text: /*
  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.
  */
  
  #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
  #define BT_SOFT_BODY_SOLVER_OPENCL_H
  
  #include "stddef.h" //for size_t
  #include "vectormath/vmInclude.h"
  
  #include "BulletSoftBody/btSoftBodySolvers.h"
  #include "btSoftBodySolverBuffer_OpenCL.h"
  #include "btSoftBodySolverLinkData_OpenCL.h"
  #include "btSoftBodySolverVertexData_OpenCL.h"
  #include "btSoftBodySolverTriangleData_OpenCL.h"
  
  class CLFunctions
  {
  protected:
  	cl_command_queue	m_cqCommandQue;
  	cl_context			m_cxMainContext;
  
  	int	m_kernelCompilationFailures;
  
  public:
  	CLFunctions(cl_command_queue cqCommandQue, cl_context cxMainContext) :
  		m_cqCommandQue( cqCommandQue ),
  		m_cxMainContext( cxMainContext ),
  		m_kernelCompilationFailures(0)
  	{
  	}
  
  	int getKernelCompilationFailures() const
  	{
  		return m_kernelCompilationFailures;
  	}
  
  	/**
  	 * Compile a compute shader kernel from a string and return the appropriate cl_kernel object.
  	 */	
  	cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros = "" );
  
  	void	clearKernelCompilationFailures()
  	{
  		m_kernelCompilationFailures=0;
  	}
  };
  
  /**
   * Entry in the collision shape array.
   * Specifies the shape type, the transform matrix and the necessary details of the collisionShape.
   */
  struct CollisionShapeDescription
  {
  	Vectormath::Aos::Transform3 shapeTransform;
  	Vectormath::Aos::Vector3 linearVelocity;
  	Vectormath::Aos::Vector3 angularVelocity;
  
  	int softBodyIdentifier;
  	int collisionShapeType;
  
  	// Both needed for capsule
  	float radius;
  	float halfHeight;
  	int upAxis;
  	
  	float margin;
  	float friction;
  
  	CollisionShapeDescription()
  	{
  		collisionShapeType = 0;
  		margin = 0;
  		friction = 0;
  	}
  };
  
  /**
  	 * SoftBody class to maintain information about a soft body instance
  	 * within a solver.
  	 * This data addresses the main solver arrays.
  	 */
  class btOpenCLAcceleratedSoftBodyInterface
  {
  protected:
  	/** Current number of vertices that are part of this cloth */
  	int m_numVertices;
  	/** Maximum number of vertices allocated to be part of this cloth */
  	int m_maxVertices;
  	/** Current number of triangles that are part of this cloth */
  	int m_numTriangles;
  	/** Maximum number of triangles allocated to be part of this cloth */
  	int m_maxTriangles;
  	/** Index of first vertex in the world allocated to this cloth */
  	int m_firstVertex;
  	/** Index of first triangle in the world allocated to this cloth */
  	int m_firstTriangle;
  	/** Index of first link in the world allocated to this cloth */
  	int m_firstLink;
  	/** Maximum number of links allocated to this cloth */
  	int m_maxLinks;
  	/** Current number of links allocated to this cloth */
  	int m_numLinks;
  
  	/** The actual soft body this data represents */
  	btSoftBody *m_softBody;
  
  
  public:
  	btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
  	  m_softBody( softBody )
  	{
  		m_numVertices = 0;
  		m_maxVertices = 0;
  		m_numTriangles = 0;
  		m_maxTriangles = 0;
  		m_firstVertex = 0;
  		m_firstTriangle = 0;
  		m_firstLink = 0;
  		m_maxLinks = 0;
  		m_numLinks = 0;
  	}
  	int getNumVertices()
  	{
  		return m_numVertices;
  	}
  
  	int getNumTriangles()
  	{
  		return m_numTriangles;
  	}
  
  	int getMaxVertices()
  	{
  		return m_maxVertices;
  	}
  
  	int getMaxTriangles()
  	{
  		return m_maxTriangles;
  	}
  
  	int getFirstVertex()
  	{
  		return m_firstVertex;
  	}
  
  	int getFirstTriangle()
  	{
  		return m_firstTriangle;
  	}
  	
  	/**
  	 * Update the bounds in the btSoftBody object
  	 */
  	void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound );
  
  	// TODO: All of these set functions will have to do checks and
  	// update the world because restructuring of the arrays will be necessary
  	// Reasonable use of "friend"?
  	void setNumVertices( int numVertices )
  	{
  		m_numVertices = numVertices;
  	}	
  
  	void setNumTriangles( int numTriangles )
  	{
  		m_numTriangles = numTriangles;
  	}
  
  	void setMaxVertices( int maxVertices )
  	{
  		m_maxVertices = maxVertices;
  	}
  
  	void setMaxTriangles( int maxTriangles )
  	{
  		m_maxTriangles = maxTriangles;
  	}
  
  	void setFirstVertex( int firstVertex )
  	{
  		m_firstVertex = firstVertex;
  	}
  
  	void setFirstTriangle( int firstTriangle )
  	{
  		m_firstTriangle = firstTriangle;
  	}
  
  	void setMaxLinks( int maxLinks )
  	{
  		m_maxLinks = maxLinks;
  	}
  
  	void setNumLinks( int numLinks )
  	{
  		m_numLinks = numLinks;
  	}
  
  	void setFirstLink( int firstLink )
  	{
  		m_firstLink = firstLink;
  	}
  
  	int getMaxLinks()
  	{
  		return m_maxLinks;
  	}
  
  	int getNumLinks()
  	{
  		return m_numLinks;
  	}
  
  	int getFirstLink()
  	{
  		return m_firstLink;
  	}
  
  	btSoftBody* getSoftBody()
  	{
  		return m_softBody;
  	}
  
  };
  
  
  
  class btOpenCLSoftBodySolver : public btSoftBodySolver
  {
  public:
  	
  
  	struct UIntVector3
  	{
  		UIntVector3()
  		{
  			x = 0;
  			y = 0;
  			z = 0;
  			_padding = 0;
  		}
  		
  		UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ )
  		{
  			x = x_;
  			y = y_;
  			z = z_;
  			_padding = 0;
  		}
  			
  		unsigned int x;
  		unsigned int y;
  		unsigned int z;
  		unsigned int _padding;
  	};
  
  	struct CollisionObjectIndices
  	{
  		CollisionObjectIndices( int f, int e )
  		{
  			firstObject = f;
  			endObject = e;
  		}
  
  		int firstObject;
  		int endObject;
  	};
  
  	btSoftBodyLinkDataOpenCL m_linkData;
  	btSoftBodyVertexDataOpenCL m_vertexData;
  	btSoftBodyTriangleDataOpenCL m_triangleData;
  
  protected:
  
  	CLFunctions m_clFunctions;
  
  	/** Variable to define whether we need to update solver constants on the next iteration */
  	bool m_updateSolverConstants;
  
  	bool m_shadersInitialized;
  
  	/** 
  	 * Cloths owned by this solver.
  	 * Only our cloths are in this array.
  	 */
  	btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet;
  
  	/** Acceleration value to be applied to all non-static vertices in the solver. 
  	 * Index n is cloth n, array sized by number of cloths in the world not the solver. 
  	 */
  	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_perClothAcceleration;
  	btOpenCLBuffer<Vectormath::Aos::Vector3>			m_clPerClothAcceleration;
  
  	/** Wind velocity to be applied normal to all non-static vertices in the solver. 
  	 * Index n is cloth n, array sized by number of cloths in the world not the solver. 
  	 */
  	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_perClothWindVelocity;
  	btOpenCLBuffer<Vectormath::Aos::Vector3>			m_clPerClothWindVelocity;
  
  	/** Velocity damping factor */
  	btAlignedObjectArray< float >						m_perClothDampingFactor;
  	btOpenCLBuffer<float>								m_clPerClothDampingFactor;
  
  	/** Velocity correction coefficient */
  	btAlignedObjectArray< float >						m_perClothVelocityCorrectionCoefficient;
  	btOpenCLBuffer<float>								m_clPerClothVelocityCorrectionCoefficient;
  
  	/** Lift parameter for wind effect on cloth. */
  	btAlignedObjectArray< float >						m_perClothLiftFactor;
  	btOpenCLBuffer<float>								m_clPerClothLiftFactor;
  	
  	/** Drag parameter for wind effect on cloth. */
  	btAlignedObjectArray< float >						m_perClothDragFactor;
  	btOpenCLBuffer<float>								m_clPerClothDragFactor;
  
  	/** Density of the medium in which each cloth sits */
  	btAlignedObjectArray< float >						m_perClothMediumDensity;
  	btOpenCLBuffer<float>								m_clPerClothMediumDensity;
  
  	/** 
  	 * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects.
  	 */
  	btAlignedObjectArray< CollisionObjectIndices >		m_perClothCollisionObjects;
  	btOpenCLBuffer<CollisionObjectIndices>				m_clPerClothCollisionObjects;
  
  	/** 
  	 * Collision shapes being passed across to the cloths in this solver.
  	 */
  	btAlignedObjectArray< CollisionShapeDescription >	m_collisionObjectDetails;
  	btOpenCLBuffer< CollisionShapeDescription >			m_clCollisionObjectDetails;
  
  
  	
  	/** 
  	 * Friction coefficient for each cloth
  	 */
  	btAlignedObjectArray< float >	m_perClothFriction;
  	btOpenCLBuffer< float >			m_clPerClothFriction;
  
  
  
  	cl_kernel		m_prepareLinksKernel;
  	cl_kernel		m_solvePositionsFromLinksKernel;
  	cl_kernel		m_updateConstantsKernel;
  	cl_kernel		m_integrateKernel;
  	cl_kernel		m_addVelocityKernel;
  	cl_kernel		m_updatePositionsFromVelocitiesKernel;
  	cl_kernel		m_updateVelocitiesFromPositionsWithoutVelocitiesKernel;
  	cl_kernel		m_updateVelocitiesFromPositionsWithVelocitiesKernel;
  	cl_kernel		m_vSolveLinksKernel;
  	cl_kernel		m_solveCollisionsAndUpdateVelocitiesKernel;
  	cl_kernel		m_resetNormalsAndAreasKernel;
  	cl_kernel		m_normalizeNormalsAndAreasKernel;
  	cl_kernel		m_updateSoftBodiesKernel;
  
  	cl_kernel		m_outputToVertexArrayKernel;
  	cl_kernel		m_applyForcesKernel;
  
  	cl_command_queue	m_cqCommandQue;
  	cl_context			m_cxMainContext;
  	
  	size_t				m_defaultWorkGroupSize;
  
  
  	virtual bool buildShaders();
  
  	void resetNormalsAndAreas( int numVertices );
  
  	void normalizeNormalsAndAreas( int numVertices );
  
  	void executeUpdateSoftBodies( int firstTriangle, int numTriangles );
  
  	void prepareCollisionConstraints();
  	
  	Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a );
  
  	void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce );
  	
  
  	int findSoftBodyIndex( const btSoftBody* const softBody );
  
  	virtual void applyForces( float solverdt );
  
  	/**
  	 * Integrate motion on the solver.
  	 */
  	virtual void integrate( float solverdt );
  
  	virtual void updateConstants( float timeStep );
  
  	float computeTriangleArea( 
  		const Vectormath::Aos::Point3 &vertex0,
  		const Vectormath::Aos::Point3 &vertex1,
  		const Vectormath::Aos::Point3 &vertex2 );
  
  
  	//////////////////////////////////////
  	// Kernel dispatches
  	void prepareLinks();
  
  	void solveLinksForVelocity( int startLink, int numLinks, float kst );
  
  	void updatePositionsFromVelocities( float solverdt );
  
  	virtual void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
  	
  	void updateVelocitiesFromPositionsWithVelocities( float isolverdt );
  
  	void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt );
  	virtual void solveCollisionsAndUpdateVelocities( float isolverdt );
  
  	// End kernel dispatches
  	/////////////////////////////////////
  	
  	void updateBounds();
  
  	void releaseKernels();
  
  public:
  	btOpenCLSoftBodySolver(cl_command_queue queue,cl_context	ctx);
  
  	virtual ~btOpenCLSoftBodySolver();
  
  
  	
  	btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
  
  	virtual btSoftBodyLinkData &getLinkData();
  
  	virtual btSoftBodyVertexData &getVertexData();
  
  	virtual btSoftBodyTriangleData &getTriangleData();
  
  	virtual SolverTypes getSolverType() const
  	{
  		return CL_SOLVER;
  	}
  
  
  	virtual bool checkInitialized();
  
  	virtual void updateSoftBodies( );
  
  	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
  
  	virtual void copyBackToSoftBodies();
  
  	virtual void solveConstraints( float solverdt );
  
  	virtual void predictMotion( float solverdt );
  
  	virtual void processCollision( btSoftBody *, btCollisionObject* );
  
  	virtual void processCollision( btSoftBody*, btSoftBody* );
  
  	virtual void	setDefaultWorkgroupSize(size_t workGroupSize)
  	{
  		m_defaultWorkGroupSize = workGroupSize;
  	}
  	virtual size_t	getDefaultWorkGroupSize() const
  	{
  		return m_defaultWorkGroupSize;
  	}
  	
  }; // btOpenCLSoftBodySolver
  
  
  /** 
   * Class to manage movement of data from a solver to a given target.
   * This version is the CL to CPU version.
   */
  class btSoftBodySolverOutputCLtoCPU : public btSoftBodySolverOutput
  {
  protected:
  
  public:
  	btSoftBodySolverOutputCLtoCPU()
  	{
  	}
  
  	/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
  	virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
  };
  
  
  
  #endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
  