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Move some code from Branches/OpenCL to trunk, related to threading and OpenCL:

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Added Demos/ThreadingDemo showing how to use the cross-platform btThreadSupportInterface under Windows.
Added Demos/ParticlesOpenCL showing how to run the NVidia particle demo under OpenCL implementations by AMD, NVidia and MiniCL (CPU)
This commit is contained in:
erwin.coumans
2010-06-24 22:54:00 +00:00
parent b2798eaae5
commit 498da0721b
36 changed files with 4020 additions and 38 deletions
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21
CMakeLists.txt
View File

@@ -13,6 +13,7 @@ IF (NOT CMAKE_BUILD_TYPE)
ENDIF (NOT CMAKE_BUILD_TYPE) ENDIF (NOT CMAKE_BUILD_TYPE)
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF) OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON) OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(USE_MULTITHREADED_BENCHMARK "Use Multithreaded Benchmark" OFF) OPTION(USE_MULTITHREADED_BENCHMARK "Use Multithreaded Benchmark" OFF)
@@ -94,6 +95,26 @@ ENDIF()
OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF) OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)
OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF) OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF)
IF(WIN32)
FIND_PATH(AMD_OPENCL_BASE_DIR include/CL/cl.h PATH $ENV{ATISTREAMSDKROOT} )
IF(AMD_OPENCL_BASE_DIR)
OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)" ON)
ELSE()
OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)" OFF)
ENDIF()
FIND_PATH(NVIDIA_OPENCL_BASE_DIR OpenCL/common/inc/CL/cl.h PATH $ENV{NVSDKCOMPUTE_ROOT} )
IF(NVIDIA_OPENCL_BASE_DIR)
OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)" ON)
ELSE()
OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)" OFF)
ENDIF()
ENDIF()
OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)" OFF)
OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU demos" ON)
IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES) IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
SET(CMAKE_SUPPRESS_REGENERATION 1) SET(CMAKE_SUPPRESS_REGENERATION 1)

31
Demos/CMakeLists.txt
View File

@@ -1,26 +1,33 @@
IF (USE_GLUT) IF (USE_GLUT)
SET(SharedDemoSubdirs IF(BUILD_CPU_DEMOS)
OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld SET(SharedDemoSubdirs
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld
RagdollDemo ForkLiftDemo BasicDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
UserCollisionAlgorithm CharacterDemo SoftDemo HeightFieldFluidDemo RagdollDemo ForkLiftDemo BasicDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo UserCollisionAlgorithm CharacterDemo SoftDemo HeightFieldFluidDemo
DoublePrecisionDemo ConcaveDemo CollisionDemo CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
ContinuousConvexCollision ConcaveRaycastDemo GjkConvexCastDemo DoublePrecisionDemo ConcaveDemo CollisionDemo
MultiMaterialDemo SerializeDemo InternalEdgeDemo ContinuousConvexCollision ConcaveRaycastDemo GjkConvexCastDemo
) MultiMaterialDemo SerializeDemo InternalEdgeDemo
)
ELSE()
SET(SharedDemoSubdirs
OpenGL
)
ENDIF()
if (CMAKE_SIZEOF_VOID_P MATCHES "8") if (CMAKE_SIZEOF_VOID_P MATCHES "8")
SUBDIRS( ${SharedDemoSubdirs} SUBDIRS( ${SharedDemoSubdirs}
) )
else (CMAKE_SIZEOF_VOID_P MATCHES "8") else (CMAKE_SIZEOF_VOID_P MATCHES "8")
SUBDIRS( ${SharedDemoSubdirs} SUBDIRS( ${SharedDemoSubdirs}
ThreadingDemo
MultiThreadedDemo MultiThreadedDemo
MiniCL_VectorAdd MiniCL_VectorAdd
) ParticlesOpenCL
)
endif (CMAKE_SIZEOF_VOID_P MATCHES "8") endif (CMAKE_SIZEOF_VOID_P MATCHES "8")
ELSE (USE_GLUT) ELSE (USE_GLUT)

1
Demos/OpenGL/CMakeLists.txt
View File

@@ -12,6 +12,7 @@
INCLUDE_DIRECTORIES( INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull
) )

10
Demos/OpenGL/DemoApplication.cpp
View File

@@ -85,7 +85,9 @@ m_idle(false),
m_enableshadows(false), m_enableshadows(false),
m_sundirection(btVector3(1,-2,1)*1000), m_sundirection(btVector3(1,-2,1)*1000),
m_defaultContactProcessingThreshold(BT_LARGE_FLOAT) m_defaultContactProcessingThreshold(BT_LARGE_FLOAT),
m_frustumZNear(1.f),
m_frustumZFar(10000.f)
{ {
#ifndef BT_NO_PROFILE #ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator(); m_profileIterator = CProfileManager::Get_Iterator();
@@ -245,10 +247,12 @@ void DemoApplication::updateCamera() {
{ {
if (m_glutScreenWidth > m_glutScreenHeight) if (m_glutScreenWidth > m_glutScreenHeight)
{ {
glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0); // glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
} else } else
{ {
glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0); // glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
} }
glMatrixMode(GL_MODELVIEW); glMatrixMode(GL_MODELVIEW);
glLoadIdentity(); glLoadIdentity();

8
Demos/OpenGL/DemoApplication.h
View File

@@ -80,6 +80,9 @@ protected:
int m_glutScreenWidth; int m_glutScreenWidth;
int m_glutScreenHeight; int m_glutScreenHeight;
float m_frustumZNear;
float m_frustumZFar;
int m_ortho; int m_ortho;
float m_ShootBoxInitialSpeed; float m_ShootBoxInitialSpeed;
@@ -178,6 +181,11 @@ public:
return btScalar(16666.); return btScalar(16666.);
#endif #endif
} }
void setFrustumZPlanes(float zNear, float zFar)
{
m_frustumZNear = zNear;
m_frustumZFar = zFar;
}
///glut callbacks ///glut callbacks

40
Demos/OpenGL/GL_DialogDynamicsWorld.cpp
View File

@@ -195,7 +195,8 @@ GL_DialogWindow* GL_DialogDynamicsWorld::createDialog(int horPos,int vertPos,int
btRigidBody* body = new btRigidBody(rbInfo); btRigidBody* body = new btRigidBody(rbInfo);
btTransform trans; btTransform trans;
trans.setIdentity(); trans.setIdentity();
trans.setOrigin(btVector3(btScalar(horPos-m_screenWidth/2+dialogWidth/2), btScalar(vertPos+m_screenHeight/2.+dialogHeight/2),btScalar(0.))); // trans.setOrigin(btVector3(btScalar(horPos-m_screenWidth/2+dialogWidth/2), btScalar(vertPos+m_screenHeight/2.+dialogHeight/2),btScalar(0.)));
trans.setOrigin(btVector3(btScalar(horPos-m_screenWidth/2+dialogWidth/2), btScalar(vertPos-m_screenHeight/2.+dialogHeight/2),btScalar(0.)));
@@ -215,7 +216,7 @@ GL_DialogWindow* GL_DialogDynamicsWorld::createDialog(int horPos,int vertPos,int
} }
GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog, const char* sliderText) GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog, const char* sliderText, btScalar initialFraction)
{ {
btBox2dShape* boxShape = new btBox2dShape(btVector3(6.f,6.f,0.4f)); btBox2dShape* boxShape = new btBox2dShape(btVector3(6.f,6.f,0.4f));
btScalar mass = .1f; btScalar mass = .1f;
@@ -225,7 +226,10 @@ GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog,
btRigidBody* body = new btRigidBody(rbInfo); btRigidBody* body = new btRigidBody(rbInfo);
btTransform trans; btTransform trans;
trans.setIdentity(); trans.setIdentity();
trans.setOrigin(btVector3(dialog->getDialogHorPos()-m_screenWidth/2.f+dialog->getDialogWidth()/2.f, dialog->getDialogVertPos()+m_screenHeight/2.f+dialog->getDialogHeight()/2+dialog->getNumControls()*20.f,-0.2f)); int sliderX = dialog->getDialogHorPos() - m_screenWidth/2 + dialog->getDialogWidth()/2;
// int sliderY = dialog->getDialogVertPos() + m_screenHeight/2 + dialog->getDialogHeight()/2 + dialog->getNumControls()*20;
int sliderY = dialog->getDialogVertPos() - m_screenHeight/2 + dialog->getDialogHeight()/2 + dialog->getNumControls()*20;
trans.setOrigin(btVector3(sliderX, sliderY,-0.2f));
body->setWorldTransform(trans); body->setWorldTransform(trans);
//body->setDamping(0.999,0.99); //body->setDamping(0.999,0.99);
@@ -245,7 +249,9 @@ GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog,
btTransform frameInA; btTransform frameInA;
frameInA.setIdentity(); frameInA.setIdentity();
btVector3 offset(btVector3(-dialog->getDialogWidth()/2.f+16.f,-dialog->getDialogHeight()/2.f+dialog->getNumControls()*20.f+36.f,0.2f)); int offsX = -dialog->getDialogWidth()/2 + 16;
int offsY = -dialog->getDialogHeight()/2 + dialog->getNumControls()*20 + 36;
btVector3 offset(btVector3(offsX, offsY, 0.2f));
frameInA.setOrigin(offset); frameInA.setOrigin(offset);
@@ -253,8 +259,13 @@ GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog,
frameInB.setIdentity(); frameInB.setIdentity();
//frameInB.setOrigin(-offset/2); //frameInB.setOrigin(-offset/2);
btScalar lowerLimit = 80.f; // btScalar lowerLimit = 80.f;
btScalar upperLimit = 170.f; // btScalar upperLimit = 170.f;
btScalar lowerLimit = 141.f;
btScalar upperLimit = 227.f;
btScalar actualLimit = lowerLimit+initialFraction*(upperLimit-lowerLimit);
#if 0 #if 0
bool useFrameA = false; bool useFrameA = false;
@@ -264,19 +275,24 @@ GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog,
constraint->setLimit(0,lowerLimit,upperLimit); constraint->setLimit(0,lowerLimit,upperLimit);
#else #else
btSliderConstraint* sliderConstraint = new btSliderConstraint(*dialogBody,*body,frameInA,frameInB,true);//useFrameA); btSliderConstraint* sliderConstraint = new btSliderConstraint(*dialogBody,*body,frameInA,frameInB,true);//useFrameA);
sliderConstraint->setLowerLinLimit(lowerLimit); sliderConstraint->setLowerLinLimit(actualLimit);
sliderConstraint->setUpperLinLimit(upperLimit); sliderConstraint->setUpperLinLimit(actualLimit);
m_dynamicsWorld->addConstraint(sliderConstraint,true); m_dynamicsWorld->addConstraint(sliderConstraint,true);
#endif #endif
GL_SliderControl* slider = new GL_SliderControl(sliderText, body,dialog,lowerLimit,upperLimit, sliderConstraint); GL_SliderControl* slider = new GL_SliderControl(sliderText, body,dialog,lowerLimit,upperLimit, sliderConstraint);
body->setUserPointer(slider); body->setUserPointer(slider);
dialog->addControl(slider); dialog->addControl(slider);
slider->m_fraction = initialFraction;
return slider; return slider;
} }
GL_ToggleControl* GL_DialogDynamicsWorld::createToggle(GL_DialogWindow* dialog, const char* toggleText) GL_ToggleControl* GL_DialogDynamicsWorld::createToggle(GL_DialogWindow* dialog, const char* toggleText)
{ {
@@ -289,7 +305,11 @@ GL_ToggleControl* GL_DialogDynamicsWorld::createToggle(GL_DialogWindow* dialog,
btRigidBody* body = new btRigidBody(rbInfo); btRigidBody* body = new btRigidBody(rbInfo);
btTransform trans; btTransform trans;
trans.setIdentity(); trans.setIdentity();
trans.setOrigin(btVector3(dialog->getDialogHorPos()-m_screenWidth/2.f+dialog->getDialogWidth()/2.f, dialog->getDialogVertPos()+m_screenHeight/2.f+dialog->getDialogHeight()/2+dialog->getNumControls()*20.f,-0.2f));
int toggleX = dialog->getDialogHorPos() - m_screenWidth/2 + dialog->getDialogWidth()/2;
// int toggleY = dialog->getDialogVertPos() + m_screenHeight/2 + dialog->getDialogHeight()/2 + dialog->getNumControls()*20;
int toggleY = dialog->getDialogVertPos() - m_screenHeight/2 + dialog->getDialogHeight()/2 + dialog->getNumControls()*20;
trans.setOrigin(btVector3(toggleX, toggleY, -0.2f));
body->setWorldTransform(trans); body->setWorldTransform(trans);
body->setDamping(0.999f,0.99f); body->setDamping(0.999f,0.99f);
@@ -737,3 +757,5 @@ void GL_DialogDynamicsWorld::mouseMotionFunc(int x,int y)
} }

2
Demos/OpenGL/GL_DialogDynamicsWorld.h
View File

@@ -78,7 +78,7 @@ public:
GL_ToggleControl* createToggle(GL_DialogWindow* dialog, const char* toggleText); GL_ToggleControl* createToggle(GL_DialogWindow* dialog, const char* toggleText);
GL_SliderControl* createSlider(GL_DialogWindow* dialog, const char* sliderText); GL_SliderControl* createSlider(GL_DialogWindow* dialog, const char* sliderText, btScalar initialFraction = btScalar(0.5f));
virtual void draw(btScalar timeStep); virtual void draw(btScalar timeStep);

28
Demos/OpenGL/GL_DialogWindow.cpp
View File

@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "GLDebugFont.h" #include "GLDebugFont.h"
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
#include <stdio.h> // for sprintf()
#define USE_ARRAYS 1 #define USE_ARRAYS 1
@@ -305,7 +307,6 @@ void GL_ToggleControl::draw(int& parentHorPos2,int& parentVertPos2,btScalar delt
} }
void GL_SliderControl::draw(int& parentHorPos2,int& parentVertPos2,btScalar deltaTime) void GL_SliderControl::draw(int& parentHorPos2,int& parentVertPos2,btScalar deltaTime)
{ {
@@ -318,7 +319,17 @@ void GL_SliderControl::draw(int& parentHorPos2,int& parentVertPos2,btScalar delt
unsigned int grey = 0xff6f6f6f; unsigned int grey = 0xff6f6f6f;
int borderSize = 2; int borderSize = 2;
unsigned int white = 0xffefefef; unsigned int white = 0xffefefef;
drawRect(parentHorPos2+80+borderSize, parentVertPos2+borderSize, parentHorPos2+m_parentWindow->getDialogWidth()-16-borderSize, parentVertPos2+2-borderSize, white,white,white,white); int sliderPosS = parentHorPos2+150+borderSize;
int sliderPosE = parentHorPos2+m_parentWindow->getDialogWidth()-40-borderSize;
int sliderPos = controlHorPos;
if(sliderPos < sliderPosS) sliderPos = sliderPosS;
if(sliderPos > sliderPosE) sliderPos = sliderPosE;
// drawRect(parentHorPos2+80+borderSize, parentVertPos2+borderSize, parentHorPos2+m_parentWindow->getDialogWidth()-16-borderSize, parentVertPos2+2-borderSize, white,white,white,white);
drawRect( sliderPosS,
parentVertPos2+borderSize,
sliderPosE,
parentVertPos2+2-borderSize,
white,white,white,white);
drawRect(parentHorPos, parentVertPos, parentHorPos+16, parentVertPos+16, grey, grey, grey, grey); drawRect(parentHorPos, parentVertPos, parentHorPos+16, parentVertPos+16, grey, grey, grey, grey);
@@ -330,7 +341,18 @@ void GL_SliderControl::draw(int& parentHorPos2,int& parentVertPos2,btScalar delt
btVector3 rgb(1,1,1); btVector3 rgb(1,1,1);
GLDebugDrawStringInternal(parentHorPos2,parentVertPos2+8,m_sliderText,rgb); btSliderConstraint* pSlider = (btSliderConstraint*)m_constraint;
btScalar currPos = pSlider->getLinearPos();
// if(currPos < pSlider->getLowerLinLimit()) currPos = pSlider->getLowerLinLimit();
// if(currPos > pSlider->getUpperLinLimit()) currPos = pSlider->getUpperLinLimit();
// m_fraction = (currPos - pSlider->getLowerLinLimit()) / (pSlider->getUpperLinLimit() - pSlider->getLowerLinLimit());
m_fraction = (btScalar)(sliderPos - sliderPosS) / (btScalar)(sliderPosE - sliderPosS);
char tmpBuf[256];
sprintf(tmpBuf, "%s %3d%%", m_sliderText, (int)(m_fraction * 100.f));
// GLDebugDrawStringInternal(parentHorPos2,parentVertPos2+8,m_sliderText,rgb);
GLDebugDrawStringInternal(parentHorPos2,parentVertPos2+8, tmpBuf, rgb);
parentVertPos2+=20; parentVertPos2+=20;
} }

3
Demos/OpenGL/GL_DialogWindow.h
View File

@@ -123,6 +123,7 @@ struct GL_SliderControl : public GL_DialogControl
btScalar m_lowerLimit; btScalar m_lowerLimit;
btScalar m_upperLimit; btScalar m_upperLimit;
btTypedConstraint* m_constraint; btTypedConstraint* m_constraint;
btScalar m_fraction;
const char* m_sliderText; const char* m_sliderText;
public: public:
@@ -140,7 +141,7 @@ public:
virtual void draw(int& parentHorPos,int& parentVertPos,btScalar deltaTime); virtual void draw(int& parentHorPos,int& parentVertPos,btScalar deltaTime);
btScalar btGetFraction(); btScalar btGetFraction() { return m_fraction; }
btScalar getLowerLimit() btScalar getLowerLimit()
{ {

93
Demos/ParticlesOpenCL/AMD/CMakeLists.txt Normal file
View File

@@ -0,0 +1,93 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
INCLUDE_DIRECTORIES( $ENV{==ATISTREAMSDKROOT=}/include )
IF (CMAKE_CL_64)
SET(CMAK_ATISTREAMSDK_LIBPATH $ENV{==ATISTREAMSDKROOT=}/lib/x86_64 )
ELSE(CMAKE_CL_64)
SET(CMAK_ATISTREAMSDK_LIBPATH $ENV{==ATISTREAMSDKROOT=}/lib/x86 )
ENDIF(CMAKE_CL_64)
ELSE()
INCLUDE_DIRECTORIES( $ENV{ATISTREAMSDKROOT}/include )
IF (CMAKE_CL_64)
SET(CMAK_ATISTREAMSDK_LIBPATH $ENV{ATISTREAMSDKROOT}/lib/x86_64 )
ELSE(CMAKE_CL_64)
SET(CMAK_ATISTREAMSDK_LIBPATH $ENV{ATISTREAMSDKROOT}/lib/x86 )
ENDIF(CMAKE_CL_64)
ENDIF()
IF (CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY
${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew64.lib )
ELSE(CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew32.lib )
ENDIF(CMAKE_CL_64)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport
BulletDynamics
BulletCollision
BulletMultiThreaded
LinearMath
${GLUT_glut_LIBRARY}
${OPENGL_gl_LIBRARY}
${OPENGL_glu_LIBRARY}
${CMAK_GLEW_LIBRARY}
${CMAK_ATISTREAMSDK_LIBPATH}/OpenCL.lib
)
ADD_EXECUTABLE(AppParticlesOCL_AMD
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedDefs.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedTypes.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.h
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl
)
ELSE (USE_GLUT)
ENDIF (USE_GLUT)
IF(WIN32)
IF (CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_AMD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_AMD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_AMD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ELSE(CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_AMD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_AMD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_AMD POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
IF (UNIX)
TARGET_LINK_LIBRARIES(AppParticlesOCL_AMD pthread)
ENDIF(UNIX)

85
Demos/ParticlesOpenCL/Apple/CMakeLists.txt Normal file
View File

@@ -0,0 +1,85 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
IF (APPLE)
FIND_LIBRARY(OPENCL_LIBRARY OpenCL DOC "OpenCL lib for OSX")
FIND_PATH(OPENCL_INCLUDE_DIR OpenCL/cl.h DOC "Include for OpenCL on OSX")
ENDIF (APPLE)
#ADD_DEFINITIONS(-DUSE_MINICL)
IF(WIN32)
IF (CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew64.lib )
ELSE(CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew32.lib )
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport
BulletDynamics
BulletCollision
LinearMath
${OPENCL_LIBRARY}
${GLUT_glut_LIBRARY}
${OPENGL_gl_LIBRARY}
${OPENGL_glu_LIBRARY}
${CMAK_GLEW_LIBRARY}
)
ADD_EXECUTABLE(AppParticlesOCL_Apple
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedDefs.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedTypes.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.h
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl
)
ELSE (USE_GLUT)
ENDIF (USE_GLUT)
IF(WIN32)
IF (CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ELSE(CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Apple POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
IF (UNIX)
TARGET_LINK_LIBRARIES(AppParticlesOCL_Apple pthread)
ENDIF(UNIX)

15
Demos/ParticlesOpenCL/CMakeLists.txt Normal file
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IF(BUILD_MINICL_OPENCL_DEMOS)
SUBDIRS( MiniCL )
ENDIF()
IF(BUILD_AMD_OPENCL_DEMOS)
SUBDIRS(AMD)
ENDIF()
IF(BUILD_NVIDIA_OPENCL_DEMOS)
SUBDIRS(NVidia)
ENDIF()
IF(APPLE)
SUBDIRS(Apple)
ENDIF()

83
Demos/ParticlesOpenCL/MiniCL/CMakeLists.txt Normal file
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INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
ADD_DEFINITIONS(-DUSE_MINICL)
IF(WIN32)
IF (CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew64.lib )
ELSE(CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew32.lib )
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport
BulletDynamics
BulletCollision
BulletMultiThreaded
LinearMath
${GLUT_glut_LIBRARY}
${OPENGL_gl_LIBRARY}
${OPENGL_glu_LIBRARY}
${CMAK_GLEW_LIBRARY}
)
ADD_EXECUTABLE(AppParticlesOCL_Mini
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedDefs.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedTypes.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/MiniCL/MiniCLTaskWrap.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclUtils.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclUtils.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclCommon.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclCommon.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl
)
ELSE (USE_GLUT)
ENDIF (USE_GLUT)
IF(WIN32)
IF (CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ELSE(CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Mini POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
IF (UNIX)
TARGET_LINK_LIBRARIES(AppParticlesOCL_Mini pthread)
ENDIF(UNIX)

30
Demos/ParticlesOpenCL/MiniCL/MiniCLTaskWrap.cpp Normal file
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@@ -0,0 +1,30 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include <MiniCL/cl_MiniCL_Defs.h>
#include "../ParticlesOCL.cl"
MINICL_REGISTER(kComputeCellId)
MINICL_REGISTER(kClearCellStart)
MINICL_REGISTER(kFindCellStart)
MINICL_REGISTER(kIntegrateMotion)
MINICL_REGISTER(kCollideParticles)
MINICL_REGISTER(kBitonicSortCellIdLocal)
MINICL_REGISTER(kBitonicSortCellIdLocal1)
MINICL_REGISTER(kBitonicSortCellIdMergeGlobal)
MINICL_REGISTER(kBitonicSortCellIdMergeLocal)

92
Demos/ParticlesOpenCL/NVidia/CMakeLists.txt Normal file
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@@ -0,0 +1,92 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
IF(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
INCLUDE_DIRECTORIES( $ENV{==NVSDKCOMPUTE_ROOT=}/OpenCL/common/inc )
IF (CMAKE_CL_64)
SET(CMAK_NVSDKCOMPUTE_LIBPATH )
ELSE(CMAKE_CL_64)
SET(CMAK_NVSDKCOMPUTE_LIBPATH $ENV{==NVSDKCOMPUTE_ROOT=}/OpenCL/common/lib/x64 )
ENDIF(CMAKE_CL_64)
ELSE()
INCLUDE_DIRECTORIES( $ENV{NVSDKCOMPUTE_ROOT}/OpenCL/common/inc )
IF (CMAKE_CL_64)
SET(CMAK_NVSDKCOMPUTE_LIBPATH )
ELSE(CMAKE_CL_64)
SET(CMAK_NVSDKCOMPUTE_LIBPATH $ENV{NVSDKCOMPUTE_ROOT}/OpenCL/common/lib/Win32 )
ENDIF(CMAKE_CL_64)
ENDIF()
IF (CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew64.lib )
ELSE(CMAKE_CL_64)
SET(CMAK_GLEW_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew32.lib )
ENDIF(CMAKE_CL_64)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport
BulletDynamics
BulletCollision
BulletMultiThreaded
LinearMath
${GLUT_glut_LIBRARY}
${OPENGL_gl_LIBRARY}
${OPENGL_glu_LIBRARY}
${CMAK_GLEW_LIBRARY}
${CMAK_NVSDKCOMPUTE_LIBPATH}/OpenCL.lib
)
ADD_EXECUTABLE(AppParticlesOCL_Nv
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedDefs.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedTypes.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.h
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.h
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.cpp
${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl
)
ELSE (USE_GLUT)
ENDIF (USE_GLUT)
IF(WIN32)
IF (CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Nv POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Nv POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Nv POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ELSE(CMAKE_CL_64)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Nv POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Nv POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
ADD_CUSTOM_COMMAND( TARGET AppParticlesOCL_Nv POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
ENDIF()
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
IF (UNIX)
TARGET_LINK_LIBRARIES(AppParticlesOCL_Nv pthread)
ENDIF(UNIX)

632
Demos/ParticlesOpenCL/ParticlesDemo.cpp Normal file
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@@ -0,0 +1,632 @@
/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#define START_POS_X btScalar(0.f)
#define START_POS_Y btScalar(0.f)
#define START_POS_Z btScalar(0.f)
//#define START_POS_Y btScalar(40.f)
//#define START_POS_Z btScalar(40.f)
//#define START_POS_Y btScalar(0.4f)
//#define START_POS_Z btScalar(0.4f)
#define ARRAY_SIZE_X 32
#define ARRAY_SIZE_Y 32
//#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 16
//#define ARRAY_SIZE_Z 1
//#define DIST btScalar(2.f)
#define DIST (DEF_PARTICLE_RADIUS * 2.f)
#define STRESS_X 20
//#define STRESS_Y 200
#define STRESS_Y 640
///The 3 following lines include the CPU implementation of the kernels, keep them in this order.
#include "BulletMultiThreaded/btGpuDefines.h"
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
#include "BulletMultiThreaded/btGpuUtilsSharedCode.h"
#ifndef __APPLE__
#include <GL/glew.h>
#endif
#include "GL_DialogDynamicsWorld.h"
#include "GL_DialogWindow.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "GLDebugFont.h"
#include "GlutStuff.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include "shaders.h"
#include "ParticlesDemo.h"
btScalar gTimeStep = btScalar(1./60.);
#define SCALING btScalar(1.f)
void ParticlesDemo::clientMoveAndDisplay()
{
updateCamera();
glDisable(GL_LIGHTING);
glColor3f(1.f, 1.f, 1.f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_TEXTURE_2D); // we always draw wireframe in this demo
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
renderme();
if (m_dialogDynamicsWorld)
m_dialogDynamicsWorld->draw(gTimeStep);
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(gTimeStep,0);//ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
ms = getDeltaTimeMicroseconds();
glFlush();
glutSwapBuffers();
}
void ParticlesDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
//if (m_dialogDynamicsWorld)
// m_dialogDynamicsWorld->draw(gTimeStep);
glFlush();
glutSwapBuffers();
}
class btNullBroadphase : public btBroadphaseInterface
{
public:
btNullBroadphase()
{
}
virtual ~btNullBroadphase()
{
}
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
{
return NULL;
}
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
}
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
}
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
}
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0))
{
}
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)
{
}
virtual btOverlappingPairCache* getOverlappingPairCache()
{
return NULL;
}
virtual const btOverlappingPairCache* getOverlappingPairCache() const
{
return NULL;
}
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
}
virtual void resetPool(btDispatcher* dispatcher)
{
}
virtual void printStats()
{
}
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
}
};
void ParticlesDemo::initPhysics()
{
setTexturing(false);
setShadows(false);
// setCameraDistance(80.f);
setCameraDistance(3.0f);
// m_cameraTargetPosition.setValue(50, 10, 0);
m_cameraTargetPosition.setValue(0, 0, 0);
// m_azi = btScalar(0.f);
// m_ele = btScalar(0.f);
m_azi = btScalar(45.f);
m_ele = btScalar(30.f);
setFrustumZPlanes(0.1f, 10.f);
///collision configuration contains default setup for memory, collision setup
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=50000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=50000;
m_collisionConfiguration = new btDefaultCollisionConfiguration(dci);
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_pairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16))btHashedOverlappingPairCache();
// m_broadphase = new btDbvtBroadphase(m_pairCache);
m_broadphase = new btNullBroadphase();
///the default constraint solver
m_solver = new btSequentialImpulseConstraintSolver();
m_pWorld = new btParticlesDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, 65536);
m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,280,280,"CPU fallback");
m_pWorld->m_useCpuControls[0] = 0;
GL_ToggleControl* ctrl = 0;
m_pWorld->m_useCpuControls[SIMSTAGE_INTEGRATE_MOTION] = m_dialogDynamicsWorld->createToggle(settings,"Integrate Motion");
m_pWorld->m_useCpuControls[SIMSTAGE_COMPUTE_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Compute Cell ID");
m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Sort Cell ID");
m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START] = m_dialogDynamicsWorld->createToggle(settings,"Find Cell Start");
m_pWorld->m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES] = m_dialogDynamicsWorld->createToggle(settings,"Collide Particles");
for(int i = 1; i < SIMSTAGE_TOTAL; i++)
{
m_pWorld->m_useCpuControls[i]->m_active = false;
}
#if defined(CL_PLATFORM_MINI_CL)
// these kernels use barrier()
m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true;
#endif
#if defined(CL_PLATFORM_AMD)
// these kernels use barrier()
m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true;
#endif
m_dynamicsWorld = m_pWorld;
m_pWorld->getSimulationIslandManager()->setSplitIslands(true);
m_pWorld->setGravity(btVector3(0,-10.,0));
m_pWorld->getSolverInfo().m_numIterations = 4;
{
// btCollisionShape* colShape = new btSphereShape(btScalar(1.0f));
btCollisionShape* colShape = new btSphereShape(DEF_PARTICLE_RADIUS);
m_collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
btVector3 localInertia(0,0,0);
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
startTransform.setOrigin(btVector3(start_x, start_y, start_z));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
rbInfo.m_startWorldTransform = startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_pWorld->addRigidBody(body);
init_scene_directly();
}
clientResetScene();
m_pWorld->initDeviceData();
}
static float frand(void) { return 2.0f * (float)rand()/(float)RAND_MAX - 1.0f; }
void ParticlesDemo::init_scene_directly()
{
float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
int total = ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z;
m_pWorld->m_hPos.resize(total);
m_pWorld->m_hVel.resize(total);
total = 0;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
m_pWorld->m_hVel[total] = btVector3(0., 0., 0.);
btVector3 jitter = 0.01f * 0.03f * btVector3(frand(), frand(), frand());
m_pWorld->m_hPos[total] = btVector3(DIST*i + start_x, DIST*k + start_y, DIST*j + start_z) + jitter;
total++;
}
}
}
m_pWorld->m_numParticles = total;
}
void ParticlesDemo::clientResetScene()
{
static bool bFirstCall = true;
DemoApplication::clientResetScene();
init_scene_directly();
if(bFirstCall)
{
bFirstCall = false;
}
else
{
m_pWorld->grabSimulationData();
}
}
void ParticlesDemo::exitPhysics()
{
delete m_dialogDynamicsWorld;
m_dialogDynamicsWorld = 0;
//cleanup in the reverse order of creation/initialization
int i;
//remove the rigidbodies from the dynamics world and delete them
for (i=m_pWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_pWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_pWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
delete m_pWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}
void ParticlesDemo::keyboardCallback(unsigned char key, int x, int y)
{
(void)x;
(void)y;
switch (key)
{
case 'G' :
{
m_drawGridMode++;
m_drawGridMode %= 3;
}
break;
case 'q' :
exitPhysics();
exit(0);
break;
default :
{
DemoApplication::keyboardCallback(key, x, y);
}
break;
}
if(key == ' ')
{
}
}
void ParticlesDemo::renderme()
{
glColor3f(1.0, 1.0, 1.0);
glutWireCube(2.0);
glPointSize(5.0f);
glEnable(GL_POINT_SPRITE_ARB);
glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
#ifndef __APPLE__
// glEnable(GL_VERTEX_PROGRAM_POINT_SIZE_NV);
glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
#endif //__APPLE__
glDepthMask(GL_TRUE);
glEnable(GL_DEPTH_TEST);
glUseProgram(m_shaderProgram);
btScalar dist = (m_glutScreenWidth > m_glutScreenHeight) ? m_glutScreenHeight : m_glutScreenWidth;
glUniform1f( glGetUniformLocation(m_shaderProgram, "pointScale"), dist );
// glUniform1f( glGetUniformLocation(m_shaderProgram, "pointRadius"), 0.5f );
int numParticles = m_pWorld->getNumParticles();
int col_vbo = m_pWorld->m_colVbo;
int curr_vbo = m_pWorld->m_vbo;
float sphere_rad = m_pWorld->m_particleRad;
glUniform1f( glGetUniformLocation(m_shaderProgram, "pointRadius"), sphere_rad );
glColor3f(1, 1, 1);
// render from the vbo
glBindBuffer(GL_ARRAY_BUFFER, curr_vbo);
glVertexPointer(4, GL_FLOAT, 0, 0);
glEnableClientState(GL_VERTEX_ARRAY);
if(col_vbo)
{
glBindBufferARB(GL_ARRAY_BUFFER_ARB, col_vbo);
glColorPointer(4, GL_FLOAT, 0, 0);
glEnableClientState(GL_COLOR_ARRAY);
}
glDrawArrays(GL_POINTS, 0, numParticles);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glUseProgram(0);
glDisable(GL_POINT_SPRITE_ARB);
glBindBufferARB(GL_ARRAY_BUFFER,0);
if(m_drawGridMode)
{
btVector3& wmin = m_pWorld->m_worldMin;
btVector3& wmax = m_pWorld->m_worldMax;
glBegin(GL_LINE_LOOP);
glVertex3f(wmin[0], wmin[1], wmin[2]);
glVertex3f(wmin[0], wmax[1], wmin[2]);
glVertex3f(wmax[0], wmax[1], wmin[2]);
glVertex3f(wmax[0], wmin[1], wmin[2]);
glVertex3f(wmax[0], wmin[1], wmax[2]);
glVertex3f(wmax[0], wmax[1], wmax[2]);
glVertex3f(wmin[0], wmax[1], wmax[2]);
glVertex3f(wmin[0], wmin[1], wmax[2]);
glEnd();
glBegin(GL_LINES);
glVertex3f(wmin[0], wmin[1], wmin[2]);
glVertex3f(wmax[0], wmin[1], wmin[2]);
glVertex3f(wmin[0], wmin[1], wmax[2]);
glVertex3f(wmax[0], wmin[1], wmax[2]);
glVertex3f(wmin[0], wmax[1], wmin[2]);
glVertex3f(wmin[0], wmax[1], wmax[2]);
glVertex3f(wmax[0], wmax[1], wmin[2]);
glVertex3f(wmax[0], wmax[1], wmax[2]);
glEnd();
if(m_drawGridMode == 2)
{
int szx = m_pWorld->m_simParams.m_gridSize[0];
int szy = m_pWorld->m_simParams.m_gridSize[1];
glBegin(GL_LINES);
for(int i = 1; i < (szx-1); i++)
{
float wgt = (float)i / (float)(szx-1);
btVector3 vtx = wmax * wgt + wmin * (1.0f - wgt);
glVertex3f(vtx[0], wmin[1], wmin[2]);
glVertex3f(vtx[0], wmax[1], wmin[2]);
}
for(int i = 1; i < (szy-1); i++)
{
float wgt = (float)i / (float)(szy-1);
btVector3 vtx = wmax * wgt + wmin * (1.0f - wgt);
glVertex3f(wmin[0], vtx[1], wmin[2]);
glVertex3f(wmax[0], vtx[1], wmin[2]);
}
glEnd();
}
}
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
int xOffset = 10.f;
int yStart = 20.f;
int yIncr = 20.f;
showProfileInfo(xOffset, yStart, yIncr);
outputDebugInfo(xOffset, yStart, yIncr);
resetPerspectiveProjection();
}
}
void ParticlesDemo::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
{
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
sprintf(buf,"mouse move+buttons to interact");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"space to reset");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"cursor keys and z,x to navigate");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"i to toggle simulation, s single step");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"q to quit");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"h to toggle help text");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"p to toggle profiling (+results to file)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"j to toggle between demos (integration/OECake2D/OECake3D)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
{
sprintf(buf,"G to draw broadphase grid");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"D and U to toggle between GPU and CPU");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
}
GLuint _compileProgram(const char *vsource, const char *fsource)
{
GLuint vertexShader = glCreateShader(GL_VERTEX_SHADER);
GLuint fragmentShader = glCreateShader(GL_FRAGMENT_SHADER);
glShaderSource(vertexShader, 1, &vsource, 0);
glShaderSource(fragmentShader, 1, &fsource, 0);
glCompileShader(vertexShader);
glCompileShader(fragmentShader);
GLuint program = glCreateProgram();
glAttachShader(program, vertexShader);
glAttachShader(program, fragmentShader);
glLinkProgram(program);
// check if program linked
GLint success = 0;
glGetProgramiv(program, GL_LINK_STATUS, &success);
if (!success) {
char temp[256];
glGetProgramInfoLog(program, 256, 0, temp);
printf("Failed to link program:\n%s\n", temp);
glDeleteProgram(program);
program = 0;
}
return program;
}
void ParticlesDemo::myinit()
{
DemoApplication::myinit();
#ifndef __APPLE__
glewInit();
if (!glewIsSupported("GL_VERSION_2_0 GL_VERSION_1_5 GL_ARB_multitexture GL_ARB_vertex_buffer_object")) {
fprintf(stderr, "Required OpenGL extensions missing.");
exit(-1);
}
#endif //__APPLE__
m_shaderProgram = _compileProgram(vertexShader, spherePixelShader);
m_pWorld->initCLKernels(m_argc, m_argv);
}
void ParticlesDemo::mouseFunc(int button, int state, int x, int y)
{
if (!m_dialogDynamicsWorld->mouseFunc(button,state,x,y))
{
DemoApplication::mouseFunc(button,state,x,y);
}
}
void ParticlesDemo::mouseMotionFunc(int x,int y)
{
m_dialogDynamicsWorld->mouseMotionFunc(x,y);
DemoApplication::mouseMotionFunc(x,y);
}
void ParticlesDemo::reshape(int w, int h)
{
if (m_dialogDynamicsWorld)
m_dialogDynamicsWorld->setScreenSize(w,h);
GlutDemoApplication::reshape(w,h);
}

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERES_GRID_DEMO_H
#define SPHERES_GRID_DEMO_H
#define USE_BULLET_BODIES 0
///enable one or both options (NVidia profiler doesn't support multi-OpenCL context)
#define INTEGRATION_DEMO 1
#define SPHERES_DEMO 1
#include "DemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "btParticlesDynamicsWorld.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#include "../OpenGL/GlutDemoApplication.h"
///BasicDemo is good starting point for learning the code base and porting.
class ParticlesDemo : public GlutDemoApplication
{
class GL_DialogDynamicsWorld* m_dialogDynamicsWorld;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btOverlappingPairCache* m_pairCache;
int m_mouseButtons;
int m_mouseOldX;
int m_mouseOldY;
int m_argc;
char** m_argv;
public:
int m_drawGridMode;
int m_GpuCpuTogglePtr;
btParticlesDynamicsWorld* m_pWorld;
// shader
GLuint m_shaderProgram;
ParticlesDemo(int argc, char** argv)
{
m_argc = argc;
m_argv = argv;
m_drawGridMode = 0;
m_GpuCpuTogglePtr = SIMSTAGE_NONE;
m_dialogDynamicsWorld = 0;
}
virtual ~ParticlesDemo()
{
exitPhysics();
}
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void clientResetScene();
virtual void mouseFunc(int button, int state, int x, int y);
virtual void mouseMotionFunc(int x,int y);
virtual void reshape(int w, int h);
/*
static DemoApplication* Create()
{
SpheresGridDemo* demo = new SpheresGridDemo;
demo->myinit();
demo->initPhysics();
demo->m_mouseButtons = 0;
demo->m_mouseOldX = 0;
demo->m_mouseOldY = 0;
return demo;
}
*/
void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
virtual void renderme();
virtual void myinit();
void init_scene_directly();
};
#endif // PARTICLES_DEMO_H

468
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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#if defined(GUID_ARG)
extern int gMiniCLNumOutstandingTasks;
#else
#define GUID_ARG
#define GUID_ARG_VAL
#endif
int4 getGridPos(float4 worldPos, __global float4* pParams)
{
int4 gridPos;
gridPos.x = (int)floor((worldPos.x - pParams[1].x) / pParams[3].x);
gridPos.y = (int)floor((worldPos.y - pParams[1].y) / pParams[3].y);
gridPos.z = (int)floor((worldPos.z - pParams[1].z) / pParams[3].z);
return gridPos;
}
unsigned int getPosHash(int4 gridPos, __global float4* pParams)
{
int4 gridDim = *((__global int4*)(pParams + 4));
if(gridPos.x < 0) gridPos.x = 0;
if(gridPos.x >= gridDim.x) gridPos.x = gridDim.x - 1;
if(gridPos.y < 0) gridPos.y = 0;
if(gridPos.y >= gridDim.y) gridPos.y = gridDim.y - 1;
if(gridPos.z < 0) gridPos.z = 0;
if(gridPos.z >= gridDim.z) gridPos.z = gridDim.z - 1;
unsigned int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;
return hash;
}
__kernel void kComputeCellId( int numParticles,
__global float4* pPos,
__global int2* pPosHash,
__global float4* pParams GUID_ARG)
{
int index = get_global_id(0);
if(index >= numParticles)
{
return;
}
float4 pos = pPos[index];
int4 gridPos = getGridPos(pos, pParams);
unsigned int hash = getPosHash(gridPos, pParams);
pPosHash[index].x = hash;
pPosHash[index].y = index;
}
__kernel void kClearCellStart( int numCells,
__global int* pCellStart GUID_ARG)
{
int index = get_global_id(0);
if(index >= numCells)
{
return;
}
pCellStart[index] = -1;
}
__kernel void kFindCellStart( int numParticles,
__global int2* pHash,
__global int* cellStart,
__global float4* pPos,
__global float4* pVel,
__global float4* pSortedPos,
__global float4* pSortedVel GUID_ARG)
{
int index = get_global_id(0);
__local int sharedHash[513];
int2 sortedData;
if(index < numParticles)
{
sortedData = pHash[index];
// Load hash data into shared memory so that we can look
// at neighboring body's hash value without loading
// two hash values per thread
sharedHash[get_local_id(0) + 1] = sortedData.x;
if((index > 0) && (get_local_id(0) == 0))
{
// first thread in block must load neighbor body hash
sharedHash[0] = pHash[index-1].x;
}
}
barrier(CLK_LOCAL_MEM_FENCE);
if(index < numParticles)
{
if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))
{
cellStart[sortedData.x] = index;
}
int unsortedIndex = sortedData.y;
float4 pos = pPos[unsortedIndex];
float4 vel = pVel[unsortedIndex];
pSortedPos[index] = pos;
pSortedVel[index] = vel;
}
}
__kernel void kIntegrateMotion( int numParticles,
__global float4* pPos,
__global float4* pVel,
__global float4* pParams,
float timeStep GUID_ARG)
{
int index = get_global_id(0);
if(index >= numParticles)
{
return;
}
float4 pos = pPos[index];
float4 vel = pVel[index];
pos.w = 1.0f;
vel.w = 0.0f;
// apply gravity
float4 gravity = *((__global float4*)(pParams + 0));
float particleRad = pParams[5].x;
float globalDamping = pParams[5].y;
float boundaryDamping = pParams[5].z;
vel += gravity * timeStep;
vel *= globalDamping;
// integrate position
pos += vel * timeStep;
// collide with world boundaries
float4 worldMin = *((__global float4*)(pParams + 1));
float4 worldMax = *((__global float4*)(pParams + 2));
if(pos.x < (worldMin.x + particleRad))
{
pos.x = worldMin.x + particleRad;
vel.x *= boundaryDamping;
}
if(pos.x > (worldMax.x - particleRad))
{
pos.x = worldMax.x - particleRad;
vel.x *= boundaryDamping;
}
if(pos.y < (worldMin.y + particleRad))
{
pos.y = worldMin.y + particleRad;
vel.y *= boundaryDamping;
}
if(pos.y > (worldMax.y - particleRad))
{
pos.y = worldMax.y - particleRad;
vel.y *= boundaryDamping;
}
if(pos.z < (worldMin.z + particleRad))
{
pos.z = worldMin.z + particleRad;
vel.z *= boundaryDamping;
}
if(pos.z > (worldMax.z - particleRad))
{
pos.z = worldMax.z - particleRad;
vel.z *= boundaryDamping;
}
// write back position and velocity
pPos[index] = pos;
pVel[index] = vel;
}
float4 collideTwoParticles(
float4 posA,
float4 posB,
float4 velA,
float4 velB,
float radiusA,
float radiusB,
float spring,
float damping,
float shear,
float attraction
)
{
//Calculate relative position
float4 relPos = posB - posA; relPos.w = 0.f;
float dist = sqrt(relPos.x * relPos.x + relPos.y * relPos.y + relPos.z * relPos.z);
float collideDist = radiusA + radiusB;
float4 force = (float4)0.f;
if(dist < collideDist){
float4 norm = relPos * (1.f / dist); norm.w = 0.f;
//Relative velocity
float4 relVel = velB - velA; relVel.w = 0.f;
//Relative tangential velocity
float relVelDotNorm = relVel.x * norm.x + relVel.y * norm.y + relVel.z * norm.z;
float4 tanVel = relVel - norm * relVelDotNorm; tanVel.w = 0.f;
//Spring force (potential)
float springFactor = -spring * (collideDist - dist);
force = springFactor * norm + damping * relVel + shear * tanVel + attraction * relPos;
force.w = 0.f;
}
return force;
}
__kernel void kCollideParticles(int numParticles,
__global float4* pVel, //output: new velocity
__global const float4* pSortedPos, //input: reordered positions
__global const float4* pSortedVel, //input: reordered velocities
__global const int2 *pPosHash, //input: reordered particle indices
__global const int *pCellStart, //input: cell boundaries
__global float4* pParams GUID_ARG)
{
int index = get_global_id(0);
if(index >= numParticles)
{
return;
}
float4 posA = pSortedPos[index];
float4 velA = pSortedVel[index];
float4 force = (float4)0.f;
float particleRad = pParams[5].x;
float collisionDamping = pParams[5].w;
float spring = pParams[6].x;
float shear = pParams[6].y;
float attraction = pParams[6].z;
int unsortedIndex = pPosHash[index].y;
//Get address in grid
int4 gridPosA = getGridPos(posA, pParams);
//Accumulate surrounding cells
int4 gridPosB;
for(int z = -1; z <= 1; z++)
{
gridPosB.z = gridPosA.z + z;
for(int y = -1; y <= 1; y++)
{
gridPosB.y = gridPosA.y + y;
for(int x = -1; x <= 1; x++)
{
gridPosB.x = gridPosA.x + x;
//Get start particle index for this cell
uint hashB = getPosHash(gridPosB, pParams);
int startI = pCellStart[hashB];
//Skip empty cell
if(startI < 0)
{
continue;
}
//Iterate over particles in this cell
int endI = startI + 8;
if(endI >= numParticles) endI = numParticles - 1;
for(int j = startI; j < endI; j++)
{
uint hashC = pPosHash[j].x;
if(hashC != hashB)
{
break;
}
if(j == index)
{
continue;
}
float4 posB = pSortedPos[j];
float4 velB = pSortedVel[j];
//Collide two spheres
force += collideTwoParticles( posA, posB, velA, velB, particleRad, particleRad,
spring, collisionDamping, shear, attraction);
}
}
}
}
//Write new velocity back to original unsorted location
pVel[unsortedIndex] = velA + force;
}
/*
* Copyright 1993-2009 NVIDIA Corporation. All rights reserved.
*
* NVIDIA Corporation and its licensors retain all intellectual property and
* proprietary rights in and to this software and related documentation.
* Any use, reproduction, disclosure, or distribution of this software
* and related documentation without an express license agreement from
* NVIDIA Corporation is strictly prohibited.
*
* Please refer to the applicable NVIDIA end user license agreement (EULA)
* associated with this source code for terms and conditions that govern
* your use of this NVIDIA software.
*
*/
//#define LOCAL_SIZE_LIMIT 1024U
#define LOCAL_SIZE_MAX 1024U
inline void ComparatorPrivate(int2* keyA, int2* keyB, uint dir)
{
if((keyA[0].x > keyB[0].x) == dir)
{
int2 tmp = *keyA;
*keyA = *keyB;
*keyB = tmp;
}
}
inline void ComparatorLocal(__local int2* keyA, __local int2* keyB, uint dir)
{
if((keyA[0].x > keyB[0].x) == dir)
{
int2 tmp = *keyA;
*keyA = *keyB;
*keyB = tmp;
}
}
////////////////////////////////////////////////////////////////////////////////
// Monolithic bitonic sort kernel for short arrays fitting into local memory
////////////////////////////////////////////////////////////////////////////////
__kernel void kBitonicSortCellIdLocal(__global int2* pKey, uint arrayLength, uint dir GUID_ARG)
{
__local int2 l_key[LOCAL_SIZE_MAX];
int localSizeLimit = get_local_size(0) * 2;
//Offset to the beginning of subbatch and load data
pKey += get_group_id(0) * localSizeLimit + get_local_id(0);
l_key[get_local_id(0) + 0] = pKey[ 0];
l_key[get_local_id(0) + (localSizeLimit / 2)] = pKey[(localSizeLimit / 2)];
for(uint size = 2; size < arrayLength; size <<= 1)
{
//Bitonic merge
uint ddd = dir ^ ( (get_local_id(0) & (size / 2)) != 0 );
for(uint stride = size / 2; stride > 0; stride >>= 1)
{
barrier(CLK_LOCAL_MEM_FENCE);
uint pos = 2 * get_local_id(0) - (get_local_id(0) & (stride - 1));
ComparatorLocal(&l_key[pos + 0], &l_key[pos + stride], ddd);
}
}
//ddd == dir for the last bitonic merge step
{
for(uint stride = arrayLength / 2; stride > 0; stride >>= 1)
{
barrier(CLK_LOCAL_MEM_FENCE);
uint pos = 2 * get_local_id(0) - (get_local_id(0) & (stride - 1));
ComparatorLocal(&l_key[pos + 0], &l_key[pos + stride], dir);
}
}
barrier(CLK_LOCAL_MEM_FENCE);
pKey[ 0] = l_key[get_local_id(0) + 0];
pKey[(localSizeLimit / 2)] = l_key[get_local_id(0) + (localSizeLimit / 2)];
}
////////////////////////////////////////////////////////////////////////////////
// Bitonic sort kernel for large arrays (not fitting into local memory)
////////////////////////////////////////////////////////////////////////////////
//Bottom-level bitonic sort
//Almost the same as bitonicSortLocal with the only exception
//of even / odd subarrays (of LOCAL_SIZE_LIMIT points) being
//sorted in opposite directions
__kernel void kBitonicSortCellIdLocal1(__global int2* pKey GUID_ARG)
{
__local int2 l_key[LOCAL_SIZE_MAX];
uint localSizeLimit = get_local_size(0) * 2;
//Offset to the beginning of subarray and load data
pKey += get_group_id(0) * localSizeLimit + get_local_id(0);
l_key[get_local_id(0) + 0] = pKey[ 0];
l_key[get_local_id(0) + (localSizeLimit / 2)] = pKey[(localSizeLimit / 2)];
uint comparatorI = get_global_id(0) & ((localSizeLimit / 2) - 1);
for(uint size = 2; size < localSizeLimit; size <<= 1)
{
//Bitonic merge
uint ddd = (comparatorI & (size / 2)) != 0;
for(uint stride = size / 2; stride > 0; stride >>= 1)
{
barrier(CLK_LOCAL_MEM_FENCE);
uint pos = 2 * get_local_id(0) - (get_local_id(0) & (stride - 1));
ComparatorLocal(&l_key[pos + 0], &l_key[pos + stride], ddd);
}
}
//Odd / even arrays of localSizeLimit elements
//sorted in opposite directions
{
uint ddd = (get_group_id(0) & 1);
for(uint stride = localSizeLimit / 2; stride > 0; stride >>= 1)
{
barrier(CLK_LOCAL_MEM_FENCE);
uint pos = 2 * get_local_id(0) - (get_local_id(0) & (stride - 1));
ComparatorLocal(&l_key[pos + 0], &l_key[pos + stride], ddd);
}
}
barrier(CLK_LOCAL_MEM_FENCE);
pKey[ 0] = l_key[get_local_id(0) + 0];
pKey[(localSizeLimit / 2)] = l_key[get_local_id(0) + (localSizeLimit / 2)];
}
//Bitonic merge iteration for 'stride' >= LOCAL_SIZE_LIMIT
__kernel void kBitonicSortCellIdMergeGlobal(__global int2* pKey, uint arrayLength, uint size, uint stride, uint dir GUID_ARG)
{
uint global_comparatorI = get_global_id(0);
uint comparatorI = global_comparatorI & (arrayLength / 2 - 1);
//Bitonic merge
uint ddd = dir ^ ( (comparatorI & (size / 2)) != 0 );
uint pos = 2 * global_comparatorI - (global_comparatorI & (stride - 1));
int2 keyA = pKey[pos + 0];
int2 keyB = pKey[pos + stride];
ComparatorPrivate(&keyA, &keyB, ddd);
pKey[pos + 0] = keyA;
pKey[pos + stride] = keyB;
}
//Combined bitonic merge steps for
//'size' > LOCAL_SIZE_LIMIT and 'stride' = [1 .. LOCAL_SIZE_LIMIT / 2]
__kernel void kBitonicSortCellIdMergeLocal(__global int2* pKey, uint arrayLength, uint stride, uint size, uint dir GUID_ARG)
{
__local int2 l_key[LOCAL_SIZE_MAX];
int localSizeLimit = get_local_size(0) * 2;
pKey += get_group_id(0) * localSizeLimit + get_local_id(0);
l_key[get_local_id(0) + 0] = pKey[ 0];
l_key[get_local_id(0) + (localSizeLimit / 2)] = pKey[(localSizeLimit / 2)];
//Bitonic merge
uint comparatorI = get_global_id(0) & ((arrayLength / 2) - 1);
uint ddd = dir ^ ( (comparatorI & (size / 2)) != 0 );
for(; stride > 0; stride >>= 1)
{
barrier(CLK_LOCAL_MEM_FENCE);
uint pos = 2 * get_local_id(0) - (get_local_id(0) & (stride - 1));
ComparatorLocal(&l_key[pos + 0], &l_key[pos + stride], ddd);
}
barrier(CLK_LOCAL_MEM_FENCE);
pKey[ 0] = l_key[get_local_id(0) + 0];
pKey[(localSizeLimit / 2)] = l_key[get_local_id(0) + (localSizeLimit / 2)];
}

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_PARTICLES_DYNAMICS_WORLD_H
#define BT_PARTICLES_DYNAMICS_WORLD_H
#ifdef USE_MINICL
#include <MiniCL/cl.h>
#include <MiniCL/cl_gl.h>
#else
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#include <CL/cl_gl.h>
#endif __APPLE__
#endif
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "btParticlesSharedDefs.h"
#include "btParticlesSharedTypes.h"
#define PARTICLES_MAX_PARTICLES (65536)
#define PARTICLES_MAX_NEIGHBORS (32)
#define DEF_PARTICLE_RADIUS (0.023f)
enum
{
PARTICLES_KERNEL_INTEGRATE_MOTION = 0,
PARTICLES_KERNEL_COMPUTE_CELL_ID,
PARTICLES_KERNEL_CLEAR_CELL_START,
PARTICLES_KERNEL_FIND_CELL_START,
PARTICLES_KERNEL_COLLIDE_PARTICLES,
PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_LOCAL,
PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_LOCAL_1,
PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_MERGE_GLOBAL,
PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_MERGE_LOCAL,
PARTICLES_KERNEL_TOTAL
};
enum
{
SIMSTAGE_NONE = 0,
SIMSTAGE_INTEGRATE_MOTION,
SIMSTAGE_COMPUTE_CELL_ID,
SIMSTAGE_SORT_CELL_ID,
SIMSTAGE_FIND_CELL_START,
SIMSTAGE_COLLIDE_PARTICLES,
SIMSTAGE_TOTAL
};
struct btKernelInfo
{
int m_Id;
cl_kernel m_kernel;
char* m_name;
int m_workgroupSize;
};
class btParticlesDynamicsWorld : public btDiscreteDynamicsWorld
{
public:
int m_numParticles;
int m_usedDevice;
btScalar m_particleRad;
struct GL_ToggleControl* m_useCpuControls[SIMSTAGE_TOTAL];
protected:
int m_hashSize; // power of 2 >= m_numSpheres;
int m_numGridCells;
int m_maxNeighbors;
int m_numSolverIterations;
// CPU side data
public:
btAlignedObjectArray<btVector3> m_hPos;
btAlignedObjectArray<btVector3> m_hVel;
btAlignedObjectArray<btVector3> m_hSortedPos;
btAlignedObjectArray<btVector3> m_hSortedVel;
protected:
btAlignedObjectArray<btInt2> m_hPosHash;
btAlignedObjectArray<int> m_hCellStart;
// GPU side data
cl_mem m_dPos;
cl_mem m_dVel;
cl_mem m_dPosHash;
cl_mem m_dCellStart;
cl_mem m_dSimParams; // copy of m_simParams : global simulation paramerers such as gravity, etc.
cl_mem m_dSortedPos;
cl_mem m_dSortedVel;
// OpenCL
public:
cl_context m_cxMainContext;
cl_device_id m_cdDevice;
cl_command_queue m_cqCommandQue;
cl_program m_cpProgram;
protected:
btKernelInfo m_kernels[PARTICLES_KERNEL_TOTAL];
btVector3 m_cellSize;
public:
btVector3 m_worldMin;
btVector3 m_worldMax;
// vbo variables
GLuint m_vbo;
unsigned int m_posVbo;
unsigned int m_colVbo;
btSimParams m_simParams;
float m_timeStep;
int getNumParticles() { return m_numParticles; }
float* getPosBuffer() { return (float*)&(m_hPos[0]); }
btParticlesDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
int maxObjs = PARTICLES_MAX_PARTICLES, int maxNeighbors = PARTICLES_MAX_NEIGHBORS)
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
{
m_cxMainContext = 0;
m_usedDevice = 1;
// m_particleRad = btScalar(0.5f);
m_particleRad = DEF_PARTICLE_RADIUS;
m_simParams.m_gravity[0] = 0.f;
m_simParams.m_gravity[1] = -10.f;
m_simParams.m_gravity[2] = 0.f;
m_simParams.m_gravity[3] = 0.f;
m_numSolverIterations = 4;
}
virtual ~btParticlesDynamicsWorld();
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
void initDeviceData();
void initCLKernels(int argc, char** argv);
void createVBO();
void postInitDeviceData();
void getShapeData();
void allocateBuffers();
void grabSimulationData();
void adjustGrid();
void runIntegrateMotionKernel();
void runComputeCellIdKernel();
void runSortHashKernel();
void runFindCellStartKernel();
void runCollideParticlesKernel();
void initKernel(int kernelId, char* pName);
void runKernelWithWorkgroupSize(int kernelId, int globalSize);
void bitonicSortNv(cl_mem pKey, unsigned int batch, unsigned int arrayLength, unsigned int dir);
void scanExclusiveLocal1(cl_mem d_Dst, cl_mem d_Src, unsigned int n, unsigned int size);
void scanExclusiveLocal2(cl_mem d_Buffer, cl_mem d_Dst, cl_mem d_Src, unsigned int n, unsigned int size);
void uniformUpdate(cl_mem d_Dst, cl_mem d_Buffer, unsigned int n);
void scanExclusive(cl_mem d_Dst, cl_mem d_Src, unsigned int arrayLength);
};
#endif //BT_PARTICLES_DYNAMICS_WORLD_H

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_SPHERES_GRID_DEMO_SHARED_TYPES
#define BT_SPHERES_GRID_DEMO_SHARED_TYPES
struct btSimParams
{
float m_gravity[4];
float m_worldMin[4];
float m_worldMax[4];
float m_cellSize[4];
int m_gridSize[4];
float m_particleRad;
float m_globalDamping;
float m_boundaryDamping;
float m_collisionDamping;
float m_spring;
float m_shear;
float m_attraction;
float m_dummy;
};
struct btInt2
{
int x;
int y;
};
struct btInt4
{
int x;
int y;
int z;
int w;
};
#endif

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ParticlesDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
// standard utility and system includes
//#include <oclUtils.h>
// Extra CL/GL include
//#include <CL/cl_gl.h>
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
// start logs
// oclSetLogFileName ("appSpheresGrid.txt");
// oclLog(LOGBOTH, 0.0, "appSpheresGrid.exe Starting...\n\n");
ParticlesDemo ccdDemo(argc, argv);
ccdDemo.initPhysics();
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}

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#define STRINGIFY(A) #A
// vertex shader
const char *vertexShader = STRINGIFY(
uniform float pointRadius; // point size in world space
uniform float pointScale; // scale to calculate size in pixels
uniform float densityScale;
uniform float densityOffset;
varying vec3 posEye;
void main()
{
// calculate window-space point size
posEye = vec3(gl_ModelViewMatrix * vec4(gl_Vertex.xyz, 1.0));
float dist = length(posEye);
gl_PointSize = pointRadius * (pointScale / dist);
// gl_PointSize = 4.0;
gl_TexCoord[0] = gl_MultiTexCoord0;
gl_Position = gl_ModelViewProjectionMatrix * vec4(gl_Vertex.xyz, 1.0);
gl_FrontColor = gl_Color;
}
);
// pixel shader for rendering points as shaded spheres
const char *spherePixelShader = STRINGIFY(
uniform float pointRadius; // point size in world space
varying vec3 posEye; // position of center in eye space
void main()
{
const vec3 lightDir = vec3(0.577, 0.577, 0.577);
const float shininess = 40.0;
// calculate normal from texture coordinates
vec3 N;
N.xy = gl_TexCoord[0].xy*vec2(2.0, -2.0) + vec2(-1.0, 1.0);
float mag = dot(N.xy, N.xy);
if (mag > 1.0) discard; // kill pixels outside circle
N.z = sqrt(1.0-mag);
// point on surface of sphere in eye space
vec3 spherePosEye = posEye + N*pointRadius;
// calculate lighting
float diffuse = max(0.0, dot(lightDir, N));
// gl_FragColor = gl_Color * diffuse;
vec3 v = normalize(-spherePosEye);
vec3 h = normalize(lightDir + v);
float specular = pow(max(0.0, dot(N, h)), shininess);
gl_FragColor = gl_Color * diffuse + specular;
}
);

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extern const char *vertexShader;
extern const char *spherePixelShader;

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2010 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include <string.h>
#include "btOclCommon.h"
static char* spPlatformVendor =
#if defined(CL_PLATFORM_MINI_CL)
"MiniCL, SCEA";
#elif defined(CL_PLATFORM_AMD)
"Advanced Micro Devices, Inc.";
#elif defined(CL_PLATFORM_NVIDIA)
"NVIDIA Corporation";
#else
"Unknown Vendor";
#endif
cl_context btOclCommon::createContextFromType(cl_device_type deviceType, cl_int* pErrNum)
{
cl_uint numPlatforms;
cl_platform_id platform = NULL;
cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
if(ciErrNum != CL_SUCCESS)
{
if(pErrNum != NULL) *pErrNum = ciErrNum;
return NULL;
}
if(numPlatforms > 0)
{
cl_platform_id* platforms = new cl_platform_id[numPlatforms];
ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
if(ciErrNum != CL_SUCCESS)
{
if(pErrNum != NULL) *pErrNum = ciErrNum;
return NULL;
}
for (unsigned i = 0; i < numPlatforms; ++i)
{
char pbuf[128];
ciErrNum = clGetPlatformInfo( platforms[i],
CL_PLATFORM_VENDOR,
sizeof(pbuf),
pbuf,
NULL);
if(ciErrNum != CL_SUCCESS)
{
if(pErrNum != NULL) *pErrNum = ciErrNum;
return NULL;
}
platform = platforms[i];
if(!strcmp(pbuf, spPlatformVendor))
{
break;
}
}
delete[] platforms;
}
/*
* If we could find our platform, use it. Otherwise pass a NULL and get whatever the
* implementation thinks we should be using.
*/
cl_context_properties cps[3] =
{
CL_CONTEXT_PLATFORM,
(cl_context_properties)platform,
0
};
/* Use NULL for backward compatibility */
cl_context_properties* cprops = (NULL == platform) ? NULL : cps;
cl_context retContext = clCreateContextFromType(cprops,
CL_DEVICE_TYPE_ALL,
NULL,
NULL,
&ciErrNum);
if(pErrNum != NULL) *pErrNum = ciErrNum;
return retContext;
}

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006 - 2010 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BTOCLCOMMON_H
#define BTOCLCOMMON_H
#ifdef __APPLE__
#ifdef USE_MINICL
#include <MiniCL/cl.h>
#else
#include <MiniCL/cl.h>
#endif
#else
#ifdef USE_MINICL
#include <MiniCL/cl.h>
#else
#include <CL/cl.h>
#endif
#endif //__APPLE__
class btOclCommon
{
public:
static cl_context createContextFromType(cl_device_type deviceType, cl_int* pErrNum);
};
#endif // BTOCLCOMMON_H

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#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include "btOclUtils.h"
//////////////////////////////////////////////////////////////////////////////
//! Gets the id of the nth device from the context
//!
//! @return the id or -1 when out of range
//! @param cxMainContext OpenCL context
//! @param device_idx index of the device of interest
//////////////////////////////////////////////////////////////////////////////
cl_device_id btOclGetDev(cl_context cxMainContext, unsigned int nr)
{
size_t szParmDataBytes;
cl_device_id* cdDevices;
// get the list of GPU devices associated with context
clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParmDataBytes);
if( szParmDataBytes / sizeof(cl_device_id) < nr ) {
return (cl_device_id)-1;
}
cdDevices = (cl_device_id*) malloc(szParmDataBytes);
clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, szParmDataBytes, cdDevices, NULL);
cl_device_id device = cdDevices[nr];
free(cdDevices);
return device;
}
//////////////////////////////////////////////////////////////////////////////
//! Gets the id of device with maximal FLOPS from the context
//!
//! @return the id
//! @param cxMainContext OpenCL context
//////////////////////////////////////////////////////////////////////////////
cl_device_id btOclGetMaxFlopsDev(cl_context cxMainContext)
{
size_t szParmDataBytes;
cl_device_id* cdDevices;
// get the list of GPU devices associated with context
clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParmDataBytes);
cdDevices = (cl_device_id*) malloc(szParmDataBytes);
size_t device_count = szParmDataBytes / sizeof(cl_device_id);
clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, szParmDataBytes, cdDevices, NULL);
cl_device_id max_flops_device = cdDevices[0];
int max_flops = 0;
size_t current_device = 0;
// CL_DEVICE_MAX_COMPUTE_UNITS
cl_uint compute_units;
clGetDeviceInfo(cdDevices[current_device], CL_DEVICE_MAX_COMPUTE_UNITS, sizeof(compute_units), &compute_units, NULL);
// CL_DEVICE_MAX_CLOCK_FREQUENCY
cl_uint clock_frequency;
clGetDeviceInfo(cdDevices[current_device], CL_DEVICE_MAX_CLOCK_FREQUENCY, sizeof(clock_frequency), &clock_frequency, NULL);
max_flops = compute_units * clock_frequency;
++current_device;
while( current_device < device_count )
{
// CL_DEVICE_MAX_COMPUTE_UNITS
cl_uint compute_units;
clGetDeviceInfo(cdDevices[current_device], CL_DEVICE_MAX_COMPUTE_UNITS, sizeof(compute_units), &compute_units, NULL);
// CL_DEVICE_MAX_CLOCK_FREQUENCY
cl_uint clock_frequency;
clGetDeviceInfo(cdDevices[current_device], CL_DEVICE_MAX_CLOCK_FREQUENCY, sizeof(clock_frequency), &clock_frequency, NULL);
int flops = compute_units * clock_frequency;
if( flops > max_flops )
{
max_flops = flops;
max_flops_device = cdDevices[current_device];
}
++current_device;
}
free(cdDevices);
return max_flops_device;
}
//////////////////////////////////////////////////////////////////////////////
//! Loads a Program file and prepends the cPreamble to the code.
//!
//! @return the source string if succeeded, 0 otherwise
//! @param cFilename program filename
//! @param cPreamble code that is prepended to the loaded file, typically a set of #defines or a header
//! @param szFinalLength returned length of the code string
//////////////////////////////////////////////////////////////////////////////
char* btOclLoadProgSource(const char* cFilename, const char* cPreamble, size_t* szFinalLength)
{
// locals
FILE* pFileStream = NULL;
size_t szSourceLength;
// open the OpenCL source code file
#ifdef _WIN32 // Windows version
if(fopen_s(&pFileStream, cFilename, "rb") != 0)
{
return NULL;
}
#else // Linux version
pFileStream = fopen(cFilename, "rb");
if(pFileStream == 0)
{
return NULL;
}
#endif
size_t szPreambleLength = strlen(cPreamble);
// get the length of the source code
fseek(pFileStream, 0, SEEK_END);
szSourceLength = ftell(pFileStream);
fseek(pFileStream, 0, SEEK_SET);
// allocate a buffer for the source code string and read it in
char* cSourceString = (char *)malloc(szSourceLength + szPreambleLength + 1);
memcpy(cSourceString, cPreamble, szPreambleLength);
fread((cSourceString) + szPreambleLength, szSourceLength, 1, pFileStream);
// close the file and return the total length of the combined (preamble + source) string
fclose(pFileStream);
if(szFinalLength != 0)
{
*szFinalLength = szSourceLength + szPreambleLength;
}
cSourceString[szSourceLength + szPreambleLength] = '\0';
return cSourceString;
}
//////////////////////////////////////////////////////////////////////////////
//! Gets the id of the first device from the context
//!
//! @return the id
//! @param cxMainContext OpenCL context
//////////////////////////////////////////////////////////////////////////////
cl_device_id btOclGetFirstDev(cl_context cxMainContext)
{
size_t szParmDataBytes;
cl_device_id* cdDevices;
// get the list of GPU devices associated with context
clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParmDataBytes);
cdDevices = (cl_device_id*) malloc(szParmDataBytes);
clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, szParmDataBytes, cdDevices, NULL);
cl_device_id first = cdDevices[0];
free(cdDevices);
return first;
}
//////////////////////////////////////////////////////////////////////////////
//! Print info about the device
//!
//! @param device OpenCL id of the device
//////////////////////////////////////////////////////////////////////////////
void btOclPrintDevInfo(cl_device_id device)
{
char device_string[1024];
bool nv_device_attibute_query = false;
// CL_DEVICE_NAME
clGetDeviceInfo(device, CL_DEVICE_NAME, sizeof(device_string), &device_string, NULL);
printf(" CL_DEVICE_NAME: \t\t\t%s\n", device_string);
// CL_DEVICE_VENDOR
clGetDeviceInfo(device, CL_DEVICE_VENDOR, sizeof(device_string), &device_string, NULL);
printf(" CL_DEVICE_VENDOR: \t\t\t%s\n", device_string);
// CL_DRIVER_VERSION
clGetDeviceInfo(device, CL_DRIVER_VERSION, sizeof(device_string), &device_string, NULL);
printf(" CL_DRIVER_VERSION: \t\t\t%s\n", device_string);
// CL_DEVICE_INFO
cl_device_type type;
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(type), &type, NULL);
if( type & CL_DEVICE_TYPE_CPU )
printf(" CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_CPU");
if( type & CL_DEVICE_TYPE_GPU )
printf(" CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_GPU");
if( type & CL_DEVICE_TYPE_ACCELERATOR )
printf(" CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_ACCELERATOR");
if( type & CL_DEVICE_TYPE_DEFAULT )
printf(" CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_DEFAULT");
// CL_DEVICE_MAX_COMPUTE_UNITS
cl_uint compute_units;
clGetDeviceInfo(device, CL_DEVICE_MAX_COMPUTE_UNITS, sizeof(compute_units), &compute_units, NULL);
printf(" CL_DEVICE_MAX_COMPUTE_UNITS:\t\t%u\n", compute_units);
// CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS
size_t workitem_dims;
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS, sizeof(workitem_dims), &workitem_dims, NULL);
printf(" CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS:\t%u\n", workitem_dims);
// CL_DEVICE_MAX_WORK_ITEM_SIZES
size_t workitem_size[3];
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_ITEM_SIZES, sizeof(workitem_size), &workitem_size, NULL);
printf(" CL_DEVICE_MAX_WORK_ITEM_SIZES:\t%u / %u / %u \n", workitem_size[0], workitem_size[1], workitem_size[2]);
// CL_DEVICE_MAX_WORK_GROUP_SIZE
size_t workgroup_size;
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(workgroup_size), &workgroup_size, NULL);
printf(" CL_DEVICE_MAX_WORK_GROUP_SIZE:\t%u\n", workgroup_size);
// CL_DEVICE_MAX_CLOCK_FREQUENCY
cl_uint clock_frequency;
clGetDeviceInfo(device, CL_DEVICE_MAX_CLOCK_FREQUENCY, sizeof(clock_frequency), &clock_frequency, NULL);
printf(" CL_DEVICE_MAX_CLOCK_FREQUENCY:\t%u MHz\n", clock_frequency);
// CL_DEVICE_ADDRESS_BITS
cl_uint addr_bits;
clGetDeviceInfo(device, CL_DEVICE_ADDRESS_BITS, sizeof(addr_bits), &addr_bits, NULL);
printf(" CL_DEVICE_ADDRESS_BITS:\t\t%u\n", addr_bits);
// CL_DEVICE_MAX_MEM_ALLOC_SIZE
cl_ulong max_mem_alloc_size;
clGetDeviceInfo(device, CL_DEVICE_MAX_MEM_ALLOC_SIZE, sizeof(max_mem_alloc_size), &max_mem_alloc_size, NULL);
printf(" CL_DEVICE_MAX_MEM_ALLOC_SIZE:\t\t%u MByte\n", (unsigned int)(max_mem_alloc_size / (1024 * 1024)));
// CL_DEVICE_GLOBAL_MEM_SIZE
cl_ulong mem_size;
clGetDeviceInfo(device, CL_DEVICE_GLOBAL_MEM_SIZE, sizeof(mem_size), &mem_size, NULL);
printf(" CL_DEVICE_GLOBAL_MEM_SIZE:\t\t%u MByte\n", (unsigned int)(mem_size / (1024 * 1024)));
// CL_DEVICE_ERROR_CORRECTION_SUPPORT
cl_bool error_correction_support;
clGetDeviceInfo(device, CL_DEVICE_ERROR_CORRECTION_SUPPORT, sizeof(error_correction_support), &error_correction_support, NULL);
printf(" CL_DEVICE_ERROR_CORRECTION_SUPPORT:\t%s\n", error_correction_support == CL_TRUE ? "yes" : "no");
// CL_DEVICE_LOCAL_MEM_TYPE
cl_device_local_mem_type local_mem_type;
clGetDeviceInfo(device, CL_DEVICE_LOCAL_MEM_TYPE, sizeof(local_mem_type), &local_mem_type, NULL);
printf(" CL_DEVICE_LOCAL_MEM_TYPE:\t\t%s\n", local_mem_type == 1 ? "local" : "global");
// CL_DEVICE_LOCAL_MEM_SIZE
clGetDeviceInfo(device, CL_DEVICE_LOCAL_MEM_SIZE, sizeof(mem_size), &mem_size, NULL);
printf(" CL_DEVICE_LOCAL_MEM_SIZE:\t\t%u KByte\n", (unsigned int)(mem_size / 1024));
// CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE
clGetDeviceInfo(device, CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE, sizeof(mem_size), &mem_size, NULL);
printf(" CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE:\t%u KByte\n", (unsigned int)(mem_size / 1024));
// CL_DEVICE_QUEUE_PROPERTIES
cl_command_queue_properties queue_properties;
clGetDeviceInfo(device, CL_DEVICE_QUEUE_PROPERTIES, sizeof(queue_properties), &queue_properties, NULL);
if( queue_properties & CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE )
printf(" CL_DEVICE_QUEUE_PROPERTIES:\t\t%s\n", "CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE");
if( queue_properties & CL_QUEUE_PROFILING_ENABLE )
printf(" CL_DEVICE_QUEUE_PROPERTIES:\t\t%s\n", "CL_QUEUE_PROFILING_ENABLE");
// CL_DEVICE_IMAGE_SUPPORT
cl_bool image_support;
clGetDeviceInfo(device, CL_DEVICE_IMAGE_SUPPORT, sizeof(image_support), &image_support, NULL);
printf(" CL_DEVICE_IMAGE_SUPPORT:\t\t%u\n", image_support);
// CL_DEVICE_MAX_READ_IMAGE_ARGS
cl_uint max_read_image_args;
clGetDeviceInfo(device, CL_DEVICE_MAX_READ_IMAGE_ARGS, sizeof(max_read_image_args), &max_read_image_args, NULL);
printf(" CL_DEVICE_MAX_READ_IMAGE_ARGS:\t%u\n", max_read_image_args);
// CL_DEVICE_MAX_WRITE_IMAGE_ARGS
cl_uint max_write_image_args;
clGetDeviceInfo(device, CL_DEVICE_MAX_WRITE_IMAGE_ARGS, sizeof(max_write_image_args), &max_write_image_args, NULL);
printf(" CL_DEVICE_MAX_WRITE_IMAGE_ARGS:\t%u\n", max_write_image_args);
// CL_DEVICE_IMAGE2D_MAX_WIDTH, CL_DEVICE_IMAGE2D_MAX_HEIGHT, CL_DEVICE_IMAGE3D_MAX_WIDTH, CL_DEVICE_IMAGE3D_MAX_HEIGHT, CL_DEVICE_IMAGE3D_MAX_DEPTH
size_t szMaxDims[5];
printf("\n CL_DEVICE_IMAGE <dim>");
clGetDeviceInfo(device, CL_DEVICE_IMAGE2D_MAX_WIDTH, sizeof(size_t), &szMaxDims[0], NULL);
printf("\t\t\t2D_MAX_WIDTH\t %u\n", szMaxDims[0]);
clGetDeviceInfo(device, CL_DEVICE_IMAGE2D_MAX_HEIGHT, sizeof(size_t), &szMaxDims[1], NULL);
printf("\t\t\t\t\t2D_MAX_HEIGHT\t %u\n", szMaxDims[1]);
clGetDeviceInfo(device, CL_DEVICE_IMAGE3D_MAX_WIDTH, sizeof(size_t), &szMaxDims[2], NULL);
printf("\t\t\t\t\t3D_MAX_WIDTH\t %u\n", szMaxDims[2]);
clGetDeviceInfo(device, CL_DEVICE_IMAGE3D_MAX_HEIGHT, sizeof(size_t), &szMaxDims[3], NULL);
printf("\t\t\t\t\t3D_MAX_HEIGHT\t %u\n", szMaxDims[3]);
clGetDeviceInfo(device, CL_DEVICE_IMAGE3D_MAX_DEPTH, sizeof(size_t), &szMaxDims[4], NULL);
printf("\t\t\t\t\t3D_MAX_DEPTH\t %u\n", szMaxDims[4]);
// CL_DEVICE_EXTENSIONS: get device extensions, and if any then parse & log the string onto separate lines
clGetDeviceInfo(device, CL_DEVICE_EXTENSIONS, sizeof(device_string), &device_string, NULL);
if (device_string != 0)
{
printf("\n CL_DEVICE_EXTENSIONS:%s\n",device_string);
}
else
{
printf(" CL_DEVICE_EXTENSIONS: None\n");
}
// CL_DEVICE_PREFERRED_VECTOR_WIDTH_<type>
printf(" CL_DEVICE_PREFERRED_VECTOR_WIDTH_<t>\t");
cl_uint vec_width [6];
clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR, sizeof(cl_uint), &vec_width[0], NULL);
clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT, sizeof(cl_uint), &vec_width[1], NULL);
clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT, sizeof(cl_uint), &vec_width[2], NULL);
clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG, sizeof(cl_uint), &vec_width[3], NULL);
clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT, sizeof(cl_uint), &vec_width[4], NULL);
clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE, sizeof(cl_uint), &vec_width[5], NULL);
printf("CHAR %u, SHORT %u, INT %u, FLOAT %u, DOUBLE %u\n\n\n",
vec_width[0], vec_width[1], vec_width[2], vec_width[3], vec_width[4]);
}

24
Demos/SharedOpenCL/btOclUtils.h Normal file
View File

@@ -0,0 +1,24 @@
#ifndef BT_OCL_UTILS_H
#define BT_OCL_UTILS_H
#ifdef USE_MINICL
#include <MiniCL/cl.h>
#else
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif __APPLE__
#endif
//#define oclCHECKERROR(a, b) btAssert((a) == (b))
#define oclCHECKERROR(a, b) if((a)!=(b)) { printf("OCL Error : %d\n", (a)); btAssert((a) == (b)); }
void btOclPrintDevInfo(cl_device_id device);
cl_device_id btOclGetDev(cl_context cxMainContext, unsigned int nr);
cl_device_id btOclGetMaxFlopsDev(cl_context cxMainContext);
char* btOclLoadProgSource(const char* cFilename, const char* cPreamble, size_t* szFinalLength);
cl_device_id btOclGetFirstDev(cl_context cxMainContext);
#endif //BT_OCL_UTILS_H

45
Demos/ThreadingDemo/CMakeLists.txt Normal file
View File

@@ -0,0 +1,45 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
#currently this demo has only been tested under Windows 32bit
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
${VECTOR_MATH_INCLUDE}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppThreadingDemo
main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppThreadingDemo
main.cpp
)
ENDIF()
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppThreadingDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppThreadingDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppThreadingDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
ENDIF(WIN32)

123
Demos/ThreadingDemo/main.cpp Normal file
View File

@@ -0,0 +1,123 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2010 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/// ThreadingDemo shows how to use the cross platform thread support interface.
/// You can start threads and perform a blocking wait for completion
/// Under Windows it uses Win32 Threads. On Mac and Linux it uses pthreads. On PlayStation 3 Cell SPU it uses SPURS.
/// June 2010
/// New: critical section/barriers and non-blocking pollingn for completion, currently Windows only
#include "BulletMultiThreaded/Win32ThreadSupport.h"
struct SampleArgs
{
btCriticalSection* m_cs;
};
struct SampleThreadLocalStorage
{
int threadId;
};
void SampleThreadFunc(void* userPtr,void* lsMemory)
{
SampleThreadLocalStorage* localStorage = (SampleThreadLocalStorage*) lsMemory;
SampleArgs* args = (SampleArgs*) userPtr;
int workLeft = true;
while (workLeft)
{
args->m_cs->lock();
int count = args->m_cs->getSharedParam(0);
args->m_cs->setSharedParam(0,count-1);
args->m_cs->unlock();
if (count>0)
{
printf("thread %d processed number %d\n",localStorage->threadId, count);
}
workLeft = count>0;
}
printf("finished\n");
//do nothing
}
void* SamplelsMemoryFunc()
{
//don't create local store memory, just return 0
return new SampleThreadLocalStorage;
}
int main(int argc,char** argv)
{
int numThreads = 4;
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",SampleThreadFunc,SamplelsMemoryFunc,numThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
for (int i=0;i<threadSupport->getNumTasks();i++)
{
SampleThreadLocalStorage* storage = (SampleThreadLocalStorage*)threadSupport->getThreadLocalMemory(i);
storage->threadId = i;
}
SampleArgs args;
args.m_cs = threadSupport->createCriticalSection();
args.m_cs->setSharedParam(0,100);
unsigned int arg0,arg1;
int i;
for (i=0;i<numThreads;i++)
{
threadSupport->sendRequest(1, (ppu_address_t) &args, i);
}
bool blockingWait = false;
if (blockingWait)
{
for (i=0;i<numThreads;i++)
{
threadSupport->waitForResponse(&arg0,&arg1);
}
} else
{
int numActiveThreads = numThreads;
while (numActiveThreads)
{
if (threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
printf("polling\n");
}
};
}
threadSupport->stopSPU();
delete threadSupport;
return 0;
}

184
src/BulletMultiThreaded/Win32ThreadSupport.cpp
View File

@@ -176,6 +176,53 @@ void Win32ThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned in
} }
///check for messages from SPUs
bool Win32ThreadSupport::isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds)
{
///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
btAssert(m_activeSpuStatus.size());
int last = -1;
#ifndef SINGLE_THREADED
DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, timeOutInMilliseconds);
if ((res != STATUS_TIMEOUT) && (res != WAIT_FAILED))
{
btAssert(res != WAIT_FAILED);
last = res - WAIT_OBJECT_0;
btSpuStatus& spuStatus = m_activeSpuStatus[last];
btAssert(spuStatus.m_threadHandle);
btAssert(spuStatus.m_eventCompletetHandle);
//WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
btAssert(spuStatus.m_status > 1);
spuStatus.m_status = 0;
///need to find an active spu
btAssert(last>=0);
#else
last=0;
btSpuStatus& spuStatus = m_activeSpuStatus[last];
#endif //SINGLE_THREADED
*puiArgument0 = spuStatus.m_taskId;
*puiArgument1 = spuStatus.m_status;
return true;
}
return false;
}
void Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo) void Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
{ {
@@ -259,4 +306,141 @@ void Win32ThreadSupport::stopSPU()
} }
class btWin32Barrier : public btBarrier
{
private:
CRITICAL_SECTION mExternalCriticalSection;
CRITICAL_SECTION mLocalCriticalSection;
HANDLE mRunEvent,mNotifyEvent;
int mCounter,mEnableCounter;
int mMaxCount;
public:
btWin32Barrier()
{
mCounter = 0;
mMaxCount = 1;
mEnableCounter = 0;
InitializeCriticalSection(&mExternalCriticalSection);
InitializeCriticalSection(&mLocalCriticalSection);
mRunEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
mNotifyEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
}
virtual ~btWin32Barrier()
{
DeleteCriticalSection(&mExternalCriticalSection);
DeleteCriticalSection(&mLocalCriticalSection);
CloseHandle(mRunEvent);
CloseHandle(mNotifyEvent);
}
void sync()
{
int eventId;
EnterCriticalSection(&mExternalCriticalSection);
//PFX_PRINTF("enter taskId %d count %d stage %d phase %d mEnableCounter %d\n",taskId,mCounter,debug&0xff,debug>>16,mEnableCounter);
if(mEnableCounter > 0) {
ResetEvent(mNotifyEvent);
LeaveCriticalSection(&mExternalCriticalSection);
WaitForSingleObject(mNotifyEvent,INFINITE);
EnterCriticalSection(&mExternalCriticalSection);
}
eventId = mCounter;
mCounter++;
if(eventId == mMaxCount-1) {
SetEvent(mRunEvent);
mEnableCounter = mCounter-1;
mCounter = 0;
}
else {
ResetEvent(mRunEvent);
LeaveCriticalSection(&mExternalCriticalSection);
WaitForSingleObject(mRunEvent,INFINITE);
EnterCriticalSection(&mExternalCriticalSection);
mEnableCounter--;
}
if(mEnableCounter == 0) {
SetEvent(mNotifyEvent);
}
//PFX_PRINTF("leave taskId %d count %d stage %d phase %d mEnableCounter %d\n",taskId,mCounter,debug&0xff,debug>>16,mEnableCounter);
LeaveCriticalSection(&mExternalCriticalSection);
}
virtual void setMaxCount(int n) {mMaxCount = n;}
virtual int getMaxCount() {return mMaxCount;}
};
class btWin32CriticalSection : public btCriticalSection
{
private:
CRITICAL_SECTION mCriticalSection;
public:
btWin32CriticalSection()
{
InitializeCriticalSection(&mCriticalSection);
}
~btWin32CriticalSection()
{
DeleteCriticalSection(&mCriticalSection);
}
unsigned int getSharedParam(int i)
{
btAssert(i>=0&&i<31);
return mCommonBuff[i+1];
}
void setSharedParam(int i,unsigned int p)
{
btAssert(i>=0&&i<31);
mCommonBuff[i+1] = p;
}
void lock()
{
EnterCriticalSection(&mCriticalSection);
mCommonBuff[0] = 1;
}
void unlock()
{
mCommonBuff[0] = 0;
LeaveCriticalSection(&mCriticalSection);
}
};
btBarrier* Win32ThreadSupport::createBarrier()
{
unsigned char* mem = (unsigned char*)btAlignedAlloc(sizeof(btWin32Barrier),16);
btWin32Barrier* barrier = new(mem) btWin32Barrier();
barrier->setMaxCount(getNumTasks());
return barrier;
}
btCriticalSection* Win32ThreadSupport::createCriticalSection()
{
unsigned char* mem = (unsigned char*) btAlignedAlloc(sizeof(btWin32CriticalSection),16);
btWin32CriticalSection* cs = new(mem) btWin32CriticalSection();
return cs;
}
#endif //USE_WIN32_THREADING #endif //USE_WIN32_THREADING

14
src/BulletMultiThreaded/Win32ThreadSupport.h
View File

@@ -30,10 +30,6 @@ typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory);
typedef void* (*Win32lsMemorySetupFunc)(); typedef void* (*Win32lsMemorySetupFunc)();
///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication ///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
class Win32ThreadSupport : public btThreadSupportInterface class Win32ThreadSupport : public btThreadSupportInterface
{ {
@@ -109,6 +105,8 @@ public:
///check for messages from SPUs ///check for messages from SPUs
virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds);
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) ///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
virtual void startSPU(); virtual void startSPU();
@@ -125,6 +123,14 @@ public:
return m_maxNumTasks; return m_maxNumTasks;
} }
virtual void* getThreadLocalMemory(int taskId)
{
return m_activeSpuStatus[taskId].m_lsMemory;
}
virtual btBarrier* createBarrier();
virtual btCriticalSection* createCriticalSection();
}; };
#endif //WIN32_THREAD_SUPPORT_H #endif //WIN32_THREAD_SUPPORT_H

35
src/BulletMultiThreaded/btThreadSupportInterface.h
View File

@@ -17,10 +17,35 @@ subject to the following restrictions:
#define THREAD_SUPPORT_INTERFACE_H #define THREAD_SUPPORT_INTERFACE_H
//#include <LinearMath/btScalar.h> //for uint32_t etc. #include <LinearMath/btScalar.h> //for ATTRIBUTE_ALIGNED16
#include "PlatformDefinitions.h" #include "PlatformDefinitions.h"
#include "PpuAddressSpace.h" #include "PpuAddressSpace.h"
class btBarrier {
public:
btBarrier() {}
virtual ~btBarrier() {}
virtual void sync() = 0;
virtual void setMaxCount(int n) = 0;
virtual int getMaxCount() = 0;
};
class btCriticalSection {
public:
btCriticalSection() {}
virtual ~btCriticalSection() {}
ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]);
virtual unsigned int getSharedParam(int i) = 0;
virtual void setSharedParam(int i,unsigned int p) = 0;
virtual void lock() = 0;
virtual void unlock() = 0;
};
class btThreadSupportInterface class btThreadSupportInterface
{ {
public: public:
@@ -33,6 +58,10 @@ public:
///check for messages from SPUs ///check for messages from SPUs
virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) =0; virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) =0;
///non-blocking test if a task is completed. First implement all versions, and then enable this API
///virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds)=0;
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) ///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
virtual void startSPU() =0; virtual void startSPU() =0;
@@ -44,6 +73,10 @@ public:
virtual int getNumTasks() const = 0; virtual int getNumTasks() const = 0;
virtual btBarrier* createBarrier() = 0;
virtual btCriticalSection* createCriticalSection() = 0;
}; };
#endif //THREAD_SUPPORT_INTERFACE_H #endif //THREAD_SUPPORT_INTERFACE_H

9
src/MiniCL/cl_MiniCL_Defs.h
View File

@@ -28,6 +28,9 @@ subject to the following restrictions:
#define get_local_size(a) (gMiniCLNumOutstandingTasks) #define get_local_size(a) (gMiniCLNumOutstandingTasks)
#define get_group_id(a) ((__guid_arg) / gMiniCLNumOutstandingTasks) #define get_group_id(a) ((__guid_arg) / gMiniCLNumOutstandingTasks)
static unsigned int as_uint(float val) { return *((unsigned int*)&val); }
#define CLK_LOCAL_MEM_FENCE 0x01 #define CLK_LOCAL_MEM_FENCE 0x01
#define CLK_GLOBAL_MEM_FENCE 0x02 #define CLK_GLOBAL_MEM_FENCE 0x02
@@ -36,7 +39,8 @@ static void barrier(unsigned int a)
// TODO : implement // TODO : implement
} }
ATTRIBUTE_ALIGNED16(struct) float8 //ATTRIBUTE_ALIGNED16(struct) float8
struct float8
{ {
float s0; float s0;
float s1; float s1;
@@ -53,7 +57,8 @@ ATTRIBUTE_ALIGNED16(struct) float8
} }
}; };
ATTRIBUTE_ALIGNED16(struct) float4 //ATTRIBUTE_ALIGNED16(struct) float4
struct float4
{ {
float x,y,z,w; float x,y,z,w;
float4() {} float4() {}

2
src/MiniCL/cl_gl.h
View File

@@ -27,7 +27,7 @@
#ifdef __APPLE__ #ifdef __APPLE__
#include <OpenCL/cl_platform.h> #include <OpenCL/cl_platform.h>
#else #else
#include <CL/cl_platform.h> #include <MiniCL/cl_platform.h>
#endif #endif
#ifdef __cplusplus #ifdef __cplusplus