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bt -> b3 and BT -> B3 rename for content and filenames

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This commit is contained in:
erwin coumans
2013-04-28 23:11:10 -07:00
parent 6bcb5b9d5f
commit 7366e262fd
178 changed files with 5218 additions and 5218 deletions
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564
opencl/gpu_narrowphase/host/b3ConvexHullContact.cpp
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@@ -18,19 +18,19 @@ subject to the following restrictions:
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
//#define BT_DEBUG_SAT_FACE
//#define B3_DEBUG_SAT_FACE
#include "b3ConvexHullContact.h"
#include <string.h>//memcpy
#include "b3ConvexPolyhedronCL.h"
typedef b3AlignedObjectArray<b3Vector3> btVertexArray;
typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
#include "Bullet3Common/b3Quickprof.h"
#include <float.h> //for FLT_MAX
#include "basic_initialize/b3OpenCLUtils.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "parallel_primitives/host/b3LauncherCL.h"
//#include "AdlQuaternion.h"
#include "../kernels/satKernels.h"
@@ -42,7 +42,7 @@ typedef b3AlignedObjectArray<b3Vector3> btVertexArray;
#include "Bullet3Geometry/b3AabbUtil.h"
#define dot3F4 btDot
#define dot3F4 b3Dot
GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q )
:m_context(ctx),
@@ -65,22 +65,22 @@ m_totalContactsOut(m_context, m_queue)
//#endif
cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,src,&errNum,flags,"opencl/gpu_narrowphase/kernels/sat.cl");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisKernel",&errNum,satProg );
btAssert(m_findSeparatingAxisKernel);
btAssert(errNum==CL_SUCCESS);
b3Assert(m_findSeparatingAxisKernel);
b3Assert(errNum==CL_SUCCESS);
m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisKernel",&errNum,satProg );
btAssert(m_findConcaveSeparatingAxisKernel);
btAssert(errNum==CL_SUCCESS);
b3Assert(m_findConcaveSeparatingAxisKernel);
b3Assert(errNum==CL_SUCCESS);
m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findCompoundPairsKernel",&errNum,satProg );
btAssert(m_findCompoundPairsKernel);
btAssert(errNum==CL_SUCCESS);
b3Assert(m_findCompoundPairsKernel);
b3Assert(errNum==CL_SUCCESS);
m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "processCompoundPairsKernel",&errNum,satProg );
btAssert(m_processCompoundPairsKernel);
btAssert(errNum==CL_SUCCESS);
b3Assert(m_processCompoundPairsKernel);
b3Assert(errNum==CL_SUCCESS);
}
if (1)
@@ -93,30 +93,30 @@ m_totalContactsOut(m_context, m_queue)
//#endif
cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,flags,"opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipCompoundsHullHullKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_findClippingFacesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "findClippingFacesKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_clipFacesAndContactReductionKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipFacesAndContactReductionKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_clipHullHullConcaveConvexKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_extractManifoldAndAddContactKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_newContactReductionKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
"newContactReductionKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
}
else
{
@@ -133,28 +133,28 @@ m_totalContactsOut(m_context, m_queue)
{
const char* srcBvh = bvhTraversalKernelCL;
cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_narrowphase/kernels/bvhTraversal.cl");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_bvhTraversalKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcBvh, "bvhTraversalKernel",&errNum,bvhTraversalProg,"");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
}
{
const char* primitiveContactsSrc = primitiveContactsKernelsCL;
cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_narrowphase/kernels/primitiveContacts.cl");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_primitiveContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
btAssert(errNum==CL_SUCCESS);
b3Assert(errNum==CL_SUCCESS);
m_findConcaveSphereContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "findConcaveSphereContactsKernel",&errNum,primitiveContactsProg );
btAssert(errNum==CL_SUCCESS);
btAssert(m_findConcaveSphereContactsKernel);
b3Assert(errNum==CL_SUCCESS);
b3Assert(m_findConcaveSphereContactsKernel);
m_processCompoundPairsPrimitivesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "processCompoundPairsPrimitivesKernel",&errNum,primitiveContactsProg,"");
btAssert(errNum==CL_SUCCESS);
btAssert(m_processCompoundPairsPrimitivesKernel);
b3Assert(errNum==CL_SUCCESS);
b3Assert(m_processCompoundPairsPrimitivesKernel);
}
@@ -207,7 +207,7 @@ GpuSatCollision::~GpuSatCollision()
}
struct MyTriangleCallback : public btNodeOverlapCallback
struct MyTriangleCallback : public b3NodeOverlapCallback
{
int m_bodyIndexA;
int m_bodyIndexB;
@@ -221,7 +221,7 @@ struct MyTriangleCallback : public btNodeOverlapCallback
#define float4 b3Vector3
#define make_float4(x,y,z,w) btVector4(x,y,z,w)
#define make_float4(x,y,z,w) b3Vector4(x,y,z,w)
float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn, float4* closestPointOnFace)
{
@@ -248,7 +248,7 @@ b3Vector3 transform(b3Vector3* v, const b3Vector3* pos, const b3Vector3* orn)
inline bool IsPointInPolygon(const float4& p,
const btGpuFace* face,
const b3GpuFace* face,
const float4* baseVertex,
const int* convexIndices,
float4* out)
@@ -277,10 +277,10 @@ inline bool IsPointInPolygon(const float4& p,
ap = p-a;
v = cross3(ab,plane);
if (btDot(ap, v) > 0.f)
if (b3Dot(ap, v) > 0.f)
{
float ab_m2 = btDot(ab, ab);
float rt = ab_m2 != 0.f ? btDot(ab, ap) / ab_m2 : 0.f;
float ab_m2 = b3Dot(ab, ab);
float rt = ab_m2 != 0.f ? b3Dot(ab, ap) / ab_m2 : 0.f;
if (rt <= 0.f)
{
*out = a;
@@ -305,7 +305,7 @@ inline bool IsPointInPolygon(const float4& p,
#define normalize3(a) (a.normalize())
int extractManifoldSequentialGlobal( const float4* p, int nPoints, const float4& nearNormal, btInt4* contactIdx)
int extractManifoldSequentialGlobal( const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
{
if( nPoints == 0 )
return 0;
@@ -414,7 +414,7 @@ void computeContactPlaneConvex(int pairIndex,
const b3ConvexPolyhedronCL* convexShapes,
const b3Vector3* convexVertices,
const int* convexIndices,
const btGpuFace* faces,
const b3GpuFace* faces,
b3Contact4* globalContactsOut,
int& nGlobalContactsOut,
int maxContactCapacity)
@@ -459,7 +459,7 @@ void computeContactPlaneConvex(int pairIndex,
b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
int numPoints = 0;
btInt4 contactIdx;
b3Int4 contactIdx;
contactIdx.s[0] = 0;
contactIdx.s[1] = 1;
contactIdx.s[2] = 2;
@@ -547,14 +547,14 @@ void computeContactPlaneCompound(int pairIndex,
const b3ConvexPolyhedronCL* convexShapes,
const b3Vector3* convexVertices,
const int* convexIndices,
const btGpuFace* faces,
const b3GpuFace* faces,
b3Contact4* globalContactsOut,
int& nGlobalContactsOut,
int maxContactCapacity)
{
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
btAssert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
@@ -597,7 +597,7 @@ void computeContactPlaneCompound(int pairIndex,
b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
int numPoints = 0;
btInt4 contactIdx;
b3Int4 contactIdx;
contactIdx.s[0] = 0;
contactIdx.s[1] = 1;
contactIdx.s[2] = 2;
@@ -686,7 +686,7 @@ void computeContactSphereConvex(int pairIndex,
const b3ConvexPolyhedronCL* convexShapes,
const b3Vector3* convexVertices,
const int* convexIndices,
const btGpuFace* faces,
const b3GpuFace* faces,
b3Contact4* globalContactsOut,
int& nGlobalContactsOut,
int maxContactCapacity)
@@ -722,7 +722,7 @@ void computeContactSphereConvex(int pairIndex,
float4 localHitNormal;
for ( int f = 0; f < numFaces; f++ )
{
btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
float4 planeEqn;
float4 localPlaneNormal = make_float4(face.m_plane.getX(),face.m_plane.getY(),face.m_plane.getZ(),0.f);
float4 n1 = localPlaneNormal;//quatRotate(quat,localPlaneNormal);
@@ -763,7 +763,7 @@ void computeContactSphereConvex(int pairIndex,
b3Scalar l2 = tmp.length2();
if (l2<radius*radius)
{
dist = btSqrt(l2);
dist = b3Sqrt(l2);
if (dist>minDist)
{
minDist = dist;
@@ -833,32 +833,32 @@ void computeContactSphereConvex(int pairIndex,
}
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs,
const btOpenCLArray<b3RigidBodyCL>* bodyBuf,
btOpenCLArray<b3Contact4>* contactOut, int& nContacts,
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int2>* pairs, int nPairs,
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
const btOpenCLArray<b3ConvexPolyhedronCL>& convexData,
const btOpenCLArray<b3Vector3>& gpuVertices,
const btOpenCLArray<b3Vector3>& gpuUniqueEdges,
const btOpenCLArray<btGpuFace>& gpuFaces,
const btOpenCLArray<int>& gpuIndices,
const btOpenCLArray<b3Collidable>& gpuCollidables,
const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
const b3OpenCLArray<b3ConvexPolyhedronCL>& convexData,
const b3OpenCLArray<b3Vector3>& gpuVertices,
const b3OpenCLArray<b3Vector3>& gpuUniqueEdges,
const b3OpenCLArray<b3GpuFace>& gpuFaces,
const b3OpenCLArray<int>& gpuIndices,
const b3OpenCLArray<b3Collidable>& gpuCollidables,
const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
const btOpenCLArray<btYetAnotherAabb>& clAabbsWS,
btOpenCLArray<b3Vector3>& worldVertsB1GPU,
btOpenCLArray<btInt4>& clippingFacesOutGPU,
btOpenCLArray<b3Vector3>& worldNormalsAGPU,
btOpenCLArray<b3Vector3>& worldVertsA1GPU,
btOpenCLArray<b3Vector3>& worldVertsB2GPU,
const b3OpenCLArray<b3YetAnotherAabb>& clAabbsWS,
b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
btOpenCLArray<btQuantizedBvhNode>* treeNodesGPU,
btOpenCLArray<btBvhSubtreeInfo>* subTreesGPU,
btOpenCLArray<b3BvhInfo>* bvhInfo,
b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
b3OpenCLArray<b3BvhInfo>* bvhInfo,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairsOut,
b3OpenCLArray<b3Int4>& triangleConvexPairsOut,
int& numTriConvexPairsOut
)
{
@@ -868,9 +868,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
//#define CHECK_ON_HOST
#ifdef CHECK_ON_HOST
b3AlignedObjectArray<btYetAnotherAabb> hostAabbs;
b3AlignedObjectArray<b3YetAnotherAabb> hostAabbs;
clAabbsWS.copyToHost(hostAabbs);
b3AlignedObjectArray<btInt2> hostPairs;
b3AlignedObjectArray<b3Int2> hostPairs;
pairs->copyToHost(hostPairs);
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
@@ -886,18 +886,18 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
gpuUniqueEdges.copyToHost(hostUniqueEdges);
b3AlignedObjectArray<btGpuFace> hostFaces;
b3AlignedObjectArray<b3GpuFace> hostFaces;
gpuFaces.copyToHost(hostFaces);
b3AlignedObjectArray<int> hostIndices;
gpuIndices.copyToHost(hostIndices);
b3AlignedObjectArray<b3Collidable> hostCollidables;
gpuCollidables.copyToHost(hostCollidables);
b3AlignedObjectArray<btGpuChildShape> cpuChildShapes;
b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
gpuChildShapes.copyToHost(cpuChildShapes);
b3AlignedObjectArray<btInt4> hostTriangleConvexPairs;
b3AlignedObjectArray<b3Int4> hostTriangleConvexPairs;
b3AlignedObjectArray<b3Contact4> hostContacts;
if (nContacts)
@@ -984,22 +984,22 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
{
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
BT_PROFILE("primitiveContactsKernel");
btBufferInfoCL bInfo[] = {
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
B3_PROFILE("primitiveContactsKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_primitiveContactsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_primitiveContactsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
launcher.setConst(maxContactCapacity);
int num = nPairs;
@@ -1013,33 +1013,33 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
#endif//CHECK_ON_HOST
BT_PROFILE("computeConvexConvexContactsGPUSAT");
B3_PROFILE("computeConvexConvexContactsGPUSAT");
// printf("nContacts = %d\n",nContacts);
btOpenCLArray<b3Vector3> sepNormals(m_context,m_queue);
b3OpenCLArray<b3Vector3> sepNormals(m_context,m_queue);
sepNormals.resize(nPairs);
btOpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
b3OpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
hasSeparatingNormals.resize(nPairs);
int concaveCapacity=maxTriConvexPairCapacity;
btOpenCLArray<b3Vector3> concaveSepNormals(m_context,m_queue);
b3OpenCLArray<b3Vector3> concaveSepNormals(m_context,m_queue);
concaveSepNormals.resize(concaveCapacity);
btOpenCLArray<int> numConcavePairsOut(m_context,m_queue);
b3OpenCLArray<int> numConcavePairsOut(m_context,m_queue);
numConcavePairsOut.push_back(0);
int compoundPairCapacity=65536*10;
btOpenCLArray<btCompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
b3OpenCLArray<b3CompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
gpuCompoundPairs.resize(compoundPairCapacity);
btOpenCLArray<b3Vector3> gpuCompoundSepNormals(m_context,m_queue);
b3OpenCLArray<b3Vector3> gpuCompoundSepNormals(m_context,m_queue);
gpuCompoundSepNormals.resize(compoundPairCapacity);
btOpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue);
b3OpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue);
gpuHasCompoundSepNormals.resize(compoundPairCapacity);
btOpenCLArray<int> numCompoundPairsOut(m_context,m_queue);
b3OpenCLArray<int> numCompoundPairsOut(m_context,m_queue);
numCompoundPairsOut.push_back(0);
int numCompoundPairs = 0;
@@ -1053,23 +1053,23 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
{
{
BT_PROFILE("findSeparatingAxisKernel");
btBufferInfoCL bInfo[] = {
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL())
B3_PROFILE("findSeparatingAxisKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL())
};
btLauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
int num = nPairs;
@@ -1086,9 +1086,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (treeNodesGPU->size() && treeNodesGPU->size())
{
BT_PROFILE("m_bvhTraversalKernel");
B3_PROFILE("m_bvhTraversalKernel");
numConcavePairs = numConcavePairsOut.at(0);
btLauncherCL launcher(m_queue, m_bvhTraversalKernel);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL());
@@ -1117,23 +1117,23 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (numConcavePairs)
{
//now perform a SAT test for each triangle-convex element (stored in triangleConvexPairsOut)
BT_PROFILE("findConcaveSeparatingAxisKernel");
btBufferInfoCL bInfo[] = {
btBufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( concaveSepNormals.getBufferCL())
B3_PROFILE("findConcaveSeparatingAxisKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL())
};
btLauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numConcavePairs );
@@ -1143,7 +1143,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
// b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
// concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// b3AlignedObjectArray<btInt4> cpuConcavePairs;
// b3AlignedObjectArray<b3Int4> cpuConcavePairs;
// triangleConvexPairsOut.copyToHost(cpuConcavePairs);
@@ -1156,25 +1156,25 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (1)
{
BT_PROFILE("findCompoundPairsKernel");
btBufferInfoCL bInfo[] =
B3_PROFILE("findCompoundPairsKernel");
b3BufferInfoCL bInfo[] =
{
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundPairs.getBufferCL()),
btBufferInfoCL( numCompoundPairsOut.getBufferCL())
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( numCompoundPairsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_findCompoundPairsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
launcher.setConst( compoundPairCapacity);
@@ -1197,25 +1197,25 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (numCompoundPairs)
{
#ifndef CHECK_ON_HOST
BT_PROFILE("processCompoundPairsPrimitivesKernel");
btBufferInfoCL bInfo[] =
B3_PROFILE("processCompoundPairsPrimitivesKernel");
b3BufferInfoCL bInfo[] =
{
btBufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numCompoundPairs );
launcher.setConst(maxContactCapacity);
@@ -1230,25 +1230,25 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (numCompoundPairs)
{
BT_PROFILE("processCompoundPairsKernel");
btBufferInfoCL bInfo[] =
B3_PROFILE("processCompoundPairsKernel");
b3BufferInfoCL bInfo[] =
{
btBufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())
};
btLauncherCL launcher(m_queue, m_processCompoundPairsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numCompoundPairs );
int num = numCompoundPairs;
@@ -1277,24 +1277,24 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
{
if (numConcavePairs)
{
BT_PROFILE("findConcaveSphereContactsKernel");
B3_PROFILE("findConcaveSphereContactsKernel");
nContacts = m_totalContactsOut.at(0);
btBufferInfoCL bInfo[] = {
btBufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numConcavePairs );
launcher.setConst(maxContactCapacity);
@@ -1317,7 +1317,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (contactClippingOnGpu)
{
//BT_PROFILE("clipHullHullKernel");
//B3_PROFILE("clipHullHullKernel");
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
@@ -1330,24 +1330,24 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
// nContacts = m_totalContactsOut.at(0);
// printf("nContacts before = %d\n", nContacts);
BT_PROFILE("clipHullHullConcaveConvexKernel");
B3_PROFILE("clipHullHullConcaveConvexKernel");
nContacts = m_totalContactsOut.at(0);
btBufferInfoCL bInfo[] = {
btBufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( concaveSepNormals.getBufferCL()),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numConcavePairs );
int num = numConcavePairs;
launcher.launch1D( num);
@@ -1364,7 +1364,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
//convex-convex contact clipping
if (1)
{
BT_PROFILE("clipHullHullKernel");
B3_PROFILE("clipHullHullKernel");
bool breakupKernel = false;
#ifdef __APPLE__
@@ -1396,26 +1396,26 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
{
BT_PROFILE("findClippingFacesKernel");
btBufferInfoCL bInfo[] = {
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
btBufferInfoCL( worldVertsA1GPU.getBufferCL()),
btBufferInfoCL( worldNormalsAGPU.getBufferCL()),
btBufferInfoCL( worldVertsB1GPU.getBufferCL())
B3_PROFILE("findClippingFacesKernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB1GPU.getBufferCL())
};
btLauncherCL launcher(m_queue, m_findClippingFacesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_findClippingFacesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( vertexFaceCapacity);
launcher.setConst( nPairs );
int num = nPairs;
@@ -1431,26 +1431,26 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
///clip face B against face A, reduce contacts and append them to a global contact array
if (1)
{
BT_PROFILE("clipFacesAndContactReductionKernel");
B3_PROFILE("clipFacesAndContactReductionKernel");
//nContacts = m_totalContactsOut.at(0);
//int h = hasSeparatingNormals.at(0);
//int4 p = clippingFacesOutGPU.at(0);
btBufferInfoCL bInfo[] = {
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
btBufferInfoCL( worldVertsA1GPU.getBufferCL()),
btBufferInfoCL( worldNormalsAGPU.getBufferCL()),
btBufferInfoCL( worldVertsB1GPU.getBufferCL()),
btBufferInfoCL( worldVertsB2GPU.getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB1GPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
launcher.setConst( nPairs );
@@ -1479,21 +1479,21 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
contactOut->reserve(nContacts+nPairs);
{
BT_PROFILE("newContactReductionKernel");
btBufferInfoCL bInfo[] =
B3_PROFILE("newContactReductionKernel");
b3BufferInfoCL bInfo[] =
{
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( clippingFacesOutGPU.getBufferCL()),
btBufferInfoCL( worldVertsB2GPU.getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_newContactReductionKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_newContactReductionKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
launcher.setConst( nPairs );
int num = nPairs;
@@ -1514,22 +1514,22 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (nPairs)
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_clipHullHullKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_clipHullHullKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
@@ -1543,23 +1543,23 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
if (nCompoundsPairs)
{
btBufferInfoCL bInfo[] = {
btBufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundSepNormals.getBufferCL(),true),
btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL(),true),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nCompoundsPairs );
launcher.setConst(maxContactCapacity);