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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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12
src/Bullet3OpenCL/RigidBody/b3Solver.cpp
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@@ -18,7 +18,7 @@ subject to the following restrictions:
///useNewBatchingKernel is a rewritten kernel using just a single thread of the warp, for experiments
bool useNewBatchingKernel = true;
bool convertConstraintOnCpu = false;
bool gConvertConstraintOnCpu = false;
#define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl"
#define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl"
@@ -824,7 +824,7 @@ void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* body
cdata.z = ib;
b3LauncherCL launcher( m_queue, m_solveContactKernel );
b3LauncherCL launcher( m_queue, m_solveContactKernel ,"m_solveContactKernel");
#if 1
b3BufferInfoCL bInfo[] = {
@@ -929,7 +929,7 @@ void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* body
,b3BufferInfoCL(&gpuDebugInfo)
#endif //DEBUG_ME
};
b3LauncherCL launcher( m_queue, m_solveFrictionKernel );
b3LauncherCL launcher( m_queue, m_solveFrictionKernel,"m_solveFrictionKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata.x );
launcher.setConst( cdata.y );
@@ -979,7 +979,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
cdata.m_positionConstraintCoeff = cfg.m_positionConstraintCoeff;
if (convertConstraintOnCpu)
if (gConvertConstraintOnCpu)
{
b3AlignedObjectArray<b3RigidBodyCL> gBodies;
bodyBuf->copyToHost(gBodies);
@@ -1031,7 +1031,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( shapeBuf->getBufferCL()),
b3BufferInfoCL( contactCOut->getBufferCL() )};
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel );
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel,"m_contactToConstraintKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata );
@@ -1169,7 +1169,7 @@ void b3Solver::batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContact
//b3LauncherCL launcher( m_queue, m_batchingKernel);
cl_kernel k = useNewBatchingKernel ? m_batchingKernelNew : m_batchingKernel;
b3LauncherCL launcher( m_queue, k);
b3LauncherCL launcher( m_queue, k,"*batchingKernel");
if (!useNewBatchingKernel )
{
launcher.setBuffer( contacts->getBufferCL() );