dali-physics/third-party/bullet3/src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h

   1 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
   2 static const char* updateAabbsKernelCL =
   3         "#ifndef B3_UPDATE_AABBS_H\n"
   4         "#define B3_UPDATE_AABBS_H\n"
   5         "#ifndef B3_AABB_H\n"
   6         "#define B3_AABB_H\n"
   7         "#ifndef B3_FLOAT4_H\n"
   8         "#define B3_FLOAT4_H\n"
   9         "#ifndef B3_PLATFORM_DEFINITIONS_H\n"
  10         "#define B3_PLATFORM_DEFINITIONS_H\n"
  11         "struct MyTest\n"
  12         "{\n"
  13         "       int bla;\n"
  14         "};\n"
  15         "#ifdef __cplusplus\n"
  16         "#else\n"
  17         "//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
  18         "#define B3_LARGE_FLOAT 1e18f\n"
  19         "#define B3_INFINITY 1e18f\n"
  20         "#define b3Assert(a)\n"
  21         "#define b3ConstArray(a) __global const a*\n"
  22         "#define b3AtomicInc atomic_inc\n"
  23         "#define b3AtomicAdd atomic_add\n"
  24         "#define b3Fabs fabs\n"
  25         "#define b3Sqrt native_sqrt\n"
  26         "#define b3Sin native_sin\n"
  27         "#define b3Cos native_cos\n"
  28         "#define B3_STATIC\n"
  29         "#endif\n"
  30         "#endif\n"
  31         "#ifdef __cplusplus\n"
  32         "#else\n"
  33         "       typedef float4  b3Float4;\n"
  34         "       #define b3Float4ConstArg const b3Float4\n"
  35         "       #define b3MakeFloat4 (float4)\n"
  36         "       float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
  37         "       {\n"
  38         "               float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
  39         "               float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
  40         "               return dot(a1, b1);\n"
  41         "       }\n"
  42         "       b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
  43         "       {\n"
  44         "               float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
  45         "               float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
  46         "               return cross(a1, b1);\n"
  47         "       }\n"
  48         "       #define b3MinFloat4 min\n"
  49         "       #define b3MaxFloat4 max\n"
  50         "       #define b3Normalized(a) normalize(a)\n"
  51         "#endif \n"
  52         "               \n"
  53         "inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
  54         "{\n"
  55         "       if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)    \n"
  56         "               return false;\n"
  57         "       return true;\n"
  58         "}\n"
  59         "inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
  60         "{\n"
  61         "    float maxDot = -B3_INFINITY;\n"
  62         "    int i = 0;\n"
  63         "    int ptIndex = -1;\n"
  64         "    for( i = 0; i < vecLen; i++ )\n"
  65         "    {\n"
  66         "        float dot = b3Dot3F4(vecArray[i],vec);\n"
  67         "            \n"
  68         "        if( dot > maxDot )\n"
  69         "        {\n"
  70         "            maxDot = dot;\n"
  71         "            ptIndex = i;\n"
  72         "        }\n"
  73         "    }\n"
  74         "       b3Assert(ptIndex>=0);\n"
  75         "    if (ptIndex<0)\n"
  76         "       {\n"
  77         "               ptIndex = 0;\n"
  78         "       }\n"
  79         "    *dotOut = maxDot;\n"
  80         "    return ptIndex;\n"
  81         "}\n"
  82         "#endif //B3_FLOAT4_H\n"
  83         "#ifndef B3_MAT3x3_H\n"
  84         "#define B3_MAT3x3_H\n"
  85         "#ifndef B3_QUAT_H\n"
  86         "#define B3_QUAT_H\n"
  87         "#ifndef B3_PLATFORM_DEFINITIONS_H\n"
  88         "#ifdef __cplusplus\n"
  89         "#else\n"
  90         "#endif\n"
  91         "#endif\n"
  92         "#ifndef B3_FLOAT4_H\n"
  93         "#ifdef __cplusplus\n"
  94         "#else\n"
  95         "#endif \n"
  96         "#endif //B3_FLOAT4_H\n"
  97         "#ifdef __cplusplus\n"
  98         "#else\n"
  99         "       typedef float4  b3Quat;\n"
 100         "       #define b3QuatConstArg const b3Quat\n"
 101         "       \n"
 102         "       \n"
 103         "inline float4 b3FastNormalize4(float4 v)\n"
 104         "{\n"
 105         "       v = (float4)(v.xyz,0.f);\n"
 106         "       return fast_normalize(v);\n"
 107         "}\n"
 108         "       \n"
 109         "inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
 110         "inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
 111         "inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
 112         "inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
 113         "inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
 114         "inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
 115         "{\n"
 116         "       b3Quat ans;\n"
 117         "       ans = b3Cross3( a, b );\n"
 118         "       ans += a.w*b+b.w*a;\n"
 119         "//     ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
 120         "       ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
 121         "       return ans;\n"
 122         "}\n"
 123         "inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
 124         "{\n"
 125         "       b3Quat q;\n"
 126         "       q=in;\n"
 127         "       //return b3FastNormalize4(in);\n"
 128         "       float len = native_sqrt(dot(q, q));\n"
 129         "       if(len > 0.f)\n"
 130         "       {\n"
 131         "               q *= 1.f / len;\n"
 132         "       }\n"
 133         "       else\n"
 134         "       {\n"
 135         "               q.x = q.y = q.z = 0.f;\n"
 136         "               q.w = 1.f;\n"
 137         "       }\n"
 138         "       return q;\n"
 139         "}\n"
 140         "inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
 141         "{\n"
 142         "       b3Quat qInv = b3QuatInvert( q );\n"
 143         "       float4 vcpy = vec;\n"
 144         "       vcpy.w = 0.f;\n"
 145         "       float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
 146         "       return out;\n"
 147         "}\n"
 148         "inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
 149         "{\n"
 150         "       return (b3Quat)(-q.xyz, q.w);\n"
 151         "}\n"
 152         "inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
 153         "{\n"
 154         "       return (b3Quat)(-q.xyz, q.w);\n"
 155         "}\n"
 156         "inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
 157         "{\n"
 158         "       return b3QuatRotate( b3QuatInvert( q ), vec );\n"
 159         "}\n"
 160         "inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
 161         "{\n"
 162         "       return b3QuatRotate( orientation, point ) + (translation);\n"
 163         "}\n"
 164         "       \n"
 165         "#endif \n"
 166         "#endif //B3_QUAT_H\n"
 167         "#ifdef __cplusplus\n"
 168         "#else\n"
 169         "typedef struct\n"
 170         "{\n"
 171         "       b3Float4 m_row[3];\n"
 172         "}b3Mat3x3;\n"
 173         "#define b3Mat3x3ConstArg const b3Mat3x3\n"
 174         "#define b3GetRow(m,row) (m.m_row[row])\n"
 175         "inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
 176         "{\n"
 177         "       b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
 178         "       b3Mat3x3 out;\n"
 179         "       out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
 180         "       out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
 181         "       out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
 182         "       out.m_row[0].w = 0.f;\n"
 183         "       out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
 184         "       out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
 185         "       out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
 186         "       out.m_row[1].w = 0.f;\n"
 187         "       out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
 188         "       out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
 189         "       out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
 190         "       out.m_row[2].w = 0.f;\n"
 191         "       return out;\n"
 192         "}\n"
 193         "inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
 194         "{\n"
 195         "       b3Mat3x3 out;\n"
 196         "       out.m_row[0] = fabs(matIn.m_row[0]);\n"
 197         "       out.m_row[1] = fabs(matIn.m_row[1]);\n"
 198         "       out.m_row[2] = fabs(matIn.m_row[2]);\n"
 199         "       return out;\n"
 200         "}\n"
 201         "__inline\n"
 202         "b3Mat3x3 mtZero();\n"
 203         "__inline\n"
 204         "b3Mat3x3 mtIdentity();\n"
 205         "__inline\n"
 206         "b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
 207         "__inline\n"
 208         "b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
 209         "__inline\n"
 210         "b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
 211         "__inline\n"
 212         "b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
 213         "__inline\n"
 214         "b3Mat3x3 mtZero()\n"
 215         "{\n"
 216         "       b3Mat3x3 m;\n"
 217         "       m.m_row[0] = (b3Float4)(0.f);\n"
 218         "       m.m_row[1] = (b3Float4)(0.f);\n"
 219         "       m.m_row[2] = (b3Float4)(0.f);\n"
 220         "       return m;\n"
 221         "}\n"
 222         "__inline\n"
 223         "b3Mat3x3 mtIdentity()\n"
 224         "{\n"
 225         "       b3Mat3x3 m;\n"
 226         "       m.m_row[0] = (b3Float4)(1,0,0,0);\n"
 227         "       m.m_row[1] = (b3Float4)(0,1,0,0);\n"
 228         "       m.m_row[2] = (b3Float4)(0,0,1,0);\n"
 229         "       return m;\n"
 230         "}\n"
 231         "__inline\n"
 232         "b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
 233         "{\n"
 234         "       b3Mat3x3 out;\n"
 235         "       out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
 236         "       out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
 237         "       out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
 238         "       return out;\n"
 239         "}\n"
 240         "__inline\n"
 241         "b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
 242         "{\n"
 243         "       b3Mat3x3 transB;\n"
 244         "       transB = mtTranspose( b );\n"
 245         "       b3Mat3x3 ans;\n"
 246         "       //      why this doesn't run when 0ing in the for{}\n"
 247         "       a.m_row[0].w = 0.f;\n"
 248         "       a.m_row[1].w = 0.f;\n"
 249         "       a.m_row[2].w = 0.f;\n"
 250         "       for(int i=0; i<3; i++)\n"
 251         "       {\n"
 252         "//     a.m_row[i].w = 0.f;\n"
 253         "               ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
 254         "               ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
 255         "               ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
 256         "               ans.m_row[i].w = 0.f;\n"
 257         "       }\n"
 258         "       return ans;\n"
 259         "}\n"
 260         "__inline\n"
 261         "b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
 262         "{\n"
 263         "       b3Float4 ans;\n"
 264         "       ans.x = b3Dot3F4( a.m_row[0], b );\n"
 265         "       ans.y = b3Dot3F4( a.m_row[1], b );\n"
 266         "       ans.z = b3Dot3F4( a.m_row[2], b );\n"
 267         "       ans.w = 0.f;\n"
 268         "       return ans;\n"
 269         "}\n"
 270         "__inline\n"
 271         "b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
 272         "{\n"
 273         "       b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
 274         "       b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
 275         "       b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
 276         "       b3Float4 ans;\n"
 277         "       ans.x = b3Dot3F4( a, colx );\n"
 278         "       ans.y = b3Dot3F4( a, coly );\n"
 279         "       ans.z = b3Dot3F4( a, colz );\n"
 280         "       return ans;\n"
 281         "}\n"
 282         "#endif\n"
 283         "#endif //B3_MAT3x3_H\n"
 284         "typedef struct b3Aabb b3Aabb_t;\n"
 285         "struct b3Aabb\n"
 286         "{\n"
 287         "       union\n"
 288         "       {\n"
 289         "               float m_min[4];\n"
 290         "               b3Float4 m_minVec;\n"
 291         "               int m_minIndices[4];\n"
 292         "       };\n"
 293         "       union\n"
 294         "       {\n"
 295         "               float   m_max[4];\n"
 296         "               b3Float4 m_maxVec;\n"
 297         "               int m_signedMaxIndices[4];\n"
 298         "       };\n"
 299         "};\n"
 300         "inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
 301         "                                               b3Float4ConstArg pos,\n"
 302         "                                               b3QuatConstArg orn,\n"
 303         "                                               b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
 304         "{\n"
 305         "               b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
 306         "               localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
 307         "               b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
 308         "               b3Mat3x3 m;\n"
 309         "               m = b3QuatGetRotationMatrix(orn);\n"
 310         "               b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
 311         "               b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
 312         "               \n"
 313         "               b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
 314         "                                                                                b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
 315         "                                                                                b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
 316         "                                                                                0.f);\n"
 317         "               *aabbMinOut = center-extent;\n"
 318         "               *aabbMaxOut = center+extent;\n"
 319         "}\n"
 320         "/// conservative test for overlap between two aabbs\n"
 321         "inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
 322         "                                                               b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
 323         "{\n"
 324         "       bool overlap = true;\n"
 325         "       overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
 326         "       overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
 327         "       overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
 328         "       return overlap;\n"
 329         "}\n"
 330         "#endif //B3_AABB_H\n"
 331         "#ifndef B3_COLLIDABLE_H\n"
 332         "#define B3_COLLIDABLE_H\n"
 333         "#ifndef B3_FLOAT4_H\n"
 334         "#ifdef __cplusplus\n"
 335         "#else\n"
 336         "#endif \n"
 337         "#endif //B3_FLOAT4_H\n"
 338         "#ifndef B3_QUAT_H\n"
 339         "#ifdef __cplusplus\n"
 340         "#else\n"
 341         "#endif \n"
 342         "#endif //B3_QUAT_H\n"
 343         "enum b3ShapeTypes\n"
 344         "{\n"
 345         "       SHAPE_HEIGHT_FIELD=1,\n"
 346         "       SHAPE_CONVEX_HULL=3,\n"
 347         "       SHAPE_PLANE=4,\n"
 348         "       SHAPE_CONCAVE_TRIMESH=5,\n"
 349         "       SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
 350         "       SHAPE_SPHERE=7,\n"
 351         "       MAX_NUM_SHAPE_TYPES,\n"
 352         "};\n"
 353         "typedef struct b3Collidable b3Collidable_t;\n"
 354         "struct b3Collidable\n"
 355         "{\n"
 356         "       union {\n"
 357         "               int m_numChildShapes;\n"
 358         "               int m_bvhIndex;\n"
 359         "       };\n"
 360         "       union\n"
 361         "       {\n"
 362         "               float m_radius;\n"
 363         "               int     m_compoundBvhIndex;\n"
 364         "       };\n"
 365         "       int m_shapeType;\n"
 366         "       union\n"
 367         "       {\n"
 368         "               int m_shapeIndex;\n"
 369         "               float m_height;\n"
 370         "       };\n"
 371         "};\n"
 372         "typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
 373         "struct b3GpuChildShape\n"
 374         "{\n"
 375         "       b3Float4        m_childPosition;\n"
 376         "       b3Quat          m_childOrientation;\n"
 377         "       union\n"
 378         "       {\n"
 379         "               int                     m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
 380         "               int                     m_capsuleAxis;\n"
 381         "       };\n"
 382         "       union \n"
 383         "       {\n"
 384         "               float           m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
 385         "               int                     m_numChildShapes;//used for compound shape\n"
 386         "       };\n"
 387         "       union \n"
 388         "       {\n"
 389         "               float           m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
 390         "               int     m_collidableShapeIndex;\n"
 391         "       };\n"
 392         "       int                     m_shapeType;\n"
 393         "};\n"
 394         "struct b3CompoundOverlappingPair\n"
 395         "{\n"
 396         "       int m_bodyIndexA;\n"
 397         "       int m_bodyIndexB;\n"
 398         "//     int     m_pairType;\n"
 399         "       int m_childShapeIndexA;\n"
 400         "       int m_childShapeIndexB;\n"
 401         "};\n"
 402         "#endif //B3_COLLIDABLE_H\n"
 403         "#ifndef B3_RIGIDBODY_DATA_H\n"
 404         "#define B3_RIGIDBODY_DATA_H\n"
 405         "#ifndef B3_FLOAT4_H\n"
 406         "#ifdef __cplusplus\n"
 407         "#else\n"
 408         "#endif \n"
 409         "#endif //B3_FLOAT4_H\n"
 410         "#ifndef B3_QUAT_H\n"
 411         "#ifdef __cplusplus\n"
 412         "#else\n"
 413         "#endif \n"
 414         "#endif //B3_QUAT_H\n"
 415         "#ifndef B3_MAT3x3_H\n"
 416         "#ifdef __cplusplus\n"
 417         "#else\n"
 418         "#endif\n"
 419         "#endif //B3_MAT3x3_H\n"
 420         "typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
 421         "struct b3RigidBodyData\n"
 422         "{\n"
 423         "       b3Float4                                m_pos;\n"
 424         "       b3Quat                                  m_quat;\n"
 425         "       b3Float4                                m_linVel;\n"
 426         "       b3Float4                                m_angVel;\n"
 427         "       int                                     m_collidableIdx;\n"
 428         "       float                           m_invMass;\n"
 429         "       float                           m_restituitionCoeff;\n"
 430         "       float                           m_frictionCoeff;\n"
 431         "};\n"
 432         "typedef struct b3InertiaData b3InertiaData_t;\n"
 433         "struct b3InertiaData\n"
 434         "{\n"
 435         "       b3Mat3x3 m_invInertiaWorld;\n"
 436         "       b3Mat3x3 m_initInvInertia;\n"
 437         "};\n"
 438         "#endif //B3_RIGIDBODY_DATA_H\n"
 439         "       \n"
 440         "void b3ComputeWorldAabb(  int bodyId, __global const b3RigidBodyData_t* bodies, __global const  b3Collidable_t* collidables, __global const  b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n"
 441         "{\n"
 442         "       __global const b3RigidBodyData_t* body = &bodies[bodyId];\n"
 443         "       b3Float4 position = body->m_pos;\n"
 444         "       b3Quat  orientation = body->m_quat;\n"
 445         "       \n"
 446         "       int collidableIndex = body->m_collidableIdx;\n"
 447         "       int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
 448         "               \n"
 449         "       if (shapeIndex>=0)\n"
 450         "       {\n"
 451         "                               \n"
 452         "               b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n"
 453         "               b3Aabb_t worldAabb;\n"
 454         "               \n"
 455         "               b3Float4 aabbAMinOut,aabbAMaxOut;       \n"
 456         "               float margin = 0.f;\n"
 457         "               b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n"
 458         "               \n"
 459         "               worldAabb.m_minVec =aabbAMinOut;\n"
 460         "               worldAabb.m_minIndices[3] = bodyId;\n"
 461         "               worldAabb.m_maxVec = aabbAMaxOut;\n"
 462         "               worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n"
 463         "               worldAabbs[bodyId] = worldAabb;\n"
 464         "       }\n"
 465         "}\n"
 466         "#endif //B3_UPDATE_AABBS_H\n"
 467         "__kernel void initializeGpuAabbsFull(  const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n"
 468         "{\n"
 469         "       int nodeID = get_global_id(0);\n"
 470         "       if( nodeID < numNodes )\n"
 471         "       {\n"
 472         "               b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n"
 473         "       }\n"
 474         "}\n"
 475         "__kernel void clearOverlappingPairsKernel(  __global int4* pairs, int numPairs)\n"
 476         "{\n"
 477         "       int pairId = get_global_id(0);\n"
 478         "       if( pairId< numPairs )\n"
 479         "       {\n"
 480         "               pairs[pairId].z = 0xffffffff;\n"
 481         "       }\n"
 482         "}\n";