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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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14
src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
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@@ -231,7 +231,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
{
B3_PROFILE("m_initSolverBodiesKernel");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initSolverBodiesKernel);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initSolverBodiesKernel,"m_initSolverBodiesKernel");
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
launcher.setBuffer(gpuBodies->getBufferCL());
launcher.setConst(numBodies);
@@ -280,7 +280,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
{
B3_PROFILE("getInfo1Kernel");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo1Kernel);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo1Kernel,"m_getInfo1Kernel");
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
launcher.setBuffer(gpuConstraints->getBufferCL());
launcher.setConst(numConstraints);
@@ -300,7 +300,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
{
B3_PROFILE("init batch constraints");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel,"m_initBatchConstraintsKernel");
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
@@ -348,7 +348,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
{
{
B3_PROFILE("getInfo2Kernel");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo2Kernel);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo2Kernel,"m_getInfo2Kernel");
launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
@@ -759,7 +759,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
int numConstraintsInBatch*/
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_solveJointConstraintRowsKernels);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_solveJointConstraintRowsKernels,"m_solveJointConstraintRowsKernels");
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
@@ -1040,7 +1040,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
if (gpuBreakConstraints)
{
B3_PROFILE("breakViolatedConstraintsKernel");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_breakViolatedConstraintsKernel);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_breakViolatedConstraintsKernel,"m_breakViolatedConstraintsKernel");
launcher.setBuffer(gpuConstraints->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
@@ -1090,7 +1090,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
{
B3_PROFILE("GPU write back velocities and transforms");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_writeBackVelocitiesKernel);
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_writeBackVelocitiesKernel,"m_writeBackVelocitiesKernel");
launcher.setBuffer(gpuBodies->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
launcher.setConst(numBodies);