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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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25
src/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
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@@ -790,7 +790,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
{
B3_PROFILE("m_countBodiesKernel");
b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel);
b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel,"m_countBodiesKernel");
launcher.setBuffer(contactBuf);//manifoldPtr->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
@@ -815,7 +815,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
{
B3_PROFILE("contactToConstraintSplitKernel");
b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel);
b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel,"m_contactToConstraintSplitKernel");
launcher.setBuffer(contactBuf);
launcher.setBuffer(bodyBuf);
launcher.setBuffer(inertiaBuf);
@@ -840,11 +840,12 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
{
B3_PROFILE("m_clearVelocitiesKernel");
b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel);
b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel,"m_clearVelocitiesKernel");
launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
launch.setConst(totalNumSplitBodies);
launch.launch1D(totalNumSplitBodies);
clFinish(m_queue);
}
@@ -854,7 +855,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
{
{
B3_PROFILE("m_solveContactKernel");
b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel );
b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(bodyBuf);
launcher.setBuffer(inertiaBuf);
@@ -869,14 +870,14 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
launcher.setConst(numManifolds);
launcher.launch1D(numManifolds);
clFinish(m_queue);
}
{
B3_PROFILE("average velocities");
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
launcher.setBuffer(bodyBuf);
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
@@ -884,13 +885,13 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
launcher.setConst(numBodies);
launcher.launch1D(numBodies);
clFinish(m_queue);
}
{
B3_PROFILE("m_solveFrictionKernel");
b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel);
b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel");
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(bodyBuf);
launcher.setBuffer(inertiaBuf);
@@ -905,13 +906,13 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
launcher.setConst(numManifolds);
launcher.launch1D(numManifolds);
clFinish(m_queue);
}
{
B3_PROFILE("average velocities");
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
launcher.setBuffer(bodyBuf);
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
@@ -919,7 +920,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
launcher.setConst(numBodies);
launcher.launch1D(numBodies);
clFinish(m_queue);
}
@@ -929,7 +930,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
{
B3_PROFILE("update body velocities");
b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel);
b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel,"m_updateBodyVelocitiesKernel");
launcher.setBuffer(bodyBuf);
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());