Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #576 from hujiajie/master

Browse Source 
The 'static' storage-class specifier is not supported in OpenCL.
This commit is contained in:
erwincoumans
2016-03-10 14:34:06 -08:00
parent 7a48b2d481 ad6fb3afc1
commit 67c538413f
15 changed files with 42 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
View File

@@ -21,6 +21,7 @@
#ifndef B3_MPR_PENETRATION_H #ifndef B3_MPR_PENETRATION_H
#define B3_MPR_PENETRATION_H #define B3_MPR_PENETRATION_H
#include "Bullet3Common/shared/b3PlatformDefinitions.h"
#include "Bullet3Common/shared/b3Float4.h" #include "Bullet3Common/shared/b3Float4.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
@@ -151,7 +152,7 @@ inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global con
} }
static void b3MprConvexSupport(int pairIndex,int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
b3ConstArray(b3Collidable_t) cpuCollidables, b3ConstArray(b3Collidable_t) cpuCollidables,
b3ConstArray(b3Float4) cpuVertices, b3ConstArray(b3Float4) cpuVertices,
@@ -370,7 +371,7 @@ inline void b3ExpandPortal(b3MprSimplex_t *portal,
static int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
b3ConstArray(b3Collidable_t) cpuCollidables, b3ConstArray(b3Collidable_t) cpuCollidables,
b3ConstArray(b3Float4) cpuVertices, b3ConstArray(b3Float4) cpuVertices,
@@ -505,7 +506,7 @@ static int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3Co
} }
static int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
b3ConstArray(b3Collidable_t) cpuCollidables, b3ConstArray(b3Collidable_t) cpuCollidables,
b3ConstArray(b3Float4) cpuVertices, b3ConstArray(b3Float4) cpuVertices,
@@ -547,7 +548,7 @@ static int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB, b3Const
return -1; return -1;
} }
static void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos) B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)
{ {
b3Float4 zero = b3MakeFloat4(0,0,0,0); b3Float4 zero = b3MakeFloat4(0,0,0,0);
@@ -758,7 +759,7 @@ inline float b3MprVec3PointTriDist2(const b3Float4 *P,
} }
static void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
b3ConstArray(b3Collidable_t) cpuCollidables, b3ConstArray(b3Collidable_t) cpuCollidables,
b3ConstArray(b3Float4) cpuVertices, b3ConstArray(b3Float4) cpuVertices,
@@ -811,7 +812,7 @@ static void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstA
} }
} }
static void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos) B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)
{ {
// Touching contact on portal's v1 - so depth is zero and direction // Touching contact on portal's v1 - so depth is zero and direction
// is unimportant and pos can be guessed // is unimportant and pos can be guessed
@@ -827,7 +828,7 @@ static void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir
b3MprVec3Scale(pos, 0.5); b3MprVec3Scale(pos, 0.5);
} }
static void b3FindPenetrSegment(b3MprSimplex_t *portal, B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,
float *depth, b3Float4 *dir, b3Float4 *pos) float *depth, b3Float4 *dir, b3Float4 *pos)
{ {

4
src/Bullet3Common/shared/b3PlatformDefinitions.h
View File

@@ -20,6 +20,8 @@ inline int b3AtomicAdd (volatile int *p, int val)
} }
#define __global #define __global
#define B3_STATIC static
#else #else
//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX //keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX
#define B3_LARGE_FLOAT 1e18f #define B3_LARGE_FLOAT 1e18f
@@ -32,6 +34,8 @@ inline int b3AtomicAdd (volatile int *p, int val)
#define b3Sqrt native_sqrt #define b3Sqrt native_sqrt
#define b3Sin native_sin #define b3Sin native_sin
#define b3Cos native_cos #define b3Cos native_cos
#define B3_STATIC
#endif #endif
#endif #endif

24
src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
View File

@@ -17,8 +17,6 @@ static const char* mprKernelsCL= \
" */\n" " */\n"
"#ifndef B3_MPR_PENETRATION_H\n" "#ifndef B3_MPR_PENETRATION_H\n"
"#define B3_MPR_PENETRATION_H\n" "#define B3_MPR_PENETRATION_H\n"
"#ifndef B3_FLOAT4_H\n"
"#define B3_FLOAT4_H\n"
"#ifndef B3_PLATFORM_DEFINITIONS_H\n" "#ifndef B3_PLATFORM_DEFINITIONS_H\n"
"#define B3_PLATFORM_DEFINITIONS_H\n" "#define B3_PLATFORM_DEFINITIONS_H\n"
"struct MyTest\n" "struct MyTest\n"
@@ -38,6 +36,14 @@ static const char* mprKernelsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n"
"#endif\n"
"#ifndef B3_FLOAT4_H\n"
"#define B3_FLOAT4_H\n"
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
"#ifdef __cplusplus\n"
"#else\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"
@@ -509,7 +515,7 @@ static const char* mprKernelsCL= \
" }\n" " }\n"
" return supVec;\n" " return supVec;\n"
"}\n" "}\n"
"static void b3MprConvexSupport(int pairIndex,int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n" "B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
" b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n" " b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
" b3ConstArray(b3Collidable_t) cpuCollidables,\n" " b3ConstArray(b3Collidable_t) cpuCollidables,\n"
" b3ConstArray(b3Float4) cpuVertices,\n" " b3ConstArray(b3Float4) cpuVertices,\n"
@@ -682,7 +688,7 @@ static const char* mprKernelsCL= \
" }\n" " }\n"
" }\n" " }\n"
"}\n" "}\n"
"static int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n" "B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
" b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n" " b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
" b3ConstArray(b3Collidable_t) cpuCollidables,\n" " b3ConstArray(b3Collidable_t) cpuCollidables,\n"
" b3ConstArray(b3Float4) cpuVertices,\n" " b3ConstArray(b3Float4) cpuVertices,\n"
@@ -792,7 +798,7 @@ static const char* mprKernelsCL= \
" }\n" " }\n"
" return 0;\n" " return 0;\n"
"}\n" "}\n"
"static int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n" "B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
" b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n" " b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
" b3ConstArray(b3Collidable_t) cpuCollidables,\n" " b3ConstArray(b3Collidable_t) cpuCollidables,\n"
" b3ConstArray(b3Float4) cpuVertices,\n" " b3ConstArray(b3Float4) cpuVertices,\n"
@@ -826,7 +832,7 @@ static const char* mprKernelsCL= \
" }\n" " }\n"
" return -1;\n" " return -1;\n"
"}\n" "}\n"
"static void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)\n" "B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)\n"
"{\n" "{\n"
" b3Float4 zero = b3MakeFloat4(0,0,0,0);\n" " b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
" b3Float4* b3mpr_vec3_origin = &zero;\n" " b3Float4* b3mpr_vec3_origin = &zero;\n"
@@ -1000,7 +1006,7 @@ static const char* mprKernelsCL= \
" }\n" " }\n"
" return dist;\n" " return dist;\n"
"}\n" "}\n"
"static void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n" "B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
" b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n" " b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
" b3ConstArray(b3Collidable_t) cpuCollidables,\n" " b3ConstArray(b3Collidable_t) cpuCollidables,\n"
" b3ConstArray(b3Float4) cpuVertices,\n" " b3ConstArray(b3Float4) cpuVertices,\n"
@@ -1043,7 +1049,7 @@ static const char* mprKernelsCL= \
" iterations++;\n" " iterations++;\n"
" }\n" " }\n"
"}\n" "}\n"
"static void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)\n" "B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)\n"
"{\n" "{\n"
" // Touching contact on portal's v1 - so depth is zero and direction\n" " // Touching contact on portal's v1 - so depth is zero and direction\n"
" // is unimportant and pos can be guessed\n" " // is unimportant and pos can be guessed\n"
@@ -1055,7 +1061,7 @@ static const char* mprKernelsCL= \
" b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n" " b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
" b3MprVec3Scale(pos, 0.5);\n" " b3MprVec3Scale(pos, 0.5);\n"
"}\n" "}\n"
"static void b3FindPenetrSegment(b3MprSimplex_t *portal,\n" "B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,\n"
" float *depth, b3Float4 *dir, b3Float4 *pos)\n" " float *depth, b3Float4 *dir, b3Float4 *pos)\n"
"{\n" "{\n"
" \n" " \n"

1
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
View File

@@ -23,6 +23,7 @@ static const char* primitiveContactsKernelsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
View File

@@ -50,6 +50,7 @@ static const char* satClipKernelsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
View File

@@ -164,6 +164,7 @@ static const char* satConcaveKernelsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
View File

@@ -164,6 +164,7 @@ static const char* satKernelsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
View File

@@ -35,6 +35,7 @@ static const char* batchingKernelsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
View File

@@ -35,6 +35,7 @@ static const char* batchingKernelsNewCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
View File

@@ -35,6 +35,7 @@ static const char* integrateKernelCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
View File

@@ -35,6 +35,7 @@ static const char* solverSetupCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

4
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
View File

@@ -510,7 +510,7 @@ typedef struct
} ConstBufferSSD; } ConstBufferSSD;
static __constant const int gridTable4x4[] = __constant const int gridTable4x4[] =
{ {
0,1,17,16, 0,1,17,16,
1,2,18,19, 1,2,18,19,
@@ -518,7 +518,7 @@ static __constant const int gridTable4x4[] =
16,19,3,34 16,19,3,34
}; };
static __constant const int gridTable8x8[] = __constant const int gridTable8x8[] =
{ {
0, 2, 3, 16, 17, 18, 19, 1, 0, 2, 3, 16, 17, 18, 19, 1,
66, 64, 80, 67, 82, 81, 65, 83, 66, 64, 80, 67, 82, 81, 65, 83,

5
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
View File

@@ -35,6 +35,7 @@ static const char* solverSetup2CL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"
@@ -514,14 +515,14 @@ static const char* solverSetup2CL= \
" float m_scale;\n" " float m_scale;\n"
" int m_nSplit;\n" " int m_nSplit;\n"
"} ConstBufferSSD;\n" "} ConstBufferSSD;\n"
"static __constant const int gridTable4x4[] = \n" "__constant const int gridTable4x4[] = \n"
"{\n" "{\n"
" 0,1,17,16,\n" " 0,1,17,16,\n"
" 1,2,18,19,\n" " 1,2,18,19,\n"
" 17,18,32,3,\n" " 17,18,32,3,\n"
" 16,19,3,34\n" " 16,19,3,34\n"
"};\n" "};\n"
"static __constant const int gridTable8x8[] = \n" "__constant const int gridTable8x8[] = \n"
"{\n" "{\n"
" 0, 2, 3, 16, 17, 18, 19, 1,\n" " 0, 2, 3, 16, 17, 18, 19, 1,\n"
" 66, 64, 80, 67, 82, 81, 65, 83,\n" " 66, 64, 80, 67, 82, 81, 65, 83,\n"

1
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
View File

@@ -35,6 +35,7 @@ static const char* solverUtilsCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"

1
src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
View File

@@ -25,6 +25,7 @@ static const char* updateAabbsKernelCL= \
"#define b3Sqrt native_sqrt\n" "#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n" "#define b3Sin native_sin\n"
"#define b3Cos native_cos\n" "#define b3Cos native_cos\n"
"#define B3_STATIC\n"
"#endif\n" "#endif\n"
"#endif\n" "#endif\n"
"#ifdef __cplusplus\n" "#ifdef __cplusplus\n"