Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

report when compound pair capacity is exceeded (and avoid crash)

Browse Source 
add tetrahedron, reorganized demos
This commit is contained in:
erwincoumans
2013-07-30 17:00:50 -07:00
parent 2793a174c6
commit 1c0fc6bc2d
14 changed files with 69 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@@ -1685,6 +1685,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
int compoundPairCapacity,
const b3OpenCLArray<b3ConvexPolyhedronCL>& convexData,
const b3OpenCLArray<b3Vector3>& gpuVertices,
const b3OpenCLArray<b3Vector3>& gpuUniqueEdges,
@@ -1884,7 +1885,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
m_numConcavePairsOut.resize(0);
m_numConcavePairsOut.push_back(0);
int compoundPairCapacity=65536*10;
m_gpuCompoundPairs.resize(compoundPairCapacity);
m_gpuCompoundSepNormals.resize(compoundPairCapacity);
@@ -1965,7 +1966,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
if (numConcavePairs > maxTriConvexPairCapacity)
{
static int exceeded_maxTriConvexPairCapacity_count = 0;
printf("Rxceeded %d times the maxTriConvexPairCapacity (found %d but max is %d)\n", exceeded_maxTriConvexPairCapacity_count++,
b3Error("Rxceeded %d times the maxTriConvexPairCapacity (found %d but max is %d)\n", exceeded_maxTriConvexPairCapacity_count++,
numConcavePairs,maxTriConvexPairCapacity);
numConcavePairs = maxTriConvexPairCapacity;
}
@@ -2043,7 +2044,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
numCompoundPairs = m_numCompoundPairsOut.at(0);
//printf("numCompoundPairs =%d\n",numCompoundPairs );
if (numCompoundPairs > compoundPairCapacity)
{
b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
numCompoundPairs = compoundPairCapacity;
}
m_gpuCompoundPairs.resize(numCompoundPairs);
m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
@@ -2079,6 +2083,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
if (nContacts>maxContactCapacity)
{
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
nContacts = maxContactCapacity;
}
#endif
}
@@ -2159,6 +2169,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
if (nContacts >= maxContactCapacity)
{
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
nContacts = maxContactCapacity;
}
}
}
@@ -2424,6 +2439,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
if (nContacts>maxContactCapacity)
{
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
nContacts = maxContactCapacity;
}
contactOut->resize(nContacts);
}
}

1
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
View File

@@ -79,6 +79,7 @@ struct GpuSatCollision
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
int compoundPairCapacity,
const b3OpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
const b3OpenCLArray<b3Vector3>& vertices,
const b3OpenCLArray<b3Vector3>& uniqueEdges,

2
src/Bullet3OpenCL/RigidBody/b3Config.h
View File

@@ -7,6 +7,7 @@ struct b3Config
int m_maxConvexShapes;
int m_maxBroadphasePairs;
int m_maxContactCapacity;
int m_compoundPairCapacity;
int m_maxVerticesPerFace;
int m_maxFacesPerShape;
@@ -31,6 +32,7 @@ struct b3Config
m_maxConvexShapes = m_maxConvexBodies;
m_maxBroadphasePairs = 16*m_maxConvexBodies;
m_maxContactCapacity = m_maxBroadphasePairs;
m_compoundPairCapacity = 1524*1024;
}
};

1
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
View File

@@ -738,6 +738,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_pBufContactOutGPU,
nContactOut,
m_data->m_config.m_maxContactCapacity,
m_data->m_config.m_compoundPairCapacity,
*m_data->m_convexPolyhedraGPU,
*m_data->m_convexVerticesGPU,
*m_data->m_uniqueEdgesGPU,