src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl

   1 MSTRINGIFY(\r
   2 \r
   3 // Node indices for each link\r
   4 \r
   5 \r
   6 \r
   7 __kernel void\r
   8 IntegrateKernel( \r
   9         const int numNodes,\r
  10         const float solverdt,\r
  11         __global float * g_vertexInverseMasses,\r
  12         __global float4 * g_vertexPositions,\r
  13         __global float4 * g_vertexVelocity,\r
  14         __global float4 * g_vertexPreviousPositions,\r
  15         __global float4 * g_vertexForceAccumulator GUID_ARG)\r
  16 {\r
  17         int nodeID = get_global_id(0);\r
  18         if( nodeID < numNodes )\r
  19         {       \r
  20                 float4 position   = g_vertexPositions[nodeID];\r
  21                 float4 velocity   = g_vertexVelocity[nodeID];\r
  22                 float4 force      = g_vertexForceAccumulator[nodeID];\r
  23                 float inverseMass = g_vertexInverseMasses[nodeID];\r
  24                 \r
  25                 g_vertexPreviousPositions[nodeID] = position;\r
  26                 velocity += force * inverseMass * solverdt;\r
  27                 position += velocity * solverdt;\r
  28                 \r
  29                 g_vertexForceAccumulator[nodeID] = (float4)(0.f, 0.f, 0.f, 0.0f);\r
  30                 g_vertexPositions[nodeID]        = position;\r
  31                 g_vertexVelocity[nodeID]         = velocity;    \r
  32         }\r
  33 }\r
  34 \r
  35 );