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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.

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This commit is contained in:
erwin.coumans
2011-06-30 00:23:42 +00:00
parent 4cc502b24a
commit 251bb4e727
4 changed files with 262 additions and 230 deletions
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6
Demos/OpenCLClothDemo/cl_cloth_demo.cpp
View File

@@ -496,6 +496,12 @@ void initBullet(void)
g_solver->optimize( m_dynamicsWorld->getSoftBodyArray() );
if (!g_solver->checkInitialized())
{
printf("OpenCL kernel initialization ?failed\n");
exit(0);
}
}

344
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
View File

@@ -24,6 +24,8 @@ subject to the following restrictions:
#include "LinearMath/btQuickprof.h"
#include <limits.h>
//#define BT_SUPPRESS_OPENCL_ASSERTS
#ifdef USE_MINICL
#include "MiniCL/cl.h"
#else //USE_MINICL
@@ -604,7 +606,7 @@ btOpenCLSoftBodySolver::btOpenCLSoftBodySolver(cl_command_queue queue, cl_contex
m_linkData(queue, ctx),
m_vertexData(queue, ctx),
m_triangleData(queue, ctx),
clFunctions(queue, ctx),
m_clFunctions(queue, ctx),
m_clPerClothAcceleration(queue, ctx, &m_perClothAcceleration, true ),
m_clPerClothWindVelocity(queue, ctx, &m_perClothWindVelocity, true ),
m_clPerClothDampingFactor(queue,ctx, &m_perClothDampingFactor, true ),
@@ -626,21 +628,21 @@ btOpenCLSoftBodySolver::btOpenCLSoftBodySolver(cl_command_queue queue, cl_contex
m_shadersInitialized = false;
prepareLinksKernel = 0;
solvePositionsFromLinksKernel = 0;
updateConstantsKernel = 0;
integrateKernel = 0;
addVelocityKernel = 0;
updatePositionsFromVelocitiesKernel = 0;
updateVelocitiesFromPositionsWithoutVelocitiesKernel = 0;
updateVelocitiesFromPositionsWithVelocitiesKernel = 0;
vSolveLinksKernel = 0;
solveCollisionsAndUpdateVelocitiesKernel = 0;
resetNormalsAndAreasKernel = 0;
resetNormalsAndAreasKernel = 0;
normalizeNormalsAndAreasKernel = 0;
outputToVertexArrayKernel = 0;
applyForcesKernel = 0;
m_prepareLinksKernel = 0;
m_solvePositionsFromLinksKernel = 0;
m_updateConstantsKernel = 0;
m_integrateKernel = 0;
m_addVelocityKernel = 0;
m_updatePositionsFromVelocitiesKernel = 0;
m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = 0;
m_updateVelocitiesFromPositionsWithVelocitiesKernel = 0;
m_vSolveLinksKernel = 0;
m_solveCollisionsAndUpdateVelocitiesKernel = 0;
m_resetNormalsAndAreasKernel = 0;
m_updateSoftBodiesKernel = 0;
m_normalizeNormalsAndAreasKernel = 0;
m_outputToVertexArrayKernel = 0;
m_applyForcesKernel = 0;
}
btOpenCLSoftBodySolver::~btOpenCLSoftBodySolver()
@@ -650,20 +652,20 @@ btOpenCLSoftBodySolver::~btOpenCLSoftBodySolver()
void btOpenCLSoftBodySolver::releaseKernels()
{
RELEASE_CL_KERNEL( prepareLinksKernel );
RELEASE_CL_KERNEL( solvePositionsFromLinksKernel );
RELEASE_CL_KERNEL( updateConstantsKernel );
RELEASE_CL_KERNEL( integrateKernel );
RELEASE_CL_KERNEL( addVelocityKernel );
RELEASE_CL_KERNEL( updatePositionsFromVelocitiesKernel );
RELEASE_CL_KERNEL( updateVelocitiesFromPositionsWithoutVelocitiesKernel );
RELEASE_CL_KERNEL( updateVelocitiesFromPositionsWithVelocitiesKernel );
RELEASE_CL_KERNEL( vSolveLinksKernel );
RELEASE_CL_KERNEL( solveCollisionsAndUpdateVelocitiesKernel );
RELEASE_CL_KERNEL( resetNormalsAndAreasKernel );
RELEASE_CL_KERNEL( normalizeNormalsAndAreasKernel );
RELEASE_CL_KERNEL( outputToVertexArrayKernel );
RELEASE_CL_KERNEL( applyForcesKernel );
RELEASE_CL_KERNEL( m_prepareLinksKernel );
RELEASE_CL_KERNEL( m_solvePositionsFromLinksKernel );
RELEASE_CL_KERNEL( m_updateConstantsKernel );
RELEASE_CL_KERNEL( m_integrateKernel );
RELEASE_CL_KERNEL( m_addVelocityKernel );
RELEASE_CL_KERNEL( m_updatePositionsFromVelocitiesKernel );
RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithoutVelocitiesKernel );
RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithVelocitiesKernel );
RELEASE_CL_KERNEL( m_vSolveLinksKernel );
RELEASE_CL_KERNEL( m_solveCollisionsAndUpdateVelocitiesKernel );
RELEASE_CL_KERNEL( m_resetNormalsAndAreasKernel );
RELEASE_CL_KERNEL( m_normalizeNormalsAndAreasKernel );
RELEASE_CL_KERNEL( m_outputToVertexArrayKernel );
RELEASE_CL_KERNEL( m_applyForcesKernel );
m_shadersInitialized = false;
}
@@ -837,18 +839,18 @@ btSoftBodyTriangleData &btOpenCLSoftBodySolver::getTriangleData()
void btOpenCLSoftBodySolver::resetNormalsAndAreas( int numVertices )
{
cl_int ciErrNum;
ciErrNum = clSetKernelArg(resetNormalsAndAreasKernel, 0, sizeof(numVertices), (void*)&numVertices); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clSetKernelArg(resetNormalsAndAreasKernel, 1, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexNormal.m_buffer);//oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clSetKernelArg(resetNormalsAndAreasKernel, 2, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexArea.m_buffer); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 0, sizeof(numVertices), (void*)&numVertices); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 1, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexNormal.m_buffer);//oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 2, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexArea.m_buffer); //oclCHECKERROR(ciErrNum, CL_SUCCESS);
size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
if (numWorkItems)
{
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, resetNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0 );
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_resetNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0 );
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(resetNormalsAndAreasKernel)" );
btAssert( 0 && "enqueueNDRangeKernel(m_resetNormalsAndAreasKernel)" );
}
}
@@ -859,17 +861,17 @@ void btOpenCLSoftBodySolver::normalizeNormalsAndAreas( int numVertices )
cl_int ciErrNum;
ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 0, sizeof(int),(void*) &numVertices);
ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 1, sizeof(cl_mem), &m_vertexData.m_clVertexTriangleCount.m_buffer);
ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
ciErrNum = clSetKernelArg(normalizeNormalsAndAreasKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 0, sizeof(int),(void*) &numVertices);
ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 1, sizeof(cl_mem), &m_vertexData.m_clVertexTriangleCount.m_buffer);
ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
if (numWorkItems)
{
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, normalizeNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_normalizeNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(normalizeNormalsAndAreasKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)");
}
}
@@ -879,20 +881,20 @@ void btOpenCLSoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int num
{
cl_int ciErrNum;
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 0, sizeof(int), (void*) &firstTriangle);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 1, sizeof(int), &numTriangles);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 2, sizeof(cl_mem), &m_triangleData.m_clVertexIndices.m_buffer);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 6, sizeof(cl_mem), &m_triangleData.m_clNormal.m_buffer);
ciErrNum = clSetKernelArg(updateSoftBodiesKernel, 7, sizeof(cl_mem), &m_triangleData.m_clArea.m_buffer);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 0, sizeof(int), (void*) &firstTriangle);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 1, sizeof(int), &numTriangles);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 2, sizeof(cl_mem), &m_triangleData.m_clVertexIndices.m_buffer);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 6, sizeof(cl_mem), &m_triangleData.m_clNormal.m_buffer);
ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 7, sizeof(cl_mem), &m_triangleData.m_clArea.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((numTriangles + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, updateSoftBodiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_updateSoftBodiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(normalizeNormalsAndAreasKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)");
}
}
@@ -956,28 +958,28 @@ void btOpenCLSoftBodySolver::applyForces( float solverdt )
cl_int ciErrNum ;
int numVerts = m_vertexData.getNumVertices();
ciErrNum = clSetKernelArg(applyForcesKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(applyForcesKernel, 1, sizeof(float), &solverdt);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 1, sizeof(float), &solverdt);
float fl = FLT_EPSILON;
ciErrNum = clSetKernelArg(applyForcesKernel, 2, sizeof(float), &fl);
ciErrNum = clSetKernelArg(applyForcesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel, 7, sizeof(cl_mem), &m_clPerClothLiftFactor.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel, 8 ,sizeof(cl_mem), &m_clPerClothDragFactor.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel, 9, sizeof(cl_mem), &m_clPerClothWindVelocity.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel,10, sizeof(cl_mem), &m_clPerClothAcceleration.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel,11, sizeof(cl_mem), &m_clPerClothMediumDensity.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel,12, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(applyForcesKernel,13, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 2, sizeof(float), &fl);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 7, sizeof(cl_mem), &m_clPerClothLiftFactor.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 8 ,sizeof(cl_mem), &m_clPerClothDragFactor.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel, 9, sizeof(cl_mem), &m_clPerClothWindVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel,10, sizeof(cl_mem), &m_clPerClothAcceleration.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel,11, sizeof(cl_mem), &m_clPerClothMediumDensity.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel,12, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(m_applyForcesKernel,13, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
if (numWorkItems)
{
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,applyForcesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_applyForcesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(applyForcesKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_applyForcesKernel)");
}
}
@@ -995,21 +997,21 @@ void btOpenCLSoftBodySolver::integrate( float solverdt )
cl_int ciErrNum;
int numVerts = m_vertexData.getNumVertices();
ciErrNum = clSetKernelArg(integrateKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(integrateKernel, 1, sizeof(float), &solverdt);
ciErrNum = clSetKernelArg(integrateKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(integrateKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(integrateKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(integrateKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(integrateKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(m_integrateKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(m_integrateKernel, 1, sizeof(float), &solverdt);
ciErrNum = clSetKernelArg(m_integrateKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(m_integrateKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_integrateKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_integrateKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(m_integrateKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
if (numWorkItems)
{
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,integrateKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_integrateKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(integrateKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_integrateKernel)");
}
}
@@ -1208,18 +1210,18 @@ void btOpenCLSoftBodySolver::prepareLinks()
cl_int ciErrNum;
int numLinks = m_linkData.getNumLinks();
ciErrNum = clSetKernelArg(prepareLinksKernel,0, sizeof(int), &numLinks);
ciErrNum = clSetKernelArg(prepareLinksKernel,1, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
ciErrNum = clSetKernelArg(prepareLinksKernel,2, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
ciErrNum = clSetKernelArg(prepareLinksKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(prepareLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
ciErrNum = clSetKernelArg(prepareLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
ciErrNum = clSetKernelArg(m_prepareLinksKernel,0, sizeof(int), &numLinks);
ciErrNum = clSetKernelArg(m_prepareLinksKernel,1, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
ciErrNum = clSetKernelArg(m_prepareLinksKernel,2, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
ciErrNum = clSetKernelArg(m_prepareLinksKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(m_prepareLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
ciErrNum = clSetKernelArg(m_prepareLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_linkData.getNumLinks() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,prepareLinksKernel, 1 , NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_prepareLinksKernel, 1 , NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(prepareLinksKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_prepareLinksKernel)");
}
}
@@ -1229,17 +1231,17 @@ void btOpenCLSoftBodySolver::updatePositionsFromVelocities( float solverdt )
cl_int ciErrNum;
int numVerts = m_vertexData.getNumVertices();
ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,1, sizeof(float), &solverdt);
ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(updatePositionsFromVelocitiesKernel,4, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,1, sizeof(float), &solverdt);
ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,4, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,updatePositionsFromVelocitiesKernel, 1, NULL, &numWorkItems,&m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updatePositionsFromVelocitiesKernel, 1, NULL, &numWorkItems,&m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(updatePositionsFromVelocitiesKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_updatePositionsFromVelocitiesKernel)");
}
}
@@ -1248,21 +1250,21 @@ void btOpenCLSoftBodySolver::solveLinksForPosition( int startLink, int numLinks,
{
cl_int ciErrNum;
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,0, sizeof(int), &startLink);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,1, sizeof(int), &numLinks);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,2, sizeof(float), &kst);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,3, sizeof(float), &ti);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startLink);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numLinks);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&m_defaultWorkGroupSize,0,0,0);
if( ciErrNum!= CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(solvePositionsFromLinksKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)");
}
} // solveLinksForPosition
@@ -1272,19 +1274,19 @@ void btOpenCLSoftBodySolver::solveLinksForVelocity( int startLink, int numLinks,
{
cl_int ciErrNum;
ciErrNum = clSetKernelArg(vSolveLinksKernel, 0, sizeof(int), &startLink);
ciErrNum = clSetKernelArg(vSolveLinksKernel, 1, sizeof(int), &numLinks);
ciErrNum = clSetKernelArg(vSolveLinksKernel, 2, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
ciErrNum = clSetKernelArg(vSolveLinksKernel, 3, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
ciErrNum = clSetKernelArg(vSolveLinksKernel, 4, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
ciErrNum = clSetKernelArg(vSolveLinksKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(vSolveLinksKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 0, sizeof(int), &startLink);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 1, sizeof(int), &numLinks);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 2, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 3, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 4, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer);
ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,vSolveLinksKernel,1,NULL,&numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_vSolveLinksKernel,1,NULL,&numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(vSolveLinksKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_vSolveLinksKernel)");
}
}
@@ -1294,21 +1296,21 @@ void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float
cl_int ciErrNum;
int numVerts = m_vertexData.getNumVertices();
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel,0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 1, sizeof(float), &isolverdt);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 5, sizeof(cl_mem), &m_clPerClothVelocityCorrectionCoefficient.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 6, sizeof(cl_mem), &m_clPerClothDampingFactor.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithVelocitiesKernel, 8, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel,0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, sizeof(float), &isolverdt);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 5, sizeof(cl_mem), &m_clPerClothVelocityCorrectionCoefficient.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 6, sizeof(cl_mem), &m_clPerClothDampingFactor.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 8, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,updateVelocitiesFromPositionsWithVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(updateVelocitiesFromPositionsWithVelocitiesKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithVelocitiesKernel)");
}
@@ -1319,20 +1321,20 @@ void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( flo
cl_int ciErrNum;
int numVerts = m_vertexData.getNumVertices();
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, sizeof(float), &isolverdt);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 4, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 6, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(updateVelocitiesFromPositionsWithoutVelocitiesKernel, 7, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, sizeof(float), &isolverdt);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 4, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 6, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 7, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
}
} // updateVelocitiesFromPositionsWithoutVelocities
@@ -1352,25 +1354,25 @@ void btOpenCLSoftBodySolver::solveCollisionsAndUpdateVelocities( float isolverdt
cl_int ciErrNum;
int numVerts = m_vertexData.getNumVertices();
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer);
ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer);
size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize);
if (numWorkItems)
{
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0);
if( ciErrNum != CL_SUCCESS )
{
btAssert( 0 && "enqueueNDRangeKernel(updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
btAssert( 0 && "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)");
}
}
@@ -1443,7 +1445,7 @@ void btSoftBodySolverOutputCLtoCPU::copySoftBodyToVertexBuffer( const btSoftBody
cl_kernel CLFunctions::compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros )
{
printf("compiling kernelName: %s ",kernelName);
cl_kernel kernel;
cl_kernel kernel=0;
cl_int ciErrNum;
size_t program_length = strlen(kernelSource);
@@ -1485,8 +1487,11 @@ cl_kernel CLFunctions::compileCLKernelFromString( const char* kernelSource, cons
printf("Error in clBuildProgram, Line %u in file %s, Log: \n%s\n !!!\n\n", __LINE__, __FILE__, build_log);
delete[] build_log;
}
#ifndef BT_SUPPRESS_OPENCL_ASSERTS
btAssert(0);
exit(0);
#endif //BT_SUPPRESS_OPENCL_ASSERTS
m_kernelCompilationFailures++;
return 0;
}
@@ -1495,12 +1500,17 @@ cl_kernel CLFunctions::compileCLKernelFromString( const char* kernelSource, cons
if (ciErrNum != CL_SUCCESS)
{
printf("Error in clCreateKernel, Line %u in file %s !!!\n\n", __LINE__, __FILE__);
#ifndef BT_SUPPRESS_OPENCL_ASSERTS
btAssert(0);
exit(0);
#endif //BT_SUPPRESS_OPENCL_ASSERTS
m_kernelCompilationFailures++;
return 0;
}
printf("ready. \n");
delete [] compileFlags;
if (!kernel)
m_kernelCompilationFailures++;
return kernel;
}
@@ -1637,9 +1647,9 @@ int btOpenCLSoftBodySolver::findSoftBodyIndex( const btSoftBody* const softBody
bool btOpenCLSoftBodySolver::checkInitialized()
{
if( !m_shadersInitialized )
if( buildShaders() )
m_shadersInitialized = true;
// if( !m_shadersInitialized )
// if( buildShaders() )
// m_shadersInitialized = true;
return m_shadersInitialized;
}
@@ -1649,29 +1659,29 @@ bool btOpenCLSoftBodySolver::buildShaders()
// Ensure current kernels are released first
releaseKernels();
bool returnVal = true;
if( m_shadersInitialized )
return true;
prepareLinksKernel = clFunctions.compileCLKernelFromString( PrepareLinksCLString, "PrepareLinksKernel" );
updatePositionsFromVelocitiesKernel = clFunctions.compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel" );
solvePositionsFromLinksKernel = clFunctions.compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel" );
vSolveLinksKernel = clFunctions.compileCLKernelFromString( VSolveLinksCLString, "VSolveLinksKernel" );
updateVelocitiesFromPositionsWithVelocitiesKernel = clFunctions.compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel" );
updateVelocitiesFromPositionsWithoutVelocitiesKernel = clFunctions.compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel" );
solveCollisionsAndUpdateVelocitiesKernel = clFunctions.compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel" );
integrateKernel = clFunctions.compileCLKernelFromString( IntegrateCLString, "IntegrateKernel" );
applyForcesKernel = clFunctions.compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel" );
m_clFunctions.clearKernelCompilationFailures();
m_prepareLinksKernel = m_clFunctions.compileCLKernelFromString( PrepareLinksCLString, "m_prepareLinksKernel" );
m_updatePositionsFromVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel" );
m_solvePositionsFromLinksKernel = m_clFunctions.compileCLKernelFromString( SolvePositionsCLString, "m_solvePositionsFromLinksKernel" );
m_vSolveLinksKernel = m_clFunctions.compileCLKernelFromString( VSolveLinksCLString, "VSolveLinksKernel" );
m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdateNodesCLString, "m_updateVelocitiesFromPositionsWithVelocitiesKernel" );
m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdatePositionsCLString, "m_updateVelocitiesFromPositionsWithoutVelocitiesKernel" );
m_solveCollisionsAndUpdateVelocitiesKernel = m_clFunctions.compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel" );
m_integrateKernel = m_clFunctions.compileCLKernelFromString( IntegrateCLString, "IntegrateKernel" );
m_applyForcesKernel = m_clFunctions.compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel" );
// TODO: Rename to UpdateSoftBodies
resetNormalsAndAreasKernel = clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel" );
normalizeNormalsAndAreasKernel = clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel" );
updateSoftBodiesKernel = clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel" );
m_resetNormalsAndAreasKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel" );
m_normalizeNormalsAndAreasKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel" );
m_updateSoftBodiesKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel" );
if( returnVal )
if( m_clFunctions.getKernelCompilationFailures()==0 )
m_shadersInitialized = true;
return returnVal;
return m_shadersInitialized;
}

46
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h
View File

@@ -31,18 +31,30 @@ 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_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;
}
};
/**
@@ -273,7 +285,7 @@ public:
protected:
CLFunctions clFunctions;
CLFunctions m_clFunctions;
/** Variable to define whether we need to update solver constants on the next iteration */
bool m_updateSolverConstants;
@@ -340,22 +352,22 @@ protected:
cl_kernel prepareLinksKernel;
cl_kernel solvePositionsFromLinksKernel;
cl_kernel updateConstantsKernel;
cl_kernel integrateKernel;
cl_kernel addVelocityKernel;
cl_kernel updatePositionsFromVelocitiesKernel;
cl_kernel updateVelocitiesFromPositionsWithoutVelocitiesKernel;
cl_kernel updateVelocitiesFromPositionsWithVelocitiesKernel;
cl_kernel vSolveLinksKernel;
cl_kernel solveCollisionsAndUpdateVelocitiesKernel;
cl_kernel resetNormalsAndAreasKernel;
cl_kernel normalizeNormalsAndAreasKernel;
cl_kernel updateSoftBodiesKernel;
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 outputToVertexArrayKernel;
cl_kernel applyForcesKernel;
cl_kernel m_outputToVertexArrayKernel;
cl_kernel m_applyForcesKernel;
cl_command_queue m_cqCommandQue;
cl_context m_cxMainContext;

92
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp
View File

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