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Ported Bullet to the mod loader system; needs further work

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Robert MacGregor 2015-06-27 14:01:25 -04:00
parent 527474ff24
commit 06810b6cca
353 changed files with 80265 additions and 0 deletions
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55
Mod Sources/Bullet/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl Normal file
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MSTRINGIFY(
cbuffer VSolveLinksCB : register( b0 )
{
int startLink;
int numLinks;
float kst;
int padding;
};
// Node indices for each link
StructuredBuffer<int2> g_linksVertexIndices : register( t0 );
StructuredBuffer<float> g_linksLengthRatio : register( t1 );
StructuredBuffer<float4> g_linksCurrentLength : register( t2 );
StructuredBuffer<float> g_vertexInverseMass : register( t3 );
RWStructuredBuffer<float4> g_vertexVelocity : register( u0 );
[numthreads(128, 1, 1)]
void
VSolveLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex )
{
int linkID = DTid.x + startLink;
if( DTid.x < numLinks )
{
int2 nodeIndices = g_linksVertexIndices[linkID];
int node0 = nodeIndices.x;
int node1 = nodeIndices.y;
float linkLengthRatio = g_linksLengthRatio[linkID];
float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz;
float3 vertexVelocity0 = g_vertexVelocity[node0].xyz;
float3 vertexVelocity1 = g_vertexVelocity[node1].xyz;
float vertexInverseMass0 = g_vertexInverseMass[node0];
float vertexInverseMass1 = g_vertexInverseMass[node1];
float3 nodeDifference = vertexVelocity0 - vertexVelocity1;
float dotResult = dot(linkCurrentLength, nodeDifference);
float j = -dotResult*linkLengthRatio*kst;
float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0);
float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1);
vertexVelocity0 += velocityChange0;
vertexVelocity1 -= velocityChange1;
g_vertexVelocity[node0] = float4(vertexVelocity0, 0.f);
g_vertexVelocity[node1] = float4(vertexVelocity1, 0.f);
}
}
);