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add some command-line options

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--use_jacobi
--allow_opencl_cpu

b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel
b3SetCustomErrorMessageFunc, printf error and exit(0)
This commit is contained in:
erwin coumans
2013-11-19 13:42:53 -08:00
parent 54909160a7
commit 26dfaa441e
27 changed files with 491 additions and 448 deletions
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38
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -2898,11 +2898,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
oldHostContacts);
int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
// oldHostContacts);
if (contactIndex>=0)
@@ -2954,7 +2954,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_primitiveContactsKernel);
b3LauncherCL launcher(m_queue, m_primitiveContactsKernel,"m_primitiveContactsKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
launcher.setConst(maxContactCapacity);
@@ -3020,7 +3020,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel,"m_findSeparatingAxisKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
@@ -3043,7 +3043,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
numConcavePairs = m_numConcavePairsOut.at(0);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel,"m_bvhTraversalKernel");
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL());
@@ -3088,7 +3088,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_concaveSepNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numConcavePairs );
@@ -3132,7 +3132,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL(bvhInfo->getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel,"m_findCompoundPairsKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
launcher.setConst( compoundPairCapacity);
@@ -3263,7 +3263,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel);
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel,"m_processCompoundPairsPrimitivesKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numCompoundPairs );
launcher.setConst(maxContactCapacity);
@@ -3302,7 +3302,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel);
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel,"m_processCompoundPairsKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numCompoundPairs );
@@ -3348,7 +3348,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel);
b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel,"m_findConcaveSphereContactsKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numConcavePairs );
@@ -3406,7 +3406,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel);
b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel,"m_clipHullHullConcaveConvexKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numConcavePairs );
int num = numConcavePairs;
@@ -3474,7 +3474,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( worldVertsB1GPU.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findClippingFacesKernel);
b3LauncherCL launcher(m_queue, m_findClippingFacesKernel,"m_findClippingFacesKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( vertexFaceCapacity);
launcher.setConst( nPairs );
@@ -3509,7 +3509,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel);
b3LauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel,"m_clipFacesAndContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
@@ -3552,7 +3552,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_newContactReductionKernel);
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
launcher.setConst( nPairs );
@@ -3588,7 +3588,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_clipHullHullKernel);
b3LauncherCL launcher(m_queue, m_clipHullHullKernel,"m_clipHullHullKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
launcher.setConst(maxContactCapacity);
@@ -3625,7 +3625,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel);
b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel,"m_clipCompoundsHullHullKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nCompoundsPairs );
launcher.setConst(maxContactCapacity);