Make is easier to compile Bullet/Extras/sph:

1) use $(CUDA_INC_PATH) for CUDA include path
2) avoid using cuda util, but use BT_GPU_SAFE_CALL and BT_GPU_CHECK_ERROR (defined in Bullet/Extras/CUDA/btCudaUtil.h)
3) remove pre-linked glee*.lib, but include glee.c directly

Extras/sph/common/gl_helper.h

@@ -25,7 +25,7 @@
 
 	#include "common_defs.h"
 
-	#include <gl/glee.h>
+	#include <glee.h>
 	#include <gl/glext.h>	
 
 	#ifdef _MSC_VER						// Windows

Extras/sph/fluids.vcproj

@@ -125,7 +125,7 @@
 				EnableIntrinsicFunctions="true"
 				FavorSizeOrSpeed="1"
 				OmitFramePointers="true"
-				AdditionalIncludeDirectories="fluids;common;marching;sphere_scan;marching_tris"
+				AdditionalIncludeDirectories="fluids;common;marching;sphere_scan;marching_tris;"$(CUDA_INC_PATH)";../../Glut"
 				PreprocessorDefinitions="WIN32;NDEBUG;_CONSOLE"
 				StringPooling="true"
 				RuntimeLibrary="0"
@@ -146,9 +146,9 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="glee_2008.lib"
 				OutputFile="$(OutDir)/fluids.exe"
 				LinkIncremental="1"
+				AdditionalLibraryDirectories="../../Glut"
 				IgnoreDefaultLibraryNames="libcmtd.lib"
 				GenerateDebugInformation="false"
 				SubSystem="1"
@@ -292,6 +292,10 @@
 				>
 			</File>
 		</Filter>
+		<File
+			RelativePath=".\common\GLee.c"
+			>
+		</File>
 		<File
 			RelativePath=".\main.cpp"
 			>

Extras/sph/fluids/fluid_system.cpp

@@ -134,7 +134,7 @@ int FluidSystem::AddPointReuse ()
 
 void FluidSystem::Run ()
 {
-	bool bTiming = true;
+	bool bTiming = false;//true;
 
 	mint::Time start, stop;
 	

Extras/sph/fluids/fluid_system_host.cu

@@ -21,8 +21,10 @@
 */
 
 
-#include "C:\CUDA\common\inc\cutil.h"				// cutil32.lib
+//#include "C:\CUDA\common\inc\cutil.h"				// cutil32.lib
 #include <string.h>
+#include "../CUDA/btCudaDefines.h"
+
 
 
 #if defined(__APPLE__) || defined(MACOSX)
@@ -43,12 +45,13 @@ __device__ uint*			bufHash[2];		// point grid hash
 __device__ int*				bufGrid;	
 
 	
+
 extern "C"
 {
 // Initialize CUDA
 void cudaInit(int argc, char **argv)
 {   
-    CUT_DEVICE_INIT(argc, argv);
+    //CUT_DEVICE_INIT(argc, argv);
  
 	cudaDeviceProp p;
 	cudaGetDeviceProperties ( &p, 0);
@@ -65,10 +68,10 @@ void cudaInit(int argc, char **argv)
 	printf ( "Const Mem:  %d\n", p.totalConstMem );
 	printf ( "Clock Rate: %d\n", p.clockRate );	
 	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufPnts, 10 ) );	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufPntSort, 10 ) );
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufHash, 10 ) );	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufGrid, 10 ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufPnts, 10 ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufPntSort, 10 ) );
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufHash, 10 ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufGrid, 10 ) );	
 };
 	
 // Compute number of blocks to create
@@ -83,11 +86,11 @@ void computeNumBlocks (int numPnts, int maxThreads, int &numBlocks, int &numThre
 
 void FluidClearCUDA ()
 {
-	CUDA_SAFE_CALL ( cudaFree ( bufPnts ) );	
-	CUDA_SAFE_CALL ( cudaFree ( bufPntSort ) );
-	CUDA_SAFE_CALL ( cudaFree ( bufHash[0] ) );	
-	CUDA_SAFE_CALL ( cudaFree ( bufHash[1] ) );	
-	CUDA_SAFE_CALL ( cudaFree ( bufGrid ) );
+	BT_GPU_SAFE_CALL ( cudaFree ( bufPnts ) );	
+	BT_GPU_SAFE_CALL ( cudaFree ( bufPntSort ) );
+	BT_GPU_SAFE_CALL ( cudaFree ( bufHash[0] ) );	
+	BT_GPU_SAFE_CALL ( cudaFree ( bufHash[1] ) );	
+	BT_GPU_SAFE_CALL ( cudaFree ( bufGrid ) );
 }
 
 
@@ -114,11 +117,11 @@ void FluidSetupCUDA ( int num, int stride, float3 min, float3 max, float3 res, f
     printf ( "pnts: %d, t:%dx%d=%d, bufPnts:%d, bufHash:%d\n", fcuda.pnts, fcuda.numBlocks, fcuda.numThreads, fcuda.numBlocks*fcuda.numThreads, fcuda.szPnts, fcuda.szHash );
     printf ( "grds: %d, t:%dx%d=%d, bufGrid:%d, Res: %dx%dx%d\n", fcuda.cells, fcuda.gridBlocks, fcuda.gridThreads, fcuda.gridBlocks*fcuda.gridThreads, fcuda.szGrid, (int) fcuda.res.x, (int) fcuda.res.y, (int) fcuda.res.z );	
 
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufPnts, fcuda.szPnts ) );	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufPntSort, fcuda.szPnts ) );	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufHash[0], fcuda.szHash ) );	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufHash[1], fcuda.szHash ) );	
-	CUDA_SAFE_CALL ( cudaMalloc ( (void**) &bufGrid, fcuda.szGrid ) );
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufPnts, fcuda.szPnts ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufPntSort, fcuda.szPnts ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufHash[0], fcuda.szHash ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufHash[1], fcuda.szHash ) );	
+	BT_GPU_SAFE_CALL ( cudaMalloc ( (void**) &bufGrid, fcuda.szGrid ) );
 	
 	printf ( "POINTERS\n");
 	printf ( "bufPnts:    %p\n", bufPnts );
@@ -127,7 +130,7 @@ void FluidSetupCUDA ( int num, int stride, float3 min, float3 max, float3 res, f
 	printf ( "bufHash1:   %p\n", bufHash[1] );
 	printf ( "bufGrid:    %p\n", bufGrid );
 	
-	CUDA_SAFE_CALL ( cudaMemcpyToSymbol ( simData, &fcuda, sizeof(FluidParams) ) );
+	BT_GPU_SAFE_CALL ( cudaMemcpyToSymbol ( simData, &fcuda, sizeof(FluidParams) ) );
 	cudaThreadSynchronize ();
 }
 
@@ -146,46 +149,46 @@ void FluidParamCUDA ( float sim_scale, float smooth_rad, float mass, float rest,
 	fcuda.spikykern = -45.0f / (3.141592 * pow( smooth_rad, 6.0f) );
 	fcuda.lapkern = 45.0f / (3.141592 * pow( smooth_rad, 6.0f) );	
 
-	CUDA_SAFE_CALL( cudaMemcpyToSymbol ( simData, &fcuda, sizeof(FluidParams) ) );
+	BT_GPU_SAFE_CALL( cudaMemcpyToSymbol ( simData, &fcuda, sizeof(FluidParams) ) );
 	cudaThreadSynchronize ();
 }
 
 void TransferToCUDA ( char* data, int* grid, int numPoints )
 {
-	CUDA_SAFE_CALL( cudaMemcpy ( bufPnts, data, numPoints * fcuda.stride, cudaMemcpyHostToDevice ) );
+	BT_GPU_SAFE_CALL( cudaMemcpy ( bufPnts, data, numPoints * fcuda.stride, cudaMemcpyHostToDevice ) );
 	cudaThreadSynchronize ();
 }
 
 void TransferFromCUDA ( char* data, int* grid, int numPoints )
 {
-	CUDA_SAFE_CALL( cudaMemcpy ( data, bufPntSort, numPoints * fcuda.stride, cudaMemcpyDeviceToHost ) );	
+	BT_GPU_SAFE_CALL( cudaMemcpy ( data, bufPntSort, numPoints * fcuda.stride, cudaMemcpyDeviceToHost ) );	
 	cudaThreadSynchronize ();	
 	
-	CUDA_SAFE_CALL( cudaMemcpy ( grid, bufGrid, fcuda.cells * sizeof(uint), cudaMemcpyDeviceToHost ) );			
+	BT_GPU_SAFE_CALL( cudaMemcpy ( grid, bufGrid, fcuda.cells * sizeof(uint), cudaMemcpyDeviceToHost ) );			
 }
 
 void Grid_InsertParticlesCUDA ()
 {
-	CUDA_SAFE_CALL( cudaMemset ( bufHash[0], 0, fcuda.szHash ) );
+	BT_GPU_SAFE_CALL( cudaMemset ( bufHash[0], 0, fcuda.szHash ) );
 	
 	hashParticles<<< fcuda.numBlocks, fcuda.numThreads>>> ( bufPnts, (uint2*) bufHash[0], fcuda.pnts );	
-	CUT_CHECK_ERROR( "Kernel execution failed");
+	BT_GPU_CHECK_ERROR( "Kernel execution failed");
 	cudaThreadSynchronize ();
 	
 	//int buf[20000];		
 	/*printf ( "HASH: %d (%d)\n", fcuda.pnts, fcuda.numBlocks*fcuda.numThreads );
-	CUDA_SAFE_CALL( cudaMemcpy ( buf, bufHash[0], fcuda.pnts * 2*sizeof(uint), cudaMemcpyDeviceToHost ) );		
+	BT_GPU_SAFE_CALL( cudaMemcpy ( buf, bufHash[0], fcuda.pnts * 2*sizeof(uint), cudaMemcpyDeviceToHost ) );		
 	//for (int n=0; n < fcuda.numBlocks*fcuda.numThreads; n++) {		
 	for (int n=0; n < 100; n++) {
 		printf ( "%d: <%d,%d>\n", n, buf[n*2], buf[n*2+1] );
 	}*/
 	 
 	RadixSort( (KeyValuePair *) bufHash[0], (KeyValuePair *) bufHash[1], fcuda.pnts, 32);
-	CUT_CHECK_ERROR( "Kernel execution failed");
+	BT_GPU_CHECK_ERROR( "Kernel execution failed");
 	cudaThreadSynchronize ();
 	
 	/*printf ( "HASH: %d (%d)\n", fcuda.pnts, fcuda.numBlocks*fcuda.numThreads );
-	CUDA_SAFE_CALL( cudaMemcpy ( buf, bufHash[0], fcuda.pnts * 2*sizeof(uint), cudaMemcpyDeviceToHost ) );		
+	BT_GPU_SAFE_CALL( cudaMemcpy ( buf, bufHash[0], fcuda.pnts * 2*sizeof(uint), cudaMemcpyDeviceToHost ) );		
 	//for (int n=0; n < fcuda.numBlocks*fcuda.numThreads; n++) {		
 	for (int n=0; n < 100; n++) {
 		printf ( "%d: <%d,%d>\n", n, buf[n*2], buf[n*2+1] );
@@ -193,14 +196,14 @@ void Grid_InsertParticlesCUDA ()
 	
 	// insertParticles<<< fcuda.gridBlocks, fcuda.gridThreads>>> ( bufPnts, (uint2*) bufHash[0], bufGrid, fcuda.pnts, fcuda.cells );			
 	
-	CUDA_SAFE_CALL( cudaMemset ( bufGrid, NULL_HASH, fcuda.cells * sizeof(uint) ) );
+	BT_GPU_SAFE_CALL( cudaMemset ( bufGrid, NULL_HASH, fcuda.cells * sizeof(uint) ) );
 	
 	insertParticlesRadix<<< fcuda.numBlocks, fcuda.numThreads>>> ( bufPnts, (uint2*) bufHash[0], bufGrid, bufPntSort, fcuda.pnts, fcuda.cells );
-	CUT_CHECK_ERROR( "Kernel execution failed");
+	BT_GPU_CHECK_ERROR( "Kernel execution failed");
 	cudaThreadSynchronize ();	
     
     /*printf ( "GRID: %d\n", fcuda.cells );
-	CUDA_SAFE_CALL( cudaMemcpy ( buf, bufGrid, fcuda.cells * sizeof(uint), cudaMemcpyDeviceToHost ) );		
+	BT_GPU_SAFE_CALL( cudaMemcpy ( buf, bufGrid, fcuda.cells * sizeof(uint), cudaMemcpyDeviceToHost ) );		
 	*for (int n=0; n < 100; n++) {		
 		printf ( "%d: %d\n", n, buf[n]);
 	}*/
@@ -209,7 +212,7 @@ void Grid_InsertParticlesCUDA ()
 void SPH_ComputePressureCUDA ()
 {
 	computePressure<<< fcuda.numBlocks, fcuda.numThreads>>> ( bufPntSort, bufGrid, (uint2*) bufHash[0], fcuda.pnts );	
-    CUT_CHECK_ERROR( "Kernel execution failed");
+    BT_GPU_CHECK_ERROR( "Kernel execution failed");
     cudaThreadSynchronize ();	
 }
 
@@ -220,14 +223,14 @@ void SPH_ComputeForceCUDA ()
 	
 	// Force using neighbor table
 	computeForceNbr<<< fcuda.numBlocks, fcuda.numThreads>>> ( bufPntSort, fcuda.pnts );	
-    CUT_CHECK_ERROR( "Kernel execution failed");
+    BT_GPU_CHECK_ERROR( "Kernel execution failed");
     cudaThreadSynchronize ();	
 }
 
 void SPH_AdvanceCUDA ( float dt, float ss )
 {
 	advanceParticles<<< fcuda.numBlocks, fcuda.numThreads>>> ( bufPntSort, fcuda.pnts, dt, ss );
-    CUT_CHECK_ERROR( "Kernel execution failed");
+    BT_GPU_CHECK_ERROR( "Kernel execution failed");
     cudaThreadSynchronize ();
 }
 

Extras/sph/fluids_2005.vcproj

@@ -40,7 +40,7 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="0"
-				AdditionalIncludeDirectories="fluids;common;marching;marching_tris;C:\CUDA\common\inc"
+				AdditionalIncludeDirectories="fluids;common;marching;marching_tris;&quot;$(CUDA_INC_PATH)&quot;"
 				PreprocessorDefinitions="WIN32;_DEBUG;_CONSOLE"
 				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
@@ -61,7 +61,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="glee_2005.lib cudart.lib cutil32D.lib"
+				AdditionalDependencies="cudart.lib"
 				LinkIncremental="2"
 				IgnoreDefaultLibraryNames="libcmt.lib"
 				GenerateDebugInformation="true"
@@ -137,7 +137,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="cudart.lib cutil32.lib"
+				AdditionalDependencies="cudart.lib "
 				LinkIncremental="1"
 				AdditionalLibraryDirectories="C:\CUDA\common\lib;."
 				IgnoreDefaultLibraryNames="libcmtd.lib"
@@ -215,7 +215,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="glee_VS2005.lib cg.lib cgGL.lib cudart.lib cutil32D.lib"
+				AdditionalDependencies="cg.lib cgGL.lib cudart.lib "
 				LinkIncremental="1"
 				GenerateDebugInformation="true"
 				ProgramDatabaseFile="$(OutDir)/fluids_2005.pdb"

Extras/sph/main.cpp

@@ -583,3 +583,12 @@ int main ( int argc, char **argv )
 
   return 0;
 }
+
+extern "C" {
+	void btCuda_exit(int val)
+	{
+		fprintf(stderr, "Press ENTER key to terminate the program\n");
+		getchar();
+		exit(val);
+	}
+}