remove the 'exit' calls from the OpenCL soft body solver. Use the solver->checkInitialized() method, after solver->optimize() to see if the kernels build OK.
This commit is contained in:
erwin.coumans
@@ -430,32 +430,32 @@ void btOpenCLSoftBodySolverSIMDAware::solveConstraints( float solverdt )
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void btOpenCLSoftBodySolverSIMDAware::solveLinksForPosition( int startWave, int numWaves, float kst, float ti )
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{
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cl_int ciErrNum;
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,0, sizeof(int), &startWave);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,1, sizeof(int), &numWaves);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,2, sizeof(float), &kst);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,3, sizeof(float), &ti);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startWave);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numWaves);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clNumBatchesAndVerticesWithinWaves.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clWavefrontVerticesGlobalAddresses.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinkVerticesLocalAddresses.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clNumBatchesAndVerticesWithinWaves.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clWavefrontVerticesGlobalAddresses.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinkVerticesLocalAddresses.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,9, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,10, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,9, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,10, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,11, WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_int2), 0);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,12, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float4), 0);
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ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,13, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float), 0);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,11, WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_int2), 0);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,12, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float4), 0);
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ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,13, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float), 0);
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size_t numWorkItems = workGroupSize*((numWaves*WAVEFRONT_SIZE + (workGroupSize-1)) / workGroupSize);
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ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&workGroupSize,0,0,0);
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ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&workGroupSize,0,0,0);
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if( ciErrNum!= CL_SUCCESS )
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{
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btAssert( 0 && "enqueueNDRangeKernel(solvePositionsFromLinksKernel)");
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btAssert( 0 && "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)");
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}
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} // solveLinksForPosition
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@@ -471,27 +471,27 @@ void btOpenCLSoftBodySolverSIMDAware::solveCollisionsAndUpdateVelocities( float
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cl_int ciErrNum;
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int numVerts = m_vertexData.getNumVertices();
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
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ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 11, sizeof(CollisionShapeDescription)*16,0);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
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ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 11, sizeof(CollisionShapeDescription)*16,0);
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size_t numWorkItems = workGroupSize*((m_vertexData.getNumVertices() + (workGroupSize-1)) / workGroupSize);
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if (numWorkItems)
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{
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ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0,0,0);
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ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0,0,0);
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if( ciErrNum != CL_SUCCESS )
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{
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btAssert( 0 && "enqueueNDRangeKernel(solveCollisionsAndUpdateVelocitiesKernel)");
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btAssert( 0 && "enqueueNDRangeKernel(m_solveCollisionsAndUpdateVelocitiesKernel)");
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}
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}
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@@ -504,11 +504,13 @@ void btOpenCLSoftBodySolverSIMDAware::solveCollisionsAndUpdateVelocities( float
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bool btOpenCLSoftBodySolverSIMDAware::buildShaders()
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{
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bool returnVal = true;
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releaseKernels();
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if( m_shadersInitialized )
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return true;
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m_clFunctions.clearKernelCompilationFailures();
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char *wavefrontMacros = new char[256];
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sprintf(
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@@ -520,25 +522,27 @@ bool btOpenCLSoftBodySolverSIMDAware::buildShaders()
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WAVEFRONT_BLOCK_MULTIPLIER,
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WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize());
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updatePositionsFromVelocitiesKernel = clFunctions.compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", "" );
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solvePositionsFromLinksKernel = clFunctions.compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros );
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updateVelocitiesFromPositionsWithVelocitiesKernel = clFunctions.compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", "" );
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updateVelocitiesFromPositionsWithoutVelocitiesKernel = clFunctions.compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", "" );
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integrateKernel = clFunctions.compileCLKernelFromString( IntegrateCLString, "IntegrateKernel", "" );
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applyForcesKernel = clFunctions.compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel", "" );
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solveCollisionsAndUpdateVelocitiesKernel = clFunctions.compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", "" );
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m_updatePositionsFromVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", "" );
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m_solvePositionsFromLinksKernel = m_clFunctions.compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros );
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m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdateNodesCLString, "m_updateVelocitiesFromPositionsWithVelocitiesKernel", "" );
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m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdatePositionsCLString, "m_updateVelocitiesFromPositionsWithoutVelocitiesKernel", "" );
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m_integrateKernel = m_clFunctions.compileCLKernelFromString( IntegrateCLString, "IntegrateKernel", "" );
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m_applyForcesKernel = m_clFunctions.compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel", "" );
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m_solveCollisionsAndUpdateVelocitiesKernel = m_clFunctions.compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", "" );
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// TODO: Rename to UpdateSoftBodies
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resetNormalsAndAreasKernel = clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel", "" );
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normalizeNormalsAndAreasKernel = clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel", "" );
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updateSoftBodiesKernel = clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel", "" );
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m_resetNormalsAndAreasKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel", "" );
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m_normalizeNormalsAndAreasKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel", "" );
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m_updateSoftBodiesKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel", "" );
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delete [] wavefrontMacros;
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if( returnVal )
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if( m_clFunctions.getKernelCompilationFailures()==0)
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{
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m_shadersInitialized = true;
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}
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return returnVal;
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return m_shadersInitialized;
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}
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@@ -603,7 +607,7 @@ static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectA
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mapOfVerticesInBatches.resize( batch + 1 );
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// Resize maps with total number of vertices
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mapOfVerticesInBatches[batch].resize( numVertices, false );
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mapOfVerticesInBatches[batch].resize( numVertices+1, false );
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// Insert vertices into this batch too
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for( int link = 0; link < wavefront.size(); ++link )
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