Add the GPU rigid body pipeline from https://github.com/erwincoumans/experiments as a Bullet 3.x preview for Bullet 2.80
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erwin.coumans
201
Extras/RigidBodyGpuPipeline/opencl/global_atomics/main.cpp
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201
Extras/RigidBodyGpuPipeline/opencl/global_atomics/main.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///original author: Erwin Coumans
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#include "../basic_initialize/btOpenCLUtils.h"
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#include <stdio.h>
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cl_context g_cxMainContext;
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cl_command_queue g_cqCommandQue;
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cl_kernel g_atomicsKernel;
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static const size_t workGroupSize = 128;//todo figure out an appropriate workgroup size suitable for the OpenCL platform/context/device/kernel
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#define NUM_OBJECTS 1024
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#include "globalAtomicsKernel.h"
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char * findAndReplace( char const * const original, char const * const pattern, char const * const replacement);
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#include <string.h>
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#include <malloc.h>
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int main(int argc, char* argv[])
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{
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int ciErrNum = 0;
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printf("press a key to start\n");
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getchar();
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const char* vendorSDK = btOpenCLUtils::getSdkVendorName();
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printf("This program was compiled using the %s OpenCL SDK\n",vendorSDK);
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cl_device_type deviceType = CL_DEVICE_TYPE_GPU;//CL_DEVICE_TYPE_ALL
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void* glCtx=0;
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void* glDC = 0;
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printf("Initialize OpenCL using btOpenCLUtils::createContextFromType for CL_DEVICE_TYPE_GPU\n");
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g_cxMainContext = btOpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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int numDev = btOpenCLUtils::getNumDevices(g_cxMainContext);
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if (numDev>0)
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{
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int deviceIndex=0;
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cl_device_id device;
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device = btOpenCLUtils::getDevice(g_cxMainContext,deviceIndex);
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btOpenCLDeviceInfo clInfo;
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btOpenCLUtils::getDeviceInfo(device,clInfo);
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btOpenCLUtils::printDeviceInfo(device);
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const char* globalAtomicsKernelStringPatched = globalAtomicsKernelString;
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if (!strstr(clInfo.m_deviceExtensions,"cl_ext_atomic_counters_32"))
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{
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globalAtomicsKernelStringPatched = findAndReplace(globalAtomicsKernelString,"counter32_t", "volatile __global int*");
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}
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// create a command-queue
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g_cqCommandQue = clCreateCommandQueue(g_cxMainContext, device, 0, &ciErrNum);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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cl_mem counterBuffer = clCreateBuffer(g_cxMainContext, CL_MEM_READ_WRITE, sizeof(int), NULL, &ciErrNum);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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char* kernelMethods[] =
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{
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"globalAtomicKernelOpenCL1_1",
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"counterAtomicKernelExt",
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"globalAtomicKernelExt",
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"globalAtomicKernelCounters32Broken"
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};
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int numKernelMethods = sizeof(kernelMethods)/sizeof(char*);
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for (int i=0;i<numKernelMethods;i++)
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{
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int myCounter = 0;
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//write to counterBuffer
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int deviceOffset=0;
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int hostOffset=0;
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ciErrNum = clEnqueueWriteBuffer(g_cqCommandQue, counterBuffer,CL_FALSE, deviceOffset, sizeof(int), &myCounter, 0, NULL, NULL);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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g_atomicsKernel = btOpenCLUtils::compileCLKernelFromString(g_cxMainContext,device,globalAtomicsKernelStringPatched,kernelMethods[i], &ciErrNum);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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ciErrNum = clSetKernelArg(g_atomicsKernel, 0, sizeof(cl_mem),(void*)&counterBuffer);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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size_t numWorkItems = workGroupSize*((NUM_OBJECTS + (workGroupSize-1)) / workGroupSize);
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ciErrNum = clEnqueueNDRangeKernel(g_cqCommandQue, g_atomicsKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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clFinish(g_cqCommandQue);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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//read from counterBuffer
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ciErrNum = clEnqueueReadBuffer(g_cqCommandQue, counterBuffer, CL_TRUE, deviceOffset, sizeof(int), &myCounter, 0, NULL, NULL);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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if (myCounter != NUM_OBJECTS)
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{
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printf("%s is broken, expected %d got %d\n",kernelMethods[i],NUM_OBJECTS,myCounter);
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} else
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{
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printf("%s success, got %d\n",kernelMethods[i],myCounter);
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}
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}
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clReleaseCommandQueue(g_cqCommandQue);
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oclCHECKERROR(ciErrNum, CL_SUCCESS);
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}
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clReleaseContext(g_cxMainContext);
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printf("press a key to end\n");
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getchar();
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return 0;
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}
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#ifdef _WIN32
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#pragma warning( push )
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#pragma warning( disable : 4996 )
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#endif //_WIN32
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#include <string.h>
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#include <stdlib.h>
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char * findAndReplace(
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char const * const original,
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char const * const pattern,
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char const * const replacement
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) {
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size_t const replen = strlen(replacement);
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size_t const patlen = strlen(pattern);
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size_t const orilen = strlen(original);
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size_t patcnt = 0;
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const char * oriptr;
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const char * patloc;
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// find how many times the pattern occurs in the original string
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for (oriptr = original; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
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{
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patcnt++;
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}
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{
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// allocate memory for the new string
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size_t const retlen = orilen + patcnt * (replen - patlen);
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char * const returned = (char *) malloc( sizeof(char) * (retlen + 1) );
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if (returned != NULL)
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{
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// copy the original string,
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// replacing all the instances of the pattern
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char * retptr = returned;
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for (oriptr = original; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
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{
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size_t const skplen = patloc - oriptr;
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// copy the section until the occurence of the pattern
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strncpy(retptr, oriptr, skplen);
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retptr += skplen;
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// copy the replacement
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strncpy(retptr, replacement, replen);
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retptr += replen;
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}
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// copy the rest of the string.
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strcpy(retptr, oriptr);
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}
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return returned;
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}
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}
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#ifdef _WIN32
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#pragma warning( pop )
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#endif //_WIN32
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