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one more debug option for a kernel, to fix a Mac OSX issue (one more to go...)

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erwin coumans
2013-12-16 12:36:22 -08:00
parent fc474a0e62
commit 1dce953d76
1 changed files with 81 additions and 1 deletions
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82
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -21,7 +21,7 @@ bool clipConcaveFacesAndFindContactsCPU = false;//false;//true;
bool clipConvexFacesAndFindContactsCPU = false;//false;//true;
bool reduceConcaveContactsOnGPU = true;//false;
bool reduceConvexContactsOnGPU = true;//false;
bool findConvexClippingFacesGPU = true;
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
@@ -3825,6 +3825,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
worldVertsA1GPU.resize(vertexFaceCapacity*nPairs);
worldVertsB2GPU.resize(vertexFaceCapacity*nPairs);
if (findConvexClippingFacesGPU)
{
B3_PROFILE("findClippingFacesKernel");
b3BufferInfoCL bInfo[] = {
@@ -3852,6 +3853,85 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
launcher.launch1D( num);
clFinish(m_queue);
} else
{
float minDist = -1e30f;
float maxDist = 0.02f;
b3AlignedObjectArray<b3ConvexPolyhedronCL> hostConvexData;
convexData.copyToHost(hostConvexData);
b3AlignedObjectArray<b3Collidable> hostCollidables;
gpuCollidables.copyToHost(hostCollidables);
b3AlignedObjectArray<int> hostHasSepNormals;
m_hasSeparatingNormals.copyToHost(hostHasSepNormals);
b3AlignedObjectArray<b3Vector3> cpuSepNormals;
m_sepNormals.copyToHost(cpuSepNormals);
b3AlignedObjectArray<b3Int4> hostPairs;
pairs->copyToHost(hostPairs);
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
bodyBuf->copyToHost(hostBodyBuf);
//worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
worldVertsB1GPU.copyToHost(worldVertsB1CPU);
b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
worldNormalsACPU.resize(nPairs);
b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
worldVertsA1CPU.resize(worldVertsA1GPU.size());
b3AlignedObjectArray<b3Vector3> hostVertices;
gpuVertices.copyToHost(hostVertices);
b3AlignedObjectArray<b3GpuFace> hostFaces;
gpuFaces.copyToHost(hostFaces);
b3AlignedObjectArray<int> hostIndices;
gpuIndices.copyToHost(hostIndices);
for (int i=0;i<nPairs;i++)
{
int bodyIndexA = hostPairs[i].x;
int bodyIndexB = hostPairs[i].y;
int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
if (hostHasSepNormals[i])
{
b3FindClippingFaces(cpuSepNormals[i],
&hostConvexData[shapeIndexA],
&hostConvexData[shapeIndexB],
hostBodyBuf[bodyIndexA].m_pos,hostBodyBuf[bodyIndexA].m_quat,
hostBodyBuf[bodyIndexB].m_pos,hostBodyBuf[bodyIndexB].m_quat,
&worldVertsA1CPU.at(0),&worldNormalsACPU.at(0),
&worldVertsB1CPU.at(0),
vertexFaceCapacity,minDist,maxDist,
&hostVertices.at(0),&hostFaces.at(0),
&hostIndices.at(0),
&hostVertices.at(0),&hostFaces.at(0),
&hostIndices.at(0),&clippingFacesOutCPU.at(0),i);
}
}
clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
worldNormalsAGPU.copyFromHost(worldNormalsACPU);
worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
}