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fix cpu version of findCompoundPairs, in order to fix Mac OSX OpenCL compound issues

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This commit is contained in:
erwin coumans
2013-12-17 19:25:53 -08:00
parent 7bde13be62
commit 09ba86ea36
1 changed files with 18 additions and 7 deletions
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25
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -3340,7 +3340,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf; b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
bodyBuf->copyToHost(hostBodyBuf); bodyBuf->copyToHost(hostBodyBuf);
int numCompoundPairsOut=0;
b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut; b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
cpuCompoundPairsOut.resize(compoundPairCapacity); cpuCompoundPairsOut.resize(compoundPairCapacity);
@@ -3366,7 +3365,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int bodyIndexB = hostPairs[pairIndex].y; int bodyIndexB = hostPairs[pairIndex].y;
int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx; int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx; int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
if (cpuChildShapes.size())
{
findCompoundPairsKernel( findCompoundPairsKernel(
pairIndex, pairIndex,
bodyIndexA, bodyIndexA,
@@ -3381,19 +3381,30 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostAabbsLocalSpace, hostAabbsLocalSpace,
&cpuChildShapes[0], &cpuChildShapes[0],
&cpuCompoundPairsOut[0], &cpuCompoundPairsOut[0],
&numCompoundPairsOut, &numCompoundPairs,
compoundPairCapacity, compoundPairCapacity,
treeNodesCPU, treeNodesCPU,
subTreesCPU, subTreesCPU,
bvhInfoCPU bvhInfoCPU
); );
} }
if (numCompoundPairsOut)
{
// printf("numCompoundPairsOut=%d\n",numCompoundPairsOut);
} }
m_numCompoundPairsOut.copyFromHostPointer(&numCompoundPairs,1,0,true);
if (numCompoundPairs)
{
b3CompoundOverlappingPair* ptr = (b3CompoundOverlappingPair*)&cpuCompoundPairsOut[0];
m_gpuCompoundPairs.copyFromHostPointer(ptr,numCompoundPairs,0,true);
}
//cpuCompoundPairsOut
} }
if (numCompoundPairs)
{
printf("numCompoundPairs=%d\n",numCompoundPairs);
}
if (numCompoundPairs > compoundPairCapacity) if (numCompoundPairs > compoundPairCapacity)
{ {
b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity); b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);