<  2)
+	//....1..1 ..1..1.. 1..1..1. .1..1..1	//0x 09 24 92 49
+	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x = (x ^ (x <<  2)) & 0x09249249;
+	
+	//........ ........ ......11 11111111	//0x000003FF
+	x &= 0x000003FF;		//Clear all bits above bit 10
+	
+	x = (x ^ (x << 16)) & 0xFF0000FF;
+	x = (x ^ (x <<  8)) & 0x0300F00F;
+	x = (x ^ (x <<  4)) & 0x030C30C3;
+	x = (x ^ (x <<  2)) & 0x09249249;
+	
+	return x;
+}
+unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)
+{
+	return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;
+}
+
+__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)
+{
+	int separatedAabbIndex = get_global_id(0);
+	if(separatedAabbIndex >= numAabbsToSeparate) return;
+
+	int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];
+	out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];
+}
+
+//Should replace with an optimized parallel reduction
+__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)
+{
+	//Each time this kernel is added to the command queue, 
+	//the number of AABBs needing to be merged is halved
+	//
+	//Example with 159 AABBs:
+	//	numRemainingAabbs == 159 / 2 + 159 % 2 == 80
+	//	numMergedAabbs == 159 - 80 == 79
+	//So, indices [0, 78] are merged with [0 + 80, 78 + 80]
+	
+	int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;
+	int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;
+	
+	int aabbIndex = get_global_id(0);
+	if(aabbIndex >= numMergedAabbs) return;
+	
+	int otherAabbIndex = aabbIndex + numRemainingAabbs;
+	
+	b3AabbCL aabb = out_mergedAabb[aabbIndex];
+	b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];
+		
+	b3AabbCL mergedAabb;
+	mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);
+	mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);
+	out_mergedAabb[aabbIndex] = mergedAabb;
+}
+
+__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, 
+												__global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)
+{
+	int leafNodeIndex = get_global_id(0);	//Leaf node index == AABB index
+	if(leafNodeIndex >= numAabbs) return;
+	
+	b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];
+	b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;
+	b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;
+	
+	b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];
+	b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;
+	b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;
+	
+	//Quantize into integer coordinates
+	//floor() is needed to prevent the center cell, at (0,0,0) from being twice the size
+	b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;
+	
+	int4 discretePosition;
+	discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );
+	discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );
+	discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );
+	
+	//Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]
+	discretePosition = b3Max( -512, b3Min(discretePosition, 511) );
+	discretePosition += 512;
+	
+	//Interleave bits(assign a morton code, also known as a z-curve)
+	unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);
+	
+	//
+	SortDataCL mortonCodeIndexPair;
+	mortonCodeIndexPair.m_key = mortonCode;
+	mortonCodeIndexPair.m_value = leafNodeIndex;
+	
+	out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;
+}
+
+#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128
+
+//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.
+//If it is set, then the index is for an internal node; otherwise, it is a leaf node. 
+//In both cases, the bit should be cleared to access the actual node index.
+int isLeafNode(int index) { return (index >> 31 == 0); }
+int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }
+int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }
+
+//From sap.cl
+#define NEW_PAIR_MARKER -1
+
+bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)
+{
+	bool overlap = true;
+	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
+	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
+	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
+	return overlap;
+}
+//From sap.cl
+
+__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, 
+
+											__global int* rootNodeIndex, 
+											__global int2* internalNodeChildIndices, 
+											__global b3AabbCL* internalNodeAabbs,
+											__global int2* internalNodeLeafIndexRanges,
+											
+											__global SortDataCL* mortonCodesAndAabbIndices,
+											__global int* out_numPairs, __global int4* out_overlappingPairs, 
+											int maxPairs, int numQueryAabbs)
+{
+	//Using get_group_id()/get_local_id() is Faster than get_global_id(0) since
+	//mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)
+	int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);
+	if(queryBvhNodeIndex >= numQueryAabbs) return;
+	
+	int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;
+	b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];
+	
+	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];
+	
+	int stackSize = 1;
+	stack[0] = *rootNodeIndex;
+	
+	while(stackSize)
+	{
+		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];
+		--stackSize;
+		
+		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false
+		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);
+		
+		//Optimization - if the BVH is structured as a binary radix tree, then
+		//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).
+		//This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.
+		{
+			int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;
+			if(highestLeafIndex <= queryBvhNodeIndex) continue;
+		}
+		
+		//bvhRigidIndex is not used if internal node
+		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;
+	
+		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];
+		if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )
+		{
+			if(isLeaf)
+			{
+				int4 pair;
+				pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];
+				pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];
+				pair.z = NEW_PAIR_MARKER;
+				pair.w = NEW_PAIR_MARKER;
+				
+				int pairIndex = atomic_inc(out_numPairs);
+				if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;
+			}
+			
+			if(!isLeaf)	//Internal node
+			{
+				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)
+				{
+					//Error
+				}
+				else
+				{
+					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;
+					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;
+				}
+			}
+		}
+		
+	}
+}
+
+
+//From rayCastKernels.cl
+typedef struct
+{
+	float4 m_from;
+	float4 m_to;
+} b3RayInfo;
+//From rayCastKernels.cl
+
+b3Vector3 b3Vector3_normalize(b3Vector3 v)
+{
+	b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};
+	return normalize(normal);	//OpenCL normalize == vector4 normalize
+}
+b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }
+b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }
+
+int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)
+{
+	//AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).
+	//t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.
+	//
+	//if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane 
+	//and min.x will be the far plane; otherwise, it is reversed.
+	//
+	//In order for there to be a collision, the t_min and t_max of each pair must overlap.
+	//This can be tested for by selecting the highest t_min and lowest t_max and comparing them.
+	
+	int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) );	//isless(x,y) returns (x < y)
+	
+	//When using vector types, the select() function checks the most signficant bit, 
+	//but isless() sets the least significant bit.
+	isNegative <<= 31;
+
+	//select(b, a, condition) == condition ? a : b
+	//When using select() with vector types, (condition[i]) is true if its most significant bit is 1
+	b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;
+	b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;
+	
+	b3Scalar t_min_final = 0.0f;
+	b3Scalar t_max_final = rayLength;
+	
+	//Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. 
+	//Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])
+	//Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.
+	t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );
+	t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );
+	
+	return (t_min_final <= t_max_final);
+}
+
+__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,
+
+								__global int* rootNodeIndex, 
+								__global int2* internalNodeChildIndices, 
+								__global b3AabbCL* internalNodeAabbs,
+								__global int2* internalNodeLeafIndexRanges,
+								__global SortDataCL* mortonCodesAndAabbIndices,
+								
+								__global b3RayInfo* rays,
+								
+								__global int* out_numRayRigidPairs, 
+								__global int2* out_rayRigidPairs,
+								int maxRayRigidPairs, int numRays)
+{
+	int rayIndex = get_global_id(0);
+	if(rayIndex >= numRays) return;
+	
+	//
+	b3Vector3 rayFrom = rays[rayIndex].m_from;
+	b3Vector3 rayTo = rays[rayIndex].m_to;
+	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);
+	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );
+	
+	//
+	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];
+	
+	int stackSize = 1;
+	stack[0] = *rootNodeIndex;
+	
+	while(stackSize)
+	{
+		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];
+		--stackSize;
+		
+		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false
+		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);
+		
+		//bvhRigidIndex is not used if internal node
+		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;
+	
+		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];
+		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb)  )
+		{
+			if(isLeaf)
+			{
+				int2 rayRigidPair;
+				rayRigidPair.x = rayIndex;
+				rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];
+				
+				int pairIndex = atomic_inc(out_numRayRigidPairs);
+				if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;
+			}
+			
+			if(!isLeaf)	//Internal node
+			{
+				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)
+				{
+					//Error
+				}
+				else
+				{
+					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;
+					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;
+				}
+			}
+		}
+	}
+}
+
+__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, 
+									__global int* out_numPairs, __global int4* out_overlappingPairs, 
+									int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)
+{
+	int smallAabbIndex = get_global_id(0);
+	if(smallAabbIndex >= numSmallAabbRigids) return;
+	
+	b3AabbCL smallAabb = smallAabbs[smallAabbIndex];
+	for(int i = 0; i < numLargeAabbRigids; ++i)
+	{
+		b3AabbCL largeAabb = largeAabbs[i];
+		if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )
+		{
+			int4 pair;
+			pair.x = largeAabb.m_minIndices[3];
+			pair.y = smallAabb.m_minIndices[3];
+			pair.z = NEW_PAIR_MARKER;
+			pair.w = NEW_PAIR_MARKER;
+			
+			int pairIndex = atomic_inc(out_numPairs);
+			if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;
+		}
+	}
+}
+__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,
+									__global int* out_numRayRigidPairs,  __global int2* out_rayRigidPairs,
+									int numLargeAabbRigids, int maxRayRigidPairs, int numRays)
+{
+	int rayIndex = get_global_id(0);
+	if(rayIndex >= numRays) return;
+	
+	b3Vector3 rayFrom = rays[rayIndex].m_from;
+	b3Vector3 rayTo = rays[rayIndex].m_to;
+	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);
+	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );
+	
+	for(int i = 0; i < numLargeAabbRigids; ++i)
+	{
+		b3AabbCL rigidAabb = largeRigidAabbs[i];
+		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )
+		{
+			int2 rayRigidPair;
+			rayRigidPair.x = rayIndex;
+			rayRigidPair.y = rigidAabb.m_minIndices[3];
+			
+			int pairIndex = atomic_inc(out_numRayRigidPairs);
+			if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;
+		}
+	}
+}
+
+
+//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.
+//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve.
+//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.
+//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve).
+#define B3_PLBVH_INVALID_COMMON_PREFIX 128
+
+#define B3_PLBVH_ROOT_NODE_MARKER -1
+
+#define b3Int64 long
+
+int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }
+b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) 
+{
+	//This function only needs to return (i & j) in order for the algorithm to work,
+	//but it may help with debugging to mask out the lower bits.
+
+	b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);
+
+	b3Int64 sharedBits = i & j;
+	b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength);	//Set all bits after the common prefix to 0
+	
+	return sharedBits & bitmask;
+}
+
+//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths
+int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)
+{
+	return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );
+}
+
+__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,
+											__global b3Int64* out_commonPrefixes,
+											__global int* out_commonPrefixLengths,
+											int numInternalNodes)
+{
+	int internalNodeIndex = get_global_id(0);
+	if (internalNodeIndex >= numInternalNodes) return;
+	
+	//Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,
+	//and the number of internal nodes is always numLeafNodes - 1
+	int leftLeafIndex = internalNodeIndex;
+	int rightLeafIndex = internalNodeIndex + 1;
+	
+	int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;
+	int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;
+	
+	//Binary radix tree construction algorithm does not work if there are duplicate morton codes.
+	//Append the index of each leaf node to each morton code so that there are no duplicates.
+	//The algorithm also requires that the morton codes are sorted in ascending order; this requirement
+	//is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.
+	//
+	//upsample(a, b) == ( ((b3Int64)a) << 32) | b
+	b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);
+	b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);
+	
+	out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);
+	out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);
+}
+
+
+__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,
+											__global int2* out_childNodes, int numLeafNodes)
+{
+	int leafNodeIndex = get_global_id(0);
+	if (leafNodeIndex >= numLeafNodes) return;
+	
+	int numInternalNodes = numLeafNodes - 1;
+	
+	int leftSplitIndex = leafNodeIndex - 1;
+	int rightSplitIndex = leafNodeIndex;
+	
+	int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
+	int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
+	
+	//Parent node is the highest adjacent common prefix that is lower than the node's common prefix
+	//Leaf nodes are considered as having the highest common prefix
+	int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);
+	
+	//Handle cases for the edge nodes; the first and last node
+	//For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX
+	if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;
+	if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;
+	
+	int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;
+	out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;
+	
+	int isRightChild = (isLeftHigherCommonPrefix);	//If the left node is the parent, then this node is its right child and vice versa
+	
+	//out_childNodesAsInt[0] == int2.x == left child
+	//out_childNodesAsInt[1] == int2.y == right child
+	int isLeaf = 1;
+	__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);
+	out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);
+}
+
+__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,
+												__global int2* out_childNodes,
+												__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,
+												int numInternalNodes)
+{
+	int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);
+	if(internalNodeIndex >= numInternalNodes) return;
+	
+	b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];
+	int nodePrefixLength = commonPrefixLengths[internalNodeIndex];
+	
+//#define USE_LINEAR_SEARCH
+#ifdef USE_LINEAR_SEARCH
+	int leftIndex = -1;
+	int rightIndex = -1;
+	
+	//Find nearest element to left with a lower common prefix
+	for(int i = internalNodeIndex - 1; i >= 0; --i)
+	{
+		int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);
+		if(nodeLeftSharedPrefixLength < nodePrefixLength)
+		{
+			leftIndex = i;
+			break;
+		}
+	}
+	
+	//Find nearest element to right with a lower common prefix
+	for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)
+	{
+		int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);
+		if(nodeRightSharedPrefixLength < nodePrefixLength)
+		{
+			rightIndex = i;
+			break;
+		}
+	}
+	
+#else //Use binary search
+
+	//Find nearest element to left with a lower common prefix
+	int leftIndex = -1;
+	{
+		int lower = 0;
+		int upper = internalNodeIndex - 1;
+		
+		while(lower <= upper)
+		{
+			int mid = (lower + upper) / 2;
+			b3Int64 midPrefix = commonPrefixes[mid];
+			int midPrefixLength = commonPrefixLengths[mid];
+			
+			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);
+			if(nodeMidSharedPrefixLength < nodePrefixLength) 
+			{
+				int right = mid + 1;
+				if(right < internalNodeIndex)
+				{
+					b3Int64 rightPrefix = commonPrefixes[right];
+					int rightPrefixLength = commonPrefixLengths[right];
+					
+					int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);
+					if(nodeRightSharedPrefixLength < nodePrefixLength) 
+					{
+						lower = right;
+						leftIndex = right;
+					}
+					else 
+					{
+						leftIndex = mid;
+						break;
+					}
+				}
+				else 
+				{
+					leftIndex = mid;
+					break;
+				}
+			}
+			else upper = mid - 1;
+		}
+	}
+	
+	//Find nearest element to right with a lower common prefix
+	int rightIndex = -1;
+	{
+		int lower = internalNodeIndex + 1;
+		int upper = numInternalNodes - 1;
+		
+		while(lower <= upper)
+		{
+			int mid = (lower + upper) / 2;
+			b3Int64 midPrefix = commonPrefixes[mid];
+			int midPrefixLength = commonPrefixLengths[mid];
+			
+			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);
+			if(nodeMidSharedPrefixLength < nodePrefixLength) 
+			{
+				int left = mid - 1;
+				if(left > internalNodeIndex)
+				{
+					b3Int64 leftPrefix = commonPrefixes[left];
+					int leftPrefixLength = commonPrefixLengths[left];
+				
+					int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);
+					if(nodeLeftSharedPrefixLength < nodePrefixLength) 
+					{
+						upper = left;
+						rightIndex = left;
+					}
+					else 
+					{
+						rightIndex = mid;
+						break;
+					}
+				}
+				else 
+				{
+					rightIndex = mid;
+					break;
+				}
+			}
+			else lower = mid + 1;
+		}
+	}
+#endif
+	
+	//Select parent
+	{
+		int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
+		int rightPrefixLength =  (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;
+		
+		int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);
+		
+		if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;
+		else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;
+		
+		int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;
+		
+		int isRootNode = (leftIndex == -1 && rightIndex == -1);
+		out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;
+		
+		int isLeaf = 0;
+		if(!isRootNode)
+		{
+			int isRightChild = (isLeftHigherPrefixLength);	//If the left node is the parent, then this node is its right child and vice versa
+			
+			//out_childNodesAsInt[0] == int2.x == left child
+			//out_childNodesAsInt[1] == int2.y == right child
+			__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);
+			out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);
+		}
+		else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);
+	}
+}
+
+__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,
+									__global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)
+{
+	if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);
+
+	int internalNodeIndex = get_global_id(0);
+	if(internalNodeIndex >= numInternalNodes) return;
+	
+	//
+	int distanceFromRoot = 0;
+	{
+		int parentIndex = internalNodeParentNodes[internalNodeIndex];
+		while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)
+		{
+			parentIndex = internalNodeParentNodes[parentIndex];
+			++distanceFromRoot;
+		}
+	}
+	out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;
+	
+	//
+	__local int localMaxDistanceFromRoot;
+	if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;
+	barrier(CLK_LOCAL_MEM_FENCE);
+	
+	atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);
+	barrier(CLK_LOCAL_MEM_FENCE);
+	
+	if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);
+}
+
+__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,
+												__global int2* childNodes,
+												__global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,
+												int maxDistanceFromRoot, int processedDistance, int numInternalNodes)
+{
+	int internalNodeIndex = get_global_id(0);
+	if(internalNodeIndex >= numInternalNodes) return;
+	
+	int distance = distanceFromRoot[internalNodeIndex];
+	
+	if(distance == processedDistance)
+	{
+		int leftChildIndex = childNodes[internalNodeIndex].x;
+		int rightChildIndex = childNodes[internalNodeIndex].y;
+		
+		int isLeftChildLeaf = isLeafNode(leftChildIndex);
+		int isRightChildLeaf = isLeafNode(rightChildIndex);
+		
+		leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);
+		rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);
+		
+		//leftRigidIndex/rightRigidIndex is not used if internal node
+		int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;
+		int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;
+		
+		b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];
+		b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];
+		
+		b3AabbCL mergedAabb;
+		mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);
+		mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);
+		internalNodeAabbs[internalNodeIndex] = mergedAabb;
+	}
+}
+
+__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)
+{
+	int internalNodeIndex = get_global_id(0);
+	if(internalNodeIndex >= numInternalNodes) return;
+	
+	int numLeafNodes = numInternalNodes + 1;
+	
+	int2 childNodes = internalNodeChildNodes[internalNodeIndex];
+	
+	int2 leafIndexRange;	//x == min leaf index, y == max leaf index
+	
+	//Find lowest leaf index covered by this internal node
+	{
+		int lowestIndex = childNodes.x;		//childNodes.x == Left child
+		while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;
+		leafIndexRange.x = lowestIndex;
+	}
+	
+	//Find highest leaf index covered by this internal node
+	{
+		int highestIndex = childNodes.y;	//childNodes.y == Right child
+		while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;
+		leafIndexRange.y = highestIndex;
+	}
+	
+	//
+	out_leafIndexRanges[internalNodeIndex] = leafIndexRange;
+}

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h

@@ -0,0 +1,729 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* parallelLinearBvhCL= \
+"/*\n"
+"This software is provided 'as-is', without any express or implied warranty.\n"
+"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+"Permission is granted to anyone to use this software for any purpose,\n"
+"including commercial applications, and to alter it and redistribute it freely,\n"
+"subject to the following restrictions:\n"
+"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.\n"
+"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+"3. This notice may not be removed or altered from any source distribution.\n"
+"*/\n"
+"//Initial Author Jackson Lee, 2014\n"
+"typedef float b3Scalar;\n"
+"typedef float4 b3Vector3;\n"
+"#define b3Max max\n"
+"#define b3Min min\n"
+"#define b3Sqrt sqrt\n"
+"typedef struct\n"
+"{\n"
+"	unsigned int m_key;\n"
+"	unsigned int m_value;\n"
+"} SortDataCL;\n"
+"typedef struct \n"
+"{\n"
+"	union\n"
+"	{\n"
+"		float4	m_min;\n"
+"		float   m_minElems[4];\n"
+"		int			m_minIndices[4];\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"		float4	m_max;\n"
+"		float   m_maxElems[4];\n"
+"		int			m_maxIndices[4];\n"
+"	};\n"
+"} b3AabbCL;\n"
+"unsigned int interleaveBits(unsigned int x)\n"
+"{\n"
+"	//........ ........ ......12 3456789A	//x\n"
+"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x after interleaving bits\n"
+"	\n"
+"	//......12 3456789A ......12 3456789A	//x ^ (x << 16)\n"
+"	//11111111 ........ ........ 11111111	//0x FF 00 00 FF\n"
+"	//......12 ........ ........ 3456789A	//x = (x ^ (x << 16)) & 0xFF0000FF;\n"
+"	\n"
+"	//......12 ........ 3456789A 3456789A	//x ^ (x <<  8)\n"
+"	//......11 ........ 1111.... ....1111	//0x 03 00 F0 0F\n"
+"	//......12 ........ 3456.... ....789A	//x = (x ^ (x <<  8)) & 0x0300F00F;\n"
+"	\n"
+"	//..12..12 ....3456 3456.... 789A789A	//x ^ (x <<  4)\n"
+"	//......11 ....11.. ..11.... 11....11	//0x 03 0C 30 C3\n"
+"	//......12 ....34.. ..56.... 78....9A	//x = (x ^ (x <<  4)) & 0x030C30C3;\n"
+"	\n"
+"	//....1212 ..3434.. 5656..78 78..9A9A	//x ^ (x <<  2)\n"
+"	//....1..1 ..1..1.. 1..1..1. .1..1..1	//0x 09 24 92 49\n"
+"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x = (x ^ (x <<  2)) & 0x09249249;\n"
+"	\n"
+"	//........ ........ ......11 11111111	//0x000003FF\n"
+"	x &= 0x000003FF;		//Clear all bits above bit 10\n"
+"	\n"
+"	x = (x ^ (x << 16)) & 0xFF0000FF;\n"
+"	x = (x ^ (x <<  8)) & 0x0300F00F;\n"
+"	x = (x ^ (x <<  4)) & 0x030C30C3;\n"
+"	x = (x ^ (x <<  2)) & 0x09249249;\n"
+"	\n"
+"	return x;\n"
+"}\n"
+"unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)\n"
+"{\n"
+"	return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n"
+"}\n"
+"__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)\n"
+"{\n"
+"	int separatedAabbIndex = get_global_id(0);\n"
+"	if(separatedAabbIndex >= numAabbsToSeparate) return;\n"
+"	int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];\n"
+"	out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];\n"
+"}\n"
+"//Should replace with an optimized parallel reduction\n"
+"__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)\n"
+"{\n"
+"	//Each time this kernel is added to the command queue, \n"
+"	//the number of AABBs needing to be merged is halved\n"
+"	//\n"
+"	//Example with 159 AABBs:\n"
+"	//	numRemainingAabbs == 159 / 2 + 159 % 2 == 80\n"
+"	//	numMergedAabbs == 159 - 80 == 79\n"
+"	//So, indices [0, 78] are merged with [0 + 80, 78 + 80]\n"
+"	\n"
+"	int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;\n"
+"	int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;\n"
+"	\n"
+"	int aabbIndex = get_global_id(0);\n"
+"	if(aabbIndex >= numMergedAabbs) return;\n"
+"	\n"
+"	int otherAabbIndex = aabbIndex + numRemainingAabbs;\n"
+"	\n"
+"	b3AabbCL aabb = out_mergedAabb[aabbIndex];\n"
+"	b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];\n"
+"		\n"
+"	b3AabbCL mergedAabb;\n"
+"	mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);\n"
+"	mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);\n"
+"	out_mergedAabb[aabbIndex] = mergedAabb;\n"
+"}\n"
+"__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, \n"
+"												__global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)\n"
+"{\n"
+"	int leafNodeIndex = get_global_id(0);	//Leaf node index == AABB index\n"
+"	if(leafNodeIndex >= numAabbs) return;\n"
+"	\n"
+"	b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];\n"
+"	b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;\n"
+"	b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;\n"
+"	\n"
+"	b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];\n"
+"	b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;\n"
+"	b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;\n"
+"	\n"
+"	//Quantize into integer coordinates\n"
+"	//floor() is needed to prevent the center cell, at (0,0,0) from being twice the size\n"
+"	b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;\n"
+"	\n"
+"	int4 discretePosition;\n"
+"	discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );\n"
+"	discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );\n"
+"	discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );\n"
+"	\n"
+"	//Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]\n"
+"	discretePosition = b3Max( -512, b3Min(discretePosition, 511) );\n"
+"	discretePosition += 512;\n"
+"	\n"
+"	//Interleave bits(assign a morton code, also known as a z-curve)\n"
+"	unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);\n"
+"	\n"
+"	//\n"
+"	SortDataCL mortonCodeIndexPair;\n"
+"	mortonCodeIndexPair.m_key = mortonCode;\n"
+"	mortonCodeIndexPair.m_value = leafNodeIndex;\n"
+"	\n"
+"	out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;\n"
+"}\n"
+"#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128\n"
+"//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.\n"
+"//If it is set, then the index is for an internal node; otherwise, it is a leaf node. \n"
+"//In both cases, the bit should be cleared to access the actual node index.\n"
+"int isLeafNode(int index) { return (index >> 31 == 0); }\n"
+"int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }\n"
+"int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }\n"
+"//From sap.cl\n"
+"#define NEW_PAIR_MARKER -1\n"
+"bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)\n"
+"{\n"
+"	bool overlap = true;\n"
+"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+"	return overlap;\n"
+"}\n"
+"//From sap.cl\n"
+"__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, \n"
+"											__global int* rootNodeIndex, \n"
+"											__global int2* internalNodeChildIndices, \n"
+"											__global b3AabbCL* internalNodeAabbs,\n"
+"											__global int2* internalNodeLeafIndexRanges,\n"
+"											\n"
+"											__global SortDataCL* mortonCodesAndAabbIndices,\n"
+"											__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
+"											int maxPairs, int numQueryAabbs)\n"
+"{\n"
+"	//Using get_group_id()/get_local_id() is Faster than get_global_id(0) since\n"
+"	//mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)\n"
+"	int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
+"	if(queryBvhNodeIndex >= numQueryAabbs) return;\n"
+"	\n"
+"	int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;\n"
+"	b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n"
+"	\n"
+"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
+"	\n"
+"	int stackSize = 1;\n"
+"	stack[0] = *rootNodeIndex;\n"
+"	\n"
+"	while(stackSize)\n"
+"	{\n"
+"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
+"		--stackSize;\n"
+"		\n"
+"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
+"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
+"		\n"
+"		//Optimization - if the BVH is structured as a binary radix tree, then\n"
+"		//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n"
+"		//This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.\n"
+"		{\n"
+"			int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n"
+"			if(highestLeafIndex <= queryBvhNodeIndex) continue;\n"
+"		}\n"
+"		\n"
+"		//bvhRigidIndex is not used if internal node\n"
+"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
+"	\n"
+"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
+"		if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n"
+"		{\n"
+"			if(isLeaf)\n"
+"			{\n"
+"				int4 pair;\n"
+"				pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];\n"
+"				pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
+"				pair.z = NEW_PAIR_MARKER;\n"
+"				pair.w = NEW_PAIR_MARKER;\n"
+"				\n"
+"				int pairIndex = atomic_inc(out_numPairs);\n"
+"				if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
+"			}\n"
+"			\n"
+"			if(!isLeaf)	//Internal node\n"
+"			{\n"
+"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
+"				{\n"
+"					//Error\n"
+"				}\n"
+"				else\n"
+"				{\n"
+"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
+"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"		\n"
+"	}\n"
+"}\n"
+"//From rayCastKernels.cl\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_from;\n"
+"	float4 m_to;\n"
+"} b3RayInfo;\n"
+"//From rayCastKernels.cl\n"
+"b3Vector3 b3Vector3_normalize(b3Vector3 v)\n"
+"{\n"
+"	b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};\n"
+"	return normalize(normal);	//OpenCL normalize == vector4 normalize\n"
+"}\n"
+"b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }\n"
+"b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }\n"
+"int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)\n"
+"{\n"
+"	//AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).\n"
+"	//t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.\n"
+"	//\n"
+"	//if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane \n"
+"	//and min.x will be the far plane; otherwise, it is reversed.\n"
+"	//\n"
+"	//In order for there to be a collision, the t_min and t_max of each pair must overlap.\n"
+"	//This can be tested for by selecting the highest t_min and lowest t_max and comparing them.\n"
+"	\n"
+"	int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) );	//isless(x,y) returns (x < y)\n"
+"	\n"
+"	//When using vector types, the select() function checks the most signficant bit, \n"
+"	//but isless() sets the least significant bit.\n"
+"	isNegative <<= 31;\n"
+"	//select(b, a, condition) == condition ? a : b\n"
+"	//When using select() with vector types, (condition[i]) is true if its most significant bit is 1\n"
+"	b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
+"	b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
+"	\n"
+"	b3Scalar t_min_final = 0.0f;\n"
+"	b3Scalar t_max_final = rayLength;\n"
+"	\n"
+"	//Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. \n"
+"	//Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])\n"
+"	//Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.\n"
+"	t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );\n"
+"	t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );\n"
+"	\n"
+"	return (t_min_final <= t_max_final);\n"
+"}\n"
+"__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,\n"
+"								__global int* rootNodeIndex, \n"
+"								__global int2* internalNodeChildIndices, \n"
+"								__global b3AabbCL* internalNodeAabbs,\n"
+"								__global int2* internalNodeLeafIndexRanges,\n"
+"								__global SortDataCL* mortonCodesAndAabbIndices,\n"
+"								\n"
+"								__global b3RayInfo* rays,\n"
+"								\n"
+"								__global int* out_numRayRigidPairs, \n"
+"								__global int2* out_rayRigidPairs,\n"
+"								int maxRayRigidPairs, int numRays)\n"
+"{\n"
+"	int rayIndex = get_global_id(0);\n"
+"	if(rayIndex >= numRays) return;\n"
+"	\n"
+"	//\n"
+"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
+"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
+"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
+"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
+"	\n"
+"	//\n"
+"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
+"	\n"
+"	int stackSize = 1;\n"
+"	stack[0] = *rootNodeIndex;\n"
+"	\n"
+"	while(stackSize)\n"
+"	{\n"
+"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
+"		--stackSize;\n"
+"		\n"
+"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
+"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
+"		\n"
+"		//bvhRigidIndex is not used if internal node\n"
+"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
+"	\n"
+"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
+"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb)  )\n"
+"		{\n"
+"			if(isLeaf)\n"
+"			{\n"
+"				int2 rayRigidPair;\n"
+"				rayRigidPair.x = rayIndex;\n"
+"				rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
+"				\n"
+"				int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
+"				if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
+"			}\n"
+"			\n"
+"			if(!isLeaf)	//Internal node\n"
+"			{\n"
+"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
+"				{\n"
+"					//Error\n"
+"				}\n"
+"				else\n"
+"				{\n"
+"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
+"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, \n"
+"									__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
+"									int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)\n"
+"{\n"
+"	int smallAabbIndex = get_global_id(0);\n"
+"	if(smallAabbIndex >= numSmallAabbRigids) return;\n"
+"	\n"
+"	b3AabbCL smallAabb = smallAabbs[smallAabbIndex];\n"
+"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
+"	{\n"
+"		b3AabbCL largeAabb = largeAabbs[i];\n"
+"		if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n"
+"		{\n"
+"			int4 pair;\n"
+"			pair.x = largeAabb.m_minIndices[3];\n"
+"			pair.y = smallAabb.m_minIndices[3];\n"
+"			pair.z = NEW_PAIR_MARKER;\n"
+"			pair.w = NEW_PAIR_MARKER;\n"
+"			\n"
+"			int pairIndex = atomic_inc(out_numPairs);\n"
+"			if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,\n"
+"									__global int* out_numRayRigidPairs,  __global int2* out_rayRigidPairs,\n"
+"									int numLargeAabbRigids, int maxRayRigidPairs, int numRays)\n"
+"{\n"
+"	int rayIndex = get_global_id(0);\n"
+"	if(rayIndex >= numRays) return;\n"
+"	\n"
+"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
+"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
+"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
+"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
+"	\n"
+"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
+"	{\n"
+"		b3AabbCL rigidAabb = largeRigidAabbs[i];\n"
+"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )\n"
+"		{\n"
+"			int2 rayRigidPair;\n"
+"			rayRigidPair.x = rayIndex;\n"
+"			rayRigidPair.y = rigidAabb.m_minIndices[3];\n"
+"			\n"
+"			int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
+"			if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
+"		}\n"
+"	}\n"
+"}\n"
+"//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.\n"
+"//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve.\n"
+"//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.\n"
+"//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve).\n"
+"#define B3_PLBVH_INVALID_COMMON_PREFIX 128\n"
+"#define B3_PLBVH_ROOT_NODE_MARKER -1\n"
+"#define b3Int64 long\n"
+"int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }\n"
+"b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) \n"
+"{\n"
+"	//This function only needs to return (i & j) in order for the algorithm to work,\n"
+"	//but it may help with debugging to mask out the lower bits.\n"
+"	b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);\n"
+"	b3Int64 sharedBits = i & j;\n"
+"	b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength);	//Set all bits after the common prefix to 0\n"
+"	\n"
+"	return sharedBits & bitmask;\n"
+"}\n"
+"//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths\n"
+"int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)\n"
+"{\n"
+"	return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );\n"
+"}\n"
+"__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,\n"
+"											__global b3Int64* out_commonPrefixes,\n"
+"											__global int* out_commonPrefixLengths,\n"
+"											int numInternalNodes)\n"
+"{\n"
+"	int internalNodeIndex = get_global_id(0);\n"
+"	if (internalNodeIndex >= numInternalNodes) return;\n"
+"	\n"
+"	//Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,\n"
+"	//and the number of internal nodes is always numLeafNodes - 1\n"
+"	int leftLeafIndex = internalNodeIndex;\n"
+"	int rightLeafIndex = internalNodeIndex + 1;\n"
+"	\n"
+"	int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;\n"
+"	int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;\n"
+"	\n"
+"	//Binary radix tree construction algorithm does not work if there are duplicate morton codes.\n"
+"	//Append the index of each leaf node to each morton code so that there are no duplicates.\n"
+"	//The algorithm also requires that the morton codes are sorted in ascending order; this requirement\n"
+"	//is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.\n"
+"	//\n"
+"	//upsample(a, b) == ( ((b3Int64)a) << 32) | b\n"
+"	b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);\n"
+"	b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);\n"
+"	\n"
+"	out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
+"	out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
+"}\n"
+"__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,\n"
+"											__global int2* out_childNodes, int numLeafNodes)\n"
+"{\n"
+"	int leafNodeIndex = get_global_id(0);\n"
+"	if (leafNodeIndex >= numLeafNodes) return;\n"
+"	\n"
+"	int numInternalNodes = numLeafNodes - 1;\n"
+"	\n"
+"	int leftSplitIndex = leafNodeIndex - 1;\n"
+"	int rightSplitIndex = leafNodeIndex;\n"
+"	\n"
+"	int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+"	int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+"	\n"
+"	//Parent node is the highest adjacent common prefix that is lower than the node's common prefix\n"
+"	//Leaf nodes are considered as having the highest common prefix\n"
+"	int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);\n"
+"	\n"
+"	//Handle cases for the edge nodes; the first and last node\n"
+"	//For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX\n"
+"	if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;\n"
+"	if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;\n"
+"	\n"
+"	int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;\n"
+"	out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;\n"
+"	\n"
+"	int isRightChild = (isLeftHigherCommonPrefix);	//If the left node is the parent, then this node is its right child and vice versa\n"
+"	\n"
+"	//out_childNodesAsInt[0] == int2.x == left child\n"
+"	//out_childNodesAsInt[1] == int2.y == right child\n"
+"	int isLeaf = 1;\n"
+"	__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
+"	out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);\n"
+"}\n"
+"__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,\n"
+"												__global int2* out_childNodes,\n"
+"												__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,\n"
+"												int numInternalNodes)\n"
+"{\n"
+"	int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
+"	if(internalNodeIndex >= numInternalNodes) return;\n"
+"	\n"
+"	b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];\n"
+"	int nodePrefixLength = commonPrefixLengths[internalNodeIndex];\n"
+"	\n"
+"//#define USE_LINEAR_SEARCH\n"
+"#ifdef USE_LINEAR_SEARCH\n"
+"	int leftIndex = -1;\n"
+"	int rightIndex = -1;\n"
+"	\n"
+"	//Find nearest element to left with a lower common prefix\n"
+"	for(int i = internalNodeIndex - 1; i >= 0; --i)\n"
+"	{\n"
+"		int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
+"		if(nodeLeftSharedPrefixLength < nodePrefixLength)\n"
+"		{\n"
+"			leftIndex = i;\n"
+"			break;\n"
+"		}\n"
+"	}\n"
+"	\n"
+"	//Find nearest element to right with a lower common prefix\n"
+"	for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)\n"
+"	{\n"
+"		int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
+"		if(nodeRightSharedPrefixLength < nodePrefixLength)\n"
+"		{\n"
+"			rightIndex = i;\n"
+"			break;\n"
+"		}\n"
+"	}\n"
+"	\n"
+"#else //Use binary search\n"
+"	//Find nearest element to left with a lower common prefix\n"
+"	int leftIndex = -1;\n"
+"	{\n"
+"		int lower = 0;\n"
+"		int upper = internalNodeIndex - 1;\n"
+"		\n"
+"		while(lower <= upper)\n"
+"		{\n"
+"			int mid = (lower + upper) / 2;\n"
+"			b3Int64 midPrefix = commonPrefixes[mid];\n"
+"			int midPrefixLength = commonPrefixLengths[mid];\n"
+"			\n"
+"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
+"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
+"			{\n"
+"				int right = mid + 1;\n"
+"				if(right < internalNodeIndex)\n"
+"				{\n"
+"					b3Int64 rightPrefix = commonPrefixes[right];\n"
+"					int rightPrefixLength = commonPrefixLengths[right];\n"
+"					\n"
+"					int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);\n"
+"					if(nodeRightSharedPrefixLength < nodePrefixLength) \n"
+"					{\n"
+"						lower = right;\n"
+"						leftIndex = right;\n"
+"					}\n"
+"					else \n"
+"					{\n"
+"						leftIndex = mid;\n"
+"						break;\n"
+"					}\n"
+"				}\n"
+"				else \n"
+"				{\n"
+"					leftIndex = mid;\n"
+"					break;\n"
+"				}\n"
+"			}\n"
+"			else upper = mid - 1;\n"
+"		}\n"
+"	}\n"
+"	\n"
+"	//Find nearest element to right with a lower common prefix\n"
+"	int rightIndex = -1;\n"
+"	{\n"
+"		int lower = internalNodeIndex + 1;\n"
+"		int upper = numInternalNodes - 1;\n"
+"		\n"
+"		while(lower <= upper)\n"
+"		{\n"
+"			int mid = (lower + upper) / 2;\n"
+"			b3Int64 midPrefix = commonPrefixes[mid];\n"
+"			int midPrefixLength = commonPrefixLengths[mid];\n"
+"			\n"
+"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
+"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
+"			{\n"
+"				int left = mid - 1;\n"
+"				if(left > internalNodeIndex)\n"
+"				{\n"
+"					b3Int64 leftPrefix = commonPrefixes[left];\n"
+"					int leftPrefixLength = commonPrefixLengths[left];\n"
+"				\n"
+"					int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);\n"
+"					if(nodeLeftSharedPrefixLength < nodePrefixLength) \n"
+"					{\n"
+"						upper = left;\n"
+"						rightIndex = left;\n"
+"					}\n"
+"					else \n"
+"					{\n"
+"						rightIndex = mid;\n"
+"						break;\n"
+"					}\n"
+"				}\n"
+"				else \n"
+"				{\n"
+"					rightIndex = mid;\n"
+"					break;\n"
+"				}\n"
+"			}\n"
+"			else lower = mid + 1;\n"
+"		}\n"
+"	}\n"
+"#endif\n"
+"	\n"
+"	//Select parent\n"
+"	{\n"
+"		int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+"		int rightPrefixLength =  (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+"		\n"
+"		int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);\n"
+"		\n"
+"		if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;\n"
+"		else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;\n"
+"		\n"
+"		int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;\n"
+"		\n"
+"		int isRootNode = (leftIndex == -1 && rightIndex == -1);\n"
+"		out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;\n"
+"		\n"
+"		int isLeaf = 0;\n"
+"		if(!isRootNode)\n"
+"		{\n"
+"			int isRightChild = (isLeftHigherPrefixLength);	//If the left node is the parent, then this node is its right child and vice versa\n"
+"			\n"
+"			//out_childNodesAsInt[0] == int2.x == left child\n"
+"			//out_childNodesAsInt[1] == int2.y == right child\n"
+"			__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
+"			out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
+"		}\n"
+"		else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
+"	}\n"
+"}\n"
+"__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,\n"
+"									__global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)\n"
+"{\n"
+"	if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);\n"
+"	int internalNodeIndex = get_global_id(0);\n"
+"	if(internalNodeIndex >= numInternalNodes) return;\n"
+"	\n"
+"	//\n"
+"	int distanceFromRoot = 0;\n"
+"	{\n"
+"		int parentIndex = internalNodeParentNodes[internalNodeIndex];\n"
+"		while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)\n"
+"		{\n"
+"			parentIndex = internalNodeParentNodes[parentIndex];\n"
+"			++distanceFromRoot;\n"
+"		}\n"
+"	}\n"
+"	out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;\n"
+"	\n"
+"	//\n"
+"	__local int localMaxDistanceFromRoot;\n"
+"	if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;\n"
+"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	\n"
+"	atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);\n"
+"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	\n"
+"	if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);\n"
+"}\n"
+"__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,\n"
+"												__global int2* childNodes,\n"
+"												__global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,\n"
+"												int maxDistanceFromRoot, int processedDistance, int numInternalNodes)\n"
+"{\n"
+"	int internalNodeIndex = get_global_id(0);\n"
+"	if(internalNodeIndex >= numInternalNodes) return;\n"
+"	\n"
+"	int distance = distanceFromRoot[internalNodeIndex];\n"
+"	\n"
+"	if(distance == processedDistance)\n"
+"	{\n"
+"		int leftChildIndex = childNodes[internalNodeIndex].x;\n"
+"		int rightChildIndex = childNodes[internalNodeIndex].y;\n"
+"		\n"
+"		int isLeftChildLeaf = isLeafNode(leftChildIndex);\n"
+"		int isRightChildLeaf = isLeafNode(rightChildIndex);\n"
+"		\n"
+"		leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);\n"
+"		rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);\n"
+"		\n"
+"		//leftRigidIndex/rightRigidIndex is not used if internal node\n"
+"		int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;\n"
+"		int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;\n"
+"		\n"
+"		b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];\n"
+"		b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];\n"
+"		\n"
+"		b3AabbCL mergedAabb;\n"
+"		mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);\n"
+"		mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);\n"
+"		internalNodeAabbs[internalNodeIndex] = mergedAabb;\n"
+"	}\n"
+"}\n"
+"__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)\n"
+"{\n"
+"	int internalNodeIndex = get_global_id(0);\n"
+"	if(internalNodeIndex >= numInternalNodes) return;\n"
+"	\n"
+"	int numLeafNodes = numInternalNodes + 1;\n"
+"	\n"
+"	int2 childNodes = internalNodeChildNodes[internalNodeIndex];\n"
+"	\n"
+"	int2 leafIndexRange;	//x == min leaf index, y == max leaf index\n"
+"	\n"
+"	//Find lowest leaf index covered by this internal node\n"
+"	{\n"
+"		int lowestIndex = childNodes.x;		//childNodes.x == Left child\n"
+"		while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;\n"
+"		leafIndexRange.x = lowestIndex;\n"
+"	}\n"
+"	\n"
+"	//Find highest leaf index covered by this internal node\n"
+"	{\n"
+"		int highestIndex = childNodes.y;	//childNodes.y == Right child\n"
+"		while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;\n"
+"		leafIndexRange.y = highestIndex;\n"
+"	}\n"
+"	\n"
+"	//\n"
+"	out_leafIndexRanges[internalNodeIndex] = leafIndexRange;\n"
+"}\n"
+;

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl

@@ -0,0 +1,389 @@
+/*
+Copyright (c) 2012 Advanced Micro Devices, Inc.  
+
+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.
+*/
+//Originally written by Erwin Coumans
+
+#define NEW_PAIR_MARKER -1
+
+typedef struct 
+{
+	union
+	{
+		float4	m_min;
+		float   m_minElems[4];
+		int			m_minIndices[4];
+	};
+	union
+	{
+		float4	m_max;
+		float   m_maxElems[4];
+		int			m_maxIndices[4];
+	};
+} btAabbCL;
+
+
+/// conservative test for overlap between two aabbs
+bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);
+bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)
+{
+	bool overlap = true;
+	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
+	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
+	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
+	return overlap;
+}
+bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);
+bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)
+{
+	bool overlap = true;
+	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
+	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
+	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
+	return overlap;
+}
+
+bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);
+bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)
+{
+	bool overlap = true;
+	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
+	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
+	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
+	return overlap;
+}
+
+
+__kernel void   computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping,  __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)
+{
+	int i = get_global_id(0);
+	if (i>=numUnsortedAabbs)
+		return;
+
+	int j = get_global_id(1);
+	if (j>=numUnSortedAabbs2)
+		return;
+
+
+	__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];
+	__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];
+
+	if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))
+	{
+		int4 myPair;
+		
+		int xIndex = unsortedAabbPtr[0].m_minIndices[3];
+		int yIndex = unsortedAabbPtr2[0].m_minIndices[3];
+		if (xIndex>yIndex)
+		{
+			int tmp = xIndex;
+			xIndex=yIndex;
+			yIndex=tmp;
+		}
+		
+		myPair.x = xIndex;
+		myPair.y = yIndex;
+		myPair.z = NEW_PAIR_MARKER;
+		myPair.w = NEW_PAIR_MARKER;
+
+
+		int curPair = atomic_inc (pairCount);
+		if (curPair<maxPairs)
+		{
+				pairsOut[curPair] = myPair; //flush to main memory
+		}
+	}
+}
+
+
+
+__kernel void   computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
+{
+	int i = get_global_id(0);
+	if (i>=numObjects)
+		return;
+	for (int j=i+1;j<numObjects;j++)
+	{
+		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
+		{
+			int4 myPair;
+			myPair.x = aabbs[i].m_minIndices[3];
+			myPair.y = aabbs[j].m_minIndices[3];
+			myPair.z = NEW_PAIR_MARKER;
+			myPair.w = NEW_PAIR_MARKER;
+
+			int curPair = atomic_inc (pairCount);
+			if (curPair<maxPairs)
+			{
+					pairsOut[curPair] = myPair; //flush to main memory
+			}
+		}
+	}
+}
+
+__kernel void   computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
+{
+	int i = get_global_id(0);
+	if (i>=numObjects)
+		return;
+	for (int j=i+1;j<numObjects;j++)
+	{
+  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) 
+		{
+			break;
+		}
+		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
+		{
+			int4 myPair;
+			myPair.x = aabbs[i].m_minIndices[3];
+			myPair.y = aabbs[j].m_minIndices[3];
+			myPair.z = NEW_PAIR_MARKER;
+			myPair.w = NEW_PAIR_MARKER;
+
+			int curPair = atomic_inc (pairCount);
+			if (curPair<maxPairs)
+			{
+					pairsOut[curPair] = myPair; //flush to main memory
+			}
+		}
+	}
+}
+
+
+
+
+__kernel void   computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
+{
+	int i = get_global_id(0);
+	int localId = get_local_id(0);
+
+	__local int numActiveWgItems[1];
+	__local int breakRequest[1];
+
+	if (localId==0)
+	{
+		numActiveWgItems[0] = 0;
+		breakRequest[0] = 0;
+	}
+	barrier(CLK_LOCAL_MEM_FENCE);
+	atomic_inc(numActiveWgItems);
+	barrier(CLK_LOCAL_MEM_FENCE);
+	int localBreak = 0;
+
+	int j=i+1;
+	do
+	{
+		barrier(CLK_LOCAL_MEM_FENCE);
+	
+		if (j<numObjects)
+		{
+	  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) 
+			{
+				if (!localBreak)
+				{
+					atomic_inc(breakRequest);
+					localBreak = 1;
+				}
+			}
+		}
+		
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		if (j>=numObjects && !localBreak)
+		{
+			atomic_inc(breakRequest);
+			localBreak = 1;
+		}
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		if (!localBreak)
+		{
+			if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
+			{
+				int4 myPair;
+				myPair.x = aabbs[i].m_minIndices[3];
+				myPair.y = aabbs[j].m_minIndices[3];
+				myPair.z = NEW_PAIR_MARKER;
+				myPair.w = NEW_PAIR_MARKER;
+
+				int curPair = atomic_inc (pairCount);
+				if (curPair<maxPairs)
+				{
+						pairsOut[curPair] = myPair; //flush to main memory
+				}
+			}
+		}
+		j++;
+
+	} while (breakRequest[0]<numActiveWgItems[0]);
+}
+
+
+__kernel void   computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
+{
+	int i = get_global_id(0);
+	int localId = get_local_id(0);
+
+	__local int numActiveWgItems[1];
+	__local int breakRequest[1];
+	__local btAabbCL localAabbs[128];// = aabbs[i];
+	
+	btAabbCL myAabb;
+	
+	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];
+	float testValue = 	myAabb.m_maxElems[axis];
+	
+	if (localId==0)
+	{
+		numActiveWgItems[0] = 0;
+		breakRequest[0] = 0;
+	}
+	int localCount=0;
+	int block=0;
+	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];
+	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];
+	
+	barrier(CLK_LOCAL_MEM_FENCE);
+	atomic_inc(numActiveWgItems);
+	barrier(CLK_LOCAL_MEM_FENCE);
+	int localBreak = 0;
+	
+	int j=i+1;
+	do
+	{
+		barrier(CLK_LOCAL_MEM_FENCE);
+	
+		if (j<numObjects)
+		{
+	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) 
+			{
+				if (!localBreak)
+				{
+					atomic_inc(breakRequest);
+					localBreak = 1;
+				}
+			}
+		}
+		
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		if (j>=numObjects && !localBreak)
+		{
+			atomic_inc(breakRequest);
+			localBreak = 1;
+		}
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		if (!localBreak)
+		{
+			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))
+			{
+				int4 myPair;
+				myPair.x = myAabb.m_minIndices[3];
+				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
+				myPair.z = NEW_PAIR_MARKER;
+				myPair.w = NEW_PAIR_MARKER;
+
+				int curPair = atomic_inc (pairCount);
+				if (curPair<maxPairs)
+				{
+						pairsOut[curPair] = myPair; //flush to main memory
+				}
+			}
+		}
+		
+		barrier(CLK_LOCAL_MEM_FENCE);
+
+		localCount++;
+		if (localCount==64)
+		{
+			localCount = 0;
+			block+=64;			
+			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];
+			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];
+		}
+		j++;
+		
+	} while (breakRequest[0]<numActiveWgItems[0]);
+	
+}
+
+
+
+
+//http://stereopsis.com/radix.html
+unsigned int FloatFlip(float fl);
+unsigned int FloatFlip(float fl)
+{
+	unsigned int f = *(unsigned int*)&fl;
+	unsigned int mask = -(int)(f >> 31) | 0x80000000;
+	return f ^ mask;
+}
+float IFloatFlip(unsigned int f);
+float IFloatFlip(unsigned int f)
+{
+	unsigned int mask = ((f >> 31) - 1) | 0x80000000;
+	unsigned int fl = f ^ mask;
+	return *(float*)&fl;
+}
+
+
+
+
+__kernel void   copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)
+{
+	int i = get_global_id(0);
+	if (i>=numObjects)
+		return;
+	int src = destAabbs[i].m_maxIndices[3];
+	destAabbs[i] = allAabbs[src];
+	destAabbs[i].m_maxIndices[3] = src;
+}
+
+
+__kernel void   flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)
+{
+	int i = get_global_id(0);
+	if (i>=numObjects)
+		return;
+	
+	
+	sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);
+	sortData[i].y = i;
+		
+}
+
+
+__kernel void   scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)
+{
+	int i = get_global_id(0);
+	if (i>=numObjects)
+		return;
+	
+	sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];
+}
+
+
+
+__kernel void   prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)
+{
+	int i = get_global_id(0);
+	if (i>=numAabbs)
+		return;
+	
+	btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];
+	
+	float4 s;
+	s = (smallAabb.m_max+smallAabb.m_min)*0.5f;
+	sum[i]=s;
+	sum2[i]=s*s;	
+}

Engine/lib/bullet/src/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h

@@ -0,0 +1,342 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* sapCL= \
+"/*\n"
+"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+"This software is provided 'as-is', without any express or implied warranty.\n"
+"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+"Permission is granted to anyone to use this software for any purpose, \n"
+"including commercial applications, and to alter it and redistribute it freely, \n"
+"subject to the following restrictions:\n"
+"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.\n"
+"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+"3. This notice may not be removed or altered from any source distribution.\n"
+"*/\n"
+"//Originally written by Erwin Coumans\n"
+"#define NEW_PAIR_MARKER -1\n"
+"typedef struct \n"
+"{\n"
+"	union\n"
+"	{\n"
+"		float4	m_min;\n"
+"		float   m_minElems[4];\n"
+"		int			m_minIndices[4];\n"
+"	};\n"
+"	union\n"
+"	{\n"
+"		float4	m_max;\n"
+"		float   m_maxElems[4];\n"
+"		int			m_maxIndices[4];\n"
+"	};\n"
+"} btAabbCL;\n"
+"/// conservative test for overlap between two aabbs\n"
+"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);\n"
+"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)\n"
+"{\n"
+"	bool overlap = true;\n"
+"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+"	return overlap;\n"
+"}\n"
+"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
+"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
+"{\n"
+"	bool overlap = true;\n"
+"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+"	return overlap;\n"
+"}\n"
+"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
+"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
+"{\n"
+"	bool overlap = true;\n"
+"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+"	return overlap;\n"
+"}\n"
+"__kernel void   computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping,  __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numUnsortedAabbs)\n"
+"		return;\n"
+"	int j = get_global_id(1);\n"
+"	if (j>=numUnSortedAabbs2)\n"
+"		return;\n"
+"	__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];\n"
+"	__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];\n"
+"	if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))\n"
+"	{\n"
+"		int4 myPair;\n"
+"		\n"
+"		int xIndex = unsortedAabbPtr[0].m_minIndices[3];\n"
+"		int yIndex = unsortedAabbPtr2[0].m_minIndices[3];\n"
+"		if (xIndex>yIndex)\n"
+"		{\n"
+"			int tmp = xIndex;\n"
+"			xIndex=yIndex;\n"
+"			yIndex=tmp;\n"
+"		}\n"
+"		\n"
+"		myPair.x = xIndex;\n"
+"		myPair.y = yIndex;\n"
+"		myPair.z = NEW_PAIR_MARKER;\n"
+"		myPair.w = NEW_PAIR_MARKER;\n"
+"		int curPair = atomic_inc (pairCount);\n"
+"		if (curPair<maxPairs)\n"
+"		{\n"
+"				pairsOut[curPair] = myPair; //flush to main memory\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void   computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numObjects)\n"
+"		return;\n"
+"	for (int j=i+1;j<numObjects;j++)\n"
+"	{\n"
+"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
+"		{\n"
+"			int4 myPair;\n"
+"			myPair.x = aabbs[i].m_minIndices[3];\n"
+"			myPair.y = aabbs[j].m_minIndices[3];\n"
+"			myPair.z = NEW_PAIR_MARKER;\n"
+"			myPair.w = NEW_PAIR_MARKER;\n"
+"			int curPair = atomic_inc (pairCount);\n"
+"			if (curPair<maxPairs)\n"
+"			{\n"
+"					pairsOut[curPair] = myPair; //flush to main memory\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void   computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numObjects)\n"
+"		return;\n"
+"	for (int j=i+1;j<numObjects;j++)\n"
+"	{\n"
+"  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
+"		{\n"
+"			break;\n"
+"		}\n"
+"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
+"		{\n"
+"			int4 myPair;\n"
+"			myPair.x = aabbs[i].m_minIndices[3];\n"
+"			myPair.y = aabbs[j].m_minIndices[3];\n"
+"			myPair.z = NEW_PAIR_MARKER;\n"
+"			myPair.w = NEW_PAIR_MARKER;\n"
+"			int curPair = atomic_inc (pairCount);\n"
+"			if (curPair<maxPairs)\n"
+"			{\n"
+"					pairsOut[curPair] = myPair; //flush to main memory\n"
+"			}\n"
+"		}\n"
+"	}\n"
+"}\n"
+"__kernel void   computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	int localId = get_local_id(0);\n"
+"	__local int numActiveWgItems[1];\n"
+"	__local int breakRequest[1];\n"
+"	if (localId==0)\n"
+"	{\n"
+"		numActiveWgItems[0] = 0;\n"
+"		breakRequest[0] = 0;\n"
+"	}\n"
+"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	atomic_inc(numActiveWgItems);\n"
+"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	int localBreak = 0;\n"
+"	int j=i+1;\n"
+"	do\n"
+"	{\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	\n"
+"		if (j<numObjects)\n"
+"		{\n"
+"	  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
+"			{\n"
+"				if (!localBreak)\n"
+"				{\n"
+"					atomic_inc(breakRequest);\n"
+"					localBreak = 1;\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"		\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"		\n"
+"		if (j>=numObjects && !localBreak)\n"
+"		{\n"
+"			atomic_inc(breakRequest);\n"
+"			localBreak = 1;\n"
+"		}\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"		\n"
+"		if (!localBreak)\n"
+"		{\n"
+"			if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
+"			{\n"
+"				int4 myPair;\n"
+"				myPair.x = aabbs[i].m_minIndices[3];\n"
+"				myPair.y = aabbs[j].m_minIndices[3];\n"
+"				myPair.z = NEW_PAIR_MARKER;\n"
+"				myPair.w = NEW_PAIR_MARKER;\n"
+"				int curPair = atomic_inc (pairCount);\n"
+"				if (curPair<maxPairs)\n"
+"				{\n"
+"						pairsOut[curPair] = myPair; //flush to main memory\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"		j++;\n"
+"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
+"}\n"
+"__kernel void   computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	int localId = get_local_id(0);\n"
+"	__local int numActiveWgItems[1];\n"
+"	__local int breakRequest[1];\n"
+"	__local btAabbCL localAabbs[128];// = aabbs[i];\n"
+"	\n"
+"	btAabbCL myAabb;\n"
+"	\n"
+"	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];\n"
+"	float testValue = 	myAabb.m_maxElems[axis];\n"
+"	\n"
+"	if (localId==0)\n"
+"	{\n"
+"		numActiveWgItems[0] = 0;\n"
+"		breakRequest[0] = 0;\n"
+"	}\n"
+"	int localCount=0;\n"
+"	int block=0;\n"
+"	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];\n"
+"	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];\n"
+"	\n"
+"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	atomic_inc(numActiveWgItems);\n"
+"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	int localBreak = 0;\n"
+"	\n"
+"	int j=i+1;\n"
+"	do\n"
+"	{\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"	\n"
+"		if (j<numObjects)\n"
+"		{\n"
+"	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) \n"
+"			{\n"
+"				if (!localBreak)\n"
+"				{\n"
+"					atomic_inc(breakRequest);\n"
+"					localBreak = 1;\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"		\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"		\n"
+"		if (j>=numObjects && !localBreak)\n"
+"		{\n"
+"			atomic_inc(breakRequest);\n"
+"			localBreak = 1;\n"
+"		}\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"		\n"
+"		if (!localBreak)\n"
+"		{\n"
+"			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))\n"
+"			{\n"
+"				int4 myPair;\n"
+"				myPair.x = myAabb.m_minIndices[3];\n"
+"				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];\n"
+"				myPair.z = NEW_PAIR_MARKER;\n"
+"				myPair.w = NEW_PAIR_MARKER;\n"
+"				int curPair = atomic_inc (pairCount);\n"
+"				if (curPair<maxPairs)\n"
+"				{\n"
+"						pairsOut[curPair] = myPair; //flush to main memory\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"		\n"
+"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+"		localCount++;\n"
+"		if (localCount==64)\n"
+"		{\n"
+"			localCount = 0;\n"
+"			block+=64;			\n"
+"			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];\n"
+"			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];\n"
+"		}\n"
+"		j++;\n"
+"		\n"
+"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
+"	\n"
+"}\n"
+"//http://stereopsis.com/radix.html\n"
+"unsigned int FloatFlip(float fl);\n"
+"unsigned int FloatFlip(float fl)\n"
+"{\n"
+"	unsigned int f = *(unsigned int*)&fl;\n"
+"	unsigned int mask = -(int)(f >> 31) | 0x80000000;\n"
+"	return f ^ mask;\n"
+"}\n"
+"float IFloatFlip(unsigned int f);\n"
+"float IFloatFlip(unsigned int f)\n"
+"{\n"
+"	unsigned int mask = ((f >> 31) - 1) | 0x80000000;\n"
+"	unsigned int fl = f ^ mask;\n"
+"	return *(float*)&fl;\n"
+"}\n"
+"__kernel void   copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numObjects)\n"
+"		return;\n"
+"	int src = destAabbs[i].m_maxIndices[3];\n"
+"	destAabbs[i] = allAabbs[src];\n"
+"	destAabbs[i].m_maxIndices[3] = src;\n"
+"}\n"
+"__kernel void   flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numObjects)\n"
+"		return;\n"
+"	\n"
+"	\n"
+"	sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);\n"
+"	sortData[i].y = i;\n"
+"		\n"
+"}\n"
+"__kernel void   scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numObjects)\n"
+"		return;\n"
+"	\n"
+"	sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];\n"
+"}\n"
+"__kernel void   prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)\n"
+"{\n"
+"	int i = get_global_id(0);\n"
+"	if (i>=numAabbs)\n"
+"		return;\n"
+"	\n"
+"	btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];\n"
+"	\n"
+"	float4 s;\n"
+"	s = (smallAabb.m_max+smallAabb.m_min)*0.5f;\n"
+"	sum[i]=s;\n"
+"	sum2[i]=s*s;	\n"
+"}\n"
+;

Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/BroadphaseCollision/b3GpuGridBroadphase.o.d

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+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuNarrowPhase.o -MF CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuNarrowPhase.o.d -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuNarrowPhase.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp > CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuNarrowPhase.i
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuNarrowPhase.s"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuNarrowPhase.s
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+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.o -MF CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.o.d -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
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+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.i"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp > CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.i
+
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.s"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsConstraintSolver.s
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+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.o -MF CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.o.d -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
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+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.i"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp > CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.i
+
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.s"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuPgsContactSolver.s
+
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.o: Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/flags.make
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.o: Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/Users/ragora/Documents/Projects/Torque3D/CMakeFiles --progress-num=$(CMAKE_PROGRESS_29) "Building CXX object Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.o"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.o -MF CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.o.d -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
+
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.i"
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+
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.s"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3GpuRigidBodyPipeline.s
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+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.o: Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/flags.make
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/Users/ragora/Documents/Projects/Torque3D/CMakeFiles --progress-num=$(CMAKE_PROGRESS_30) "Building CXX object Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.o"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.o -MF CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.o.d -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3Solver.cpp
+
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.i"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3Solver.cpp > CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.i
+
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.s"
+	cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL/RigidBody/b3Solver.cpp -o CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.s
+
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+"CMakeFiles/Bullet3OpenCL_clew.dir/RigidBody/b3Solver.o"
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+	RigidBody/b3GpuGenericConstraint.cpp
+	RigidBody/b3GpuJacobiContactSolver.cpp
+	RigidBody/b3GpuNarrowPhase.cpp
+	RigidBody/b3GpuPgsConstraintSolver.cpp
+	RigidBody/b3GpuPgsContactSolver.cpp
+	RigidBody/b3GpuRigidBodyPipeline.cpp
+	RigidBody/b3Solver.cpp
+)
+
+
+SET(Bullet3OpenCL_clew_HDRS
+#	${Root_HDRS}
+)
+
+
+ADD_LIBRARY(Bullet3OpenCL_clew ${Bullet3OpenCL_clew_SRCS} ${Bullet3OpenCL_clew_HDRS})
+SET_TARGET_PROPERTIES(Bullet3OpenCL_clew PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(Bullet3OpenCL_clew PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+  TARGET_LINK_LIBRARIES(Bullet3OpenCL_clew LinearMath Bullet3Dynamics ${CMAKE_DL_LIBS})
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#INSTALL of other files requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3OpenCL_clew DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3OpenCL_clew RUNTIME DESTINATION bin
+								LIBRARY DESTINATION lib${LIB_SUFFIX}
+								ARCHIVE DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+#				INSTALL(FILES ../btBullet3OpenCL_clewCommon.h
+#DESTINATION ${INCLUDE_INSTALL_DIR}/Bullet3OpenCL_clew)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(Bullet3OpenCL_clew PROPERTIES FRAMEWORK true)
+
+			SET_TARGET_PROPERTIES(Bullet3OpenCL_clew PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+			# Have to list out sub-directories manually:
+			SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
+
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

Engine/lib/bullet/src/Bullet3OpenCL/CTestTestfile.cmake

@@ -0,0 +1,6 @@
+# CMake generated Testfile for 
+# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL
+# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.

Engine/lib/bullet/src/Bullet3OpenCL/Initialize/b3OpenCLInclude.h

@@ -0,0 +1,48 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+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.
+*/
+
+#ifndef B3_OPENCL_INCLUDE_H
+#define B3_OPENCL_INCLUDE_H
+
+#ifdef B3_USE_CLEW
+	#include "clew/clew.h"
+#else
+
+#ifdef __APPLE__
+#ifdef USE_MINICL
+#include <MiniCL/cl.h>
+#else
+#include <OpenCL/cl.h>
+#include <OpenCL/cl_ext.h> //clLogMessagesToStderrAPPLE
+#endif
+#else
+#ifdef USE_MINICL
+#include <MiniCL/cl.h>
+#else
+#include <CL/cl.h>
+#ifdef _WIN32
+#include "CL/cl_gl.h"
+#endif //_WIN32
+#endif
+#endif //__APPLE__
+#endif //B3_USE_CLEW
+
+#include <assert.h>
+#include <stdio.h>
+#define oclCHECKERROR(a, b) if((a)!=(b)) { printf("OCL Error : %d\n", (a)); assert((a) == (b)); }
+
+
+#endif //B3_OPENCL_INCLUDE_H
+

Engine/lib/bullet/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.h

@@ -0,0 +1,194 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006 - 2011 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+//original author: Roman Ponomarev
+//cleanup by Erwin Coumans
+
+#ifndef B3_OPENCL_UTILS_H
+#define B3_OPENCL_UTILS_H
+
+#include "b3OpenCLInclude.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+///C API for OpenCL utilities: convenience functions, see below for C++ API
+
+/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
+/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
+cl_context 	b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx , void* pGLDC , int preferredDeviceIndex , int preferredPlatformIndex, cl_platform_id* platformId);
+	
+int b3OpenCLUtils_getNumDevices(cl_context cxMainContext);
+
+cl_device_id b3OpenCLUtils_getDevice(cl_context cxMainContext, int nr);
+
+void b3OpenCLUtils_printDeviceInfo(cl_device_id device);
+
+cl_kernel b3OpenCLUtils_compileCLKernelFromString( cl_context clContext,cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog,const char* additionalMacros);
+
+//optional
+cl_program b3OpenCLUtils_compileCLProgramFromString( cl_context clContext,cl_device_id device, const char* kernelSource, cl_int* pErrNum,const char* additionalMacros  , const char* srcFileNameForCaching, bool disableBinaryCaching);
+
+//the following optional APIs provide access using specific platform information
+int b3OpenCLUtils_getNumPlatforms(cl_int* pErrNum);
+
+///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
+cl_platform_id b3OpenCLUtils_getPlatform(int nr, cl_int* pErrNum);
+
+
+void b3OpenCLUtils_printPlatformInfo(cl_platform_id platform);
+
+const char* b3OpenCLUtils_getSdkVendorName();
+	
+///set the path (directory/folder) where the compiled OpenCL kernel are stored
+void b3OpenCLUtils_setCachePath(const char* path);
+	
+cl_context 	b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx , void* pGLDC ,int preferredDeviceIndex , int preferredPlatformIndex);
+
+#ifdef __cplusplus
+}
+
+#define B3_MAX_STRING_LENGTH 1024
+
+typedef struct
+{
+	char m_deviceName[B3_MAX_STRING_LENGTH];
+	char m_deviceVendor[B3_MAX_STRING_LENGTH];
+	char m_driverVersion[B3_MAX_STRING_LENGTH];
+	char m_deviceExtensions[B3_MAX_STRING_LENGTH];
+
+	cl_device_type		m_deviceType;
+	cl_uint 				m_computeUnits;
+	size_t 					m_workitemDims;
+	size_t 					m_workItemSize[3];
+	size_t 					m_image2dMaxWidth;
+	size_t 					m_image2dMaxHeight;
+	size_t 					m_image3dMaxWidth;
+	size_t 					m_image3dMaxHeight;
+	size_t 					m_image3dMaxDepth;
+	size_t 					m_workgroupSize;
+	cl_uint 				m_clockFrequency;
+	cl_ulong				m_constantBufferSize;
+	cl_ulong				m_localMemSize;
+	cl_ulong				m_globalMemSize;
+    cl_bool					m_errorCorrectionSupport;
+	cl_device_local_mem_type m_localMemType;
+	cl_uint					m_maxReadImageArgs;
+	cl_uint					m_maxWriteImageArgs;
+
+
+
+	cl_uint 				m_addressBits;
+	cl_ulong				m_maxMemAllocSize;
+	cl_command_queue_properties m_queueProperties;
+	cl_bool					m_imageSupport;
+	cl_uint					m_vecWidthChar;
+	cl_uint					m_vecWidthShort;
+	cl_uint					m_vecWidthInt;
+	cl_uint					m_vecWidthLong;
+	cl_uint					m_vecWidthFloat;
+	cl_uint					m_vecWidthDouble;
+
+} b3OpenCLDeviceInfo;
+
+struct b3OpenCLPlatformInfo
+{
+	char m_platformVendor[B3_MAX_STRING_LENGTH];
+	char m_platformName[B3_MAX_STRING_LENGTH];
+	char m_platformVersion[B3_MAX_STRING_LENGTH];
+	
+	b3OpenCLPlatformInfo()
+	{
+		m_platformVendor[0]=0;
+		m_platformName[0]=0;
+		m_platformVersion[0]=0;
+	}
+};
+
+
+///C++ API for OpenCL utilities: convenience functions
+struct b3OpenCLUtils
+{
+	/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
+	/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
+	static inline cl_context 	createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0, int preferredDeviceIndex = -1, int preferredPlatformIndex= - 1, cl_platform_id* platformId=0)
+	{
+		return b3OpenCLUtils_createContextFromType(deviceType, pErrNum, pGLCtx , pGLDC , preferredDeviceIndex, preferredPlatformIndex, platformId);
+	}
+	
+	static inline int getNumDevices(cl_context cxMainContext)
+	{
+		return b3OpenCLUtils_getNumDevices(cxMainContext);
+	}
+	static inline cl_device_id getDevice(cl_context cxMainContext, int nr)
+	{
+		return b3OpenCLUtils_getDevice(cxMainContext,nr);
+	}
+
+	static void getDeviceInfo(cl_device_id device, b3OpenCLDeviceInfo* info);
+
+	static inline void printDeviceInfo(cl_device_id device)
+	{
+		b3OpenCLUtils_printDeviceInfo(device);
+	}
+
+	static inline cl_kernel compileCLKernelFromString( cl_context clContext,cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum=0, cl_program prog=0,const char* additionalMacros = "" )
+	{
+		return b3OpenCLUtils_compileCLKernelFromString(clContext,device, kernelSource,  kernelName, pErrNum, prog,additionalMacros);
+	}
+
+	//optional
+	static inline cl_program compileCLProgramFromString( cl_context clContext,cl_device_id device, const char* kernelSource, cl_int* pErrNum=0,const char* additionalMacros = "" , const char* srcFileNameForCaching=0, bool disableBinaryCaching=false)
+	{
+		return b3OpenCLUtils_compileCLProgramFromString(clContext,device, kernelSource, pErrNum,additionalMacros, srcFileNameForCaching, disableBinaryCaching);
+	}
+
+	//the following optional APIs provide access using specific platform information
+	static inline int getNumPlatforms(cl_int* pErrNum=0)
+	{
+		return b3OpenCLUtils_getNumPlatforms(pErrNum);
+	}
+	///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
+	static inline cl_platform_id getPlatform(int nr, cl_int* pErrNum=0)
+	{
+		return b3OpenCLUtils_getPlatform(nr,pErrNum);
+	}
+	
+	static void getPlatformInfo(cl_platform_id platform, b3OpenCLPlatformInfo* platformInfo);
+
+	static inline void printPlatformInfo(cl_platform_id platform)
+	{
+		b3OpenCLUtils_printPlatformInfo(platform);
+	}
+
+	static inline const char* getSdkVendorName()
+	{
+		return b3OpenCLUtils_getSdkVendorName();
+	}
+	static inline cl_context 	createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0,int preferredDeviceIndex = -1, int preferredPlatformIndex= -1)
+	{
+		return b3OpenCLUtils_createContextFromPlatform(platform, deviceType, pErrNum, pGLCtx,pGLDC,preferredDeviceIndex, preferredPlatformIndex);
+	}
+	static void setCachePath(const char* path)
+	{
+		b3OpenCLUtils_setCachePath(path);
+	}
+};
+
+#endif //__cplusplus
+
+#endif // B3_OPENCL_UTILS_H

Engine/lib/bullet/src/Bullet3OpenCL/Makefile

@@ -0,0 +1,744 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.23
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Disable VCS-based implicit rules.
+% : %,v
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+
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+
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+
+# The CMake executable.
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+
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+
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+
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+
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+.PHONY : install
+
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+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/Applications/CMake.app/Contents/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
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+.PHONY : install/local
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+	/Applications/CMake.app/Contents/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local/fast
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+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/Applications/CMake.app/Contents/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/Applications/CMake.app/Contents/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /Users/ragora/Documents/Projects/Torque3D && $(CMAKE_COMMAND) -E cmake_progress_start /Users/ragora/Documents/Projects/Torque3D/CMakeFiles /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3OpenCL//CMakeFiles/progress.marks
+	cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 Engine/lib/bullet/src/Bullet3OpenCL/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /Users/ragora/Documents/Projects/Torque3D/CMakeFiles 0
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+
+# The main clean target
+clean:
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+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
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+# Prepare targets for installation.
+preinstall: all
+	cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 Engine/lib/bullet/src/Bullet3OpenCL/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
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+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /Users/ragora/Documents/Projects/Torque3D && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Convenience name for target.
+Engine/lib/bullet/src/Bullet3OpenCL/CMakeFiles/Bullet3OpenCL_clew.dir/rule:
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to generate assembly for a file
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+# target to build an object file
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+# target to generate assembly for a file
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+# target to build an object file
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Engine/lib/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h

@@ -0,0 +1,18 @@
+#ifndef B3_BVH_INFO_H
+#define B3_BVH_INFO_H
+
+#include "Bullet3Common/b3Vector3.h"
+
+struct b3BvhInfo
+{
+	b3Vector3	m_aabbMin;
+	b3Vector3	m_aabbMax;
+	b3Vector3	m_quantization;
+	int			m_numNodes;
+	int			m_numSubTrees;
+	int			m_nodeOffset;
+	int			m_subTreeOffset;
+
+};
+
+#endif //B3_BVH_INFO_H

Engine/lib/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp

@@ -0,0 +1,258 @@
+
+#if 0
+/*
+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 "b3ContactCache.h"
+#include "Bullet3Common/b3Transform.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
+
+b3Scalar					gContactBreakingThreshold = b3Scalar(0.02);
+
+///gContactCalcArea3Points will approximate the convex hull area using 3 points
+///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
+bool						gContactCalcArea3Points = true;
+
+
+
+
+static inline b3Scalar calcArea4Points(const b3Vector3 &p0,const b3Vector3 &p1,const b3Vector3 &p2,const b3Vector3 &p3)
+{
+	// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
+
+	b3Vector3 a[3],b[3];
+	a[0] = p0 - p1;
+	a[1] = p0 - p2;
+	a[2] = p0 - p3;
+	b[0] = p2 - p3;
+	b[1] = p1 - p3;
+	b[2] = p1 - p2;
+
+	//todo: Following 3 cross production can be easily optimized by SIMD.
+	b3Vector3 tmp0 = a[0].cross(b[0]);
+	b3Vector3 tmp1 = a[1].cross(b[1]);
+	b3Vector3 tmp2 = a[2].cross(b[2]);
+
+	return b3Max(b3Max(tmp0.length2(),tmp1.length2()),tmp2.length2());
+}
+#if 0
+
+//using localPointA for all points
+int b3ContactCache::sortCachedPoints(const b3Vector3& pt) 
+{
+		//calculate 4 possible cases areas, and take biggest area
+		//also need to keep 'deepest'
+		
+		int maxPenetrationIndex = -1;
+#define KEEP_DEEPEST_POINT 1
+#ifdef KEEP_DEEPEST_POINT
+		b3Scalar maxPenetration = pt.getDistance();
+		for (int i=0;i<4;i++)
+		{
+			if (m_pointCache[i].getDistance() < maxPenetration)
+			{
+				maxPenetrationIndex = i;
+				maxPenetration = m_pointCache[i].getDistance();
+			}
+		}
+#endif //KEEP_DEEPEST_POINT
+		
+		b3Scalar res0(b3Scalar(0.)),res1(b3Scalar(0.)),res2(b3Scalar(0.)),res3(b3Scalar(0.));
+
+	if (gContactCalcArea3Points)
+	{
+		if (maxPenetrationIndex != 0)
+		{
+			b3Vector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
+			b3Vector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
+			b3Vector3 cross = a0.cross(b0);
+			res0 = cross.length2();
+		}
+		if (maxPenetrationIndex != 1)
+		{
+			b3Vector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
+			b3Vector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
+			b3Vector3 cross = a1.cross(b1);
+			res1 = cross.length2();
+		}
+
+		if (maxPenetrationIndex != 2)
+		{
+			b3Vector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
+			b3Vector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
+			b3Vector3 cross = a2.cross(b2);
+			res2 = cross.length2();
+		}
+
+		if (maxPenetrationIndex != 3)
+		{
+			b3Vector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
+			b3Vector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
+			b3Vector3 cross = a3.cross(b3);
+			res3 = cross.length2();
+		}
+	} 
+	else
+	{
+		if(maxPenetrationIndex != 0) {
+			res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
+		}
+
+		if(maxPenetrationIndex != 1) {
+			res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
+		}
+
+		if(maxPenetrationIndex != 2) {
+			res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
+		}
+
+		if(maxPenetrationIndex != 3) {
+			res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
+		}
+	}
+	b3Vector4 maxvec(res0,res1,res2,res3);
+	int biggestarea = maxvec.closestAxis4();
+	return biggestarea;
+	
+}
+
+
+int b3ContactCache::getCacheEntry(const b3Vector3& newPoint) const
+{
+	b3Scalar shortestDist =  getContactBreakingThreshold() * getContactBreakingThreshold();
+	int size = getNumContacts();
+	int nearestPoint = -1;
+	for( int i = 0; i < size; i++ )
+	{
+		const b3Vector3 &mp = m_pointCache[i];
+
+		b3Vector3 diffA =  mp.m_localPointA- newPoint.m_localPointA;
+		const b3Scalar distToManiPoint = diffA.dot(diffA);
+		if( distToManiPoint < shortestDist )
+		{
+			shortestDist = distToManiPoint;
+			nearestPoint = i;
+		}
+	}
+	return nearestPoint;
+}
+
+int b3ContactCache::addManifoldPoint(const b3Vector3& newPoint)
+{
+	b3Assert(validContactDistance(newPoint));
+	
+	int insertIndex = getNumContacts();
+	if (insertIndex == MANIFOLD_CACHE_SIZE)
+	{
+#if MANIFOLD_CACHE_SIZE >= 4
+		//sort cache so best points come first, based on area
+		insertIndex = sortCachedPoints(newPoint);
+#else
+		insertIndex = 0;
+#endif
+		clearUserCache(m_pointCache[insertIndex]);
+		
+	} else
+	{
+		m_cachedPoints++;
+
+		
+	}
+	if (insertIndex<0)
+		insertIndex=0;
+
+	//b3Assert(m_pointCache[insertIndex].m_userPersistentData==0);
+	m_pointCache[insertIndex] = newPoint;
+	return insertIndex;
+}
+
+#endif
+
+bool b3ContactCache::validContactDistance(const b3Vector3& pt)
+{
+	return pt.w <= gContactBreakingThreshold;
+}
+
+void b3ContactCache::removeContactPoint(struct b3Contact4Data& newContactCache,int i)
+{
+	int numContacts = b3Contact4Data_getNumPoints(&newContactCache);
+	if (i!=(numContacts-1))
+	{
+		b3Swap(newContactCache.m_localPosA[i],newContactCache.m_localPosA[numContacts-1]);
+		b3Swap(newContactCache.m_localPosB[i],newContactCache.m_localPosB[numContacts-1]);
+		b3Swap(newContactCache.m_worldPosB[i],newContactCache.m_worldPosB[numContacts-1]);
+	}
+	b3Contact4Data_setNumPoints(&newContactCache,numContacts-1);
+
+}
+
+
+void b3ContactCache::refreshContactPoints(const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& contacts)
+{
+
+	int numContacts = b3Contact4Data_getNumPoints(&contacts);
+	
+
+	int i;
+	/// first refresh worldspace positions and distance
+	for (i=numContacts-1;i>=0;i--)
+	{
+		b3Vector3 worldPosA = trA( contacts.m_localPosA[i]);
+		b3Vector3 worldPosB = trB( contacts.m_localPosB[i]);
+		contacts.m_worldPosB[i] = worldPosB;
+		float distance = (worldPosA -  worldPosB).dot(contacts.m_worldNormalOnB);
+		contacts.m_worldPosB[i].w = distance;
+	}
+
+	/// then 
+	b3Scalar distance2d;
+	b3Vector3 projectedDifference,projectedPoint;
+	for (i=numContacts-1;i>=0;i--)
+	{
+		b3Vector3 worldPosA = trA( contacts.m_localPosA[i]);
+		b3Vector3 worldPosB = trB( contacts.m_localPosB[i]);
+		b3Vector3&pt = contacts.m_worldPosB[i];
+		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
+		if (!validContactDistance(pt))
+		{
+			removeContactPoint(contacts,i);
+		} else
+		{
+			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
+			projectedPoint = worldPosA - contacts.m_worldNormalOnB * contacts.m_worldPosB[i].w;
+			projectedDifference = contacts.m_worldPosB[i] - projectedPoint;
+			distance2d = projectedDifference.dot(projectedDifference);
+			if (distance2d  > gContactBreakingThreshold*gContactBreakingThreshold )
+			{
+				removeContactPoint(contacts,i);
+			} else
+			{
+				////contact point processed callback
+				//if (gContactProcessedCallback)
+				//	(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
+			}
+		}
+	}
+	
+
+}
+
+
+
+
+
+#endif

Engine/lib/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h

@@ -0,0 +1,80 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+#ifndef B3_CONTACT_CACHE_H
+#define B3_CONTACT_CACHE_H
+
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3AlignedAllocator.h"
+
+
+///maximum contact breaking and merging threshold
+extern b3Scalar gContactBreakingThreshold;
+
+
+
+#define MANIFOLD_CACHE_SIZE 4
+
+///b3ContactCache is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
+///Those contact points are created by the collision narrow phase.
+///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
+///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
+///reduces the cache to 4 points, when more then 4 points are added, using following rules:
+///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
+///note that some pairs of objects might have more then one contact manifold.
+B3_ATTRIBUTE_ALIGNED16( class) b3ContactCache
+{
+
+	
+
+	
+	/// sort cached points so most isolated points come first
+	int	sortCachedPoints(const b3Vector3& pt);
+
+	
+
+public:
+
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	
+	
+	int addManifoldPoint( const b3Vector3& newPoint);
+
+	/*void replaceContactPoint(const b3Vector3& newPoint,int insertIndex)
+	{
+		b3Assert(validContactDistance(newPoint));
+		m_pointCache[insertIndex] = newPoint;
+	}
+	*/
+
+
+	
+	static bool validContactDistance(const b3Vector3& pt);
+	
+	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
+	static void	refreshContactPoints(  const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& newContactCache);
+
+	static void removeContactPoint(struct b3Contact4Data& newContactCache,int i);
+	
+
+};
+
+
+
+#endif //B3_CONTACT_CACHE_H

Engine/lib/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h

@@ -0,0 +1,118 @@
+
+#ifndef _CONVEX_HULL_CONTACT_H
+#define _CONVEX_HULL_CONTACT_H
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
+#include "Bullet3Common/shared/b3Int2.h"
+#include "Bullet3Common/shared/b3Int4.h"
+#include "b3OptimizedBvh.h"
+#include "b3BvhInfo.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+
+//#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
+
+
+
+
+struct GpuSatCollision
+{
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+	cl_kernel				m_findSeparatingAxisKernel;
+	cl_kernel				m_mprPenetrationKernel;
+	cl_kernel				m_findSeparatingAxisUnitSphereKernel;
+
+
+	cl_kernel m_findSeparatingAxisVertexFaceKernel;
+	cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
+	
+	cl_kernel				m_findConcaveSeparatingAxisKernel;
+    cl_kernel				m_findConcaveSeparatingAxisVertexFaceKernel;
+    cl_kernel				m_findConcaveSeparatingAxisEdgeEdgeKernel;
+ 
+    
+    
+    
+	cl_kernel				m_findCompoundPairsKernel;
+	cl_kernel				m_processCompoundPairsKernel;
+
+	cl_kernel				m_clipHullHullKernel;
+	cl_kernel				m_clipCompoundsHullHullKernel;
+    
+    cl_kernel               m_clipFacesAndFindContacts;
+    cl_kernel               m_findClippingFacesKernel;
+    
+	cl_kernel				m_clipHullHullConcaveConvexKernel;
+//	cl_kernel				m_extractManifoldAndAddContactKernel;
+    cl_kernel               m_newContactReductionKernel;
+
+	cl_kernel				m_bvhTraversalKernel;
+	cl_kernel				m_primitiveContactsKernel;
+	cl_kernel				m_findConcaveSphereContactsKernel;
+
+	cl_kernel				m_processCompoundPairsPrimitivesKernel;
+    
+	b3OpenCLArray<b3Vector3> m_unitSphereDirections;
+
+	b3OpenCLArray<int>		m_totalContactsOut;
+
+	b3OpenCLArray<b3Vector3> m_sepNormals;
+	b3OpenCLArray<float> m_dmins;
+
+	b3OpenCLArray<int>		m_hasSeparatingNormals;
+	b3OpenCLArray<b3Vector3> m_concaveSepNormals;
+	b3OpenCLArray<int>		m_concaveHasSeparatingNormals;
+	b3OpenCLArray<int>		m_numConcavePairsOut;
+	b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
+	b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
+	b3OpenCLArray<int>		m_gpuHasCompoundSepNormals;
+	b3OpenCLArray<int>		m_numCompoundPairsOut;
+	
+
+	GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	virtual ~GpuSatCollision();
+	
+
+	void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs, 
+			const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
+			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
+			const b3OpenCLArray<b3Contact4>* oldContacts,
+			int maxContactCapacity,
+			int compoundPairCapacity,
+			const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
+			const b3OpenCLArray<b3Vector3>& vertices,
+			const b3OpenCLArray<b3Vector3>& uniqueEdges,
+			const b3OpenCLArray<b3GpuFace>& faces,
+			const b3OpenCLArray<int>& indices,
+			const b3OpenCLArray<b3Collidable>& gpuCollidables,
+			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
+
+			const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
+			const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
+
+           b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
+           b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
+           b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
+           b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
+           b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
+		   b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
+		   b3OpenCLArray<b3QuantizedBvhNode>*	treeNodesGPU,
+			b3OpenCLArray<b3BvhSubtreeInfo>*	subTreesGPU,
+			b3OpenCLArray<b3BvhInfo>*	bvhInfo,
+			int numObjects,
+			int maxTriConvexPairCapacity,
+			b3OpenCLArray<b3Int4>& triangleConvexPairs,
+			int& numTriConvexPairsOut
+			);
+
+
+};
+
+#endif //_CONVEX_HULL_CONTACT_H

Engine/lib/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h

@@ -0,0 +1,9 @@
+#ifndef CONVEX_POLYHEDRON_CL
+#define CONVEX_POLYHEDRON_CL
+
+#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+
+
+
+#endif //CONVEX_POLYHEDRON_CL