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more rewriting to get this #@!#@!&*( Mac OSX GPU to work

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This commit is contained in:
erwin coumans
2013-12-16 15:23:43 -08:00
parent 1dce953d76
commit 7b55ffd237
4 changed files with 408 additions and 3 deletions
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76
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -14,6 +14,7 @@ subject to the following restrictions:
*/
bool findSeparatingAxisOnGpu = true;
bool splitSearchSepAxis = false;//true;
bool bvhTraversalKernelGPU = true;
bool findConcaveSeparatingAxisKernelGPU = true;
@@ -88,6 +89,8 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
m_device(device),
m_queue(q),
m_findSeparatingAxisKernel(0),
m_findSeparatingAxisVertexFaceKernel(0),
m_findSeparatingAxisEdgeEdgeKernel(0),
m_totalContactsOut(m_context, m_queue),
m_sepNormals(m_context, m_queue),
m_hasSeparatingNormals(m_context, m_queue),
@@ -97,7 +100,8 @@ m_numConcavePairsOut(m_context, m_queue),
m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue)
m_numCompoundPairsOut(m_context, m_queue),
m_dmins(m_context,m_queue)
{
m_totalContactsOut.push_back(0);
@@ -119,6 +123,14 @@ m_numCompoundPairsOut(m_context, m_queue)
b3Assert(m_findSeparatingAxisKernel);
b3Assert(errNum==CL_SUCCESS);
m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisVertexFaceKernel",&errNum,satProg );
b3Assert(m_findSeparatingAxisVertexFaceKernel);
m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisEdgeEdgeKernel",&errNum,satProg );
b3Assert(m_findSeparatingAxisVertexFaceKernel);
m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisKernel",&errNum,satProg );
b3Assert(m_findConcaveSeparatingAxisKernel);
b3Assert(errNum==CL_SUCCESS);
@@ -212,6 +224,13 @@ m_numCompoundPairsOut(m_context, m_queue)
GpuSatCollision::~GpuSatCollision()
{
if (m_findSeparatingAxisVertexFaceKernel)
clReleaseKernel(m_findSeparatingAxisVertexFaceKernel);
if (m_findSeparatingAxisEdgeEdgeKernel)
clReleaseKernel(m_findSeparatingAxisEdgeEdgeKernel);
if (m_findSeparatingAxisKernel)
clReleaseKernel(m_findSeparatingAxisKernel);
@@ -3019,6 +3038,61 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
clFinish(m_queue);
if (findSeparatingAxisOnGpu)
{
m_dmins.resize(nPairs);
if (splitSearchSepAxis)
{
{
B3_PROFILE("findSeparatingAxisVertexFaceKernel");
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( clAabbsWorldSpace.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_dmins.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisVertexFaceKernel,"findSeparatingAxisVertexFaceKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
}
{
B3_PROFILE("findSeparatingAxisEdgeEdgeKernel");
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( clAabbsWorldSpace.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_dmins.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisEdgeEdgeKernel,"findSeparatingAxisEdgeEdgeKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
}
} else
{
B3_PROFILE("findSeparatingAxisKernel");
b3BufferInfoCL bInfo[] = {