allow larger amount of rigid bodies, dynamically increase b3Config limits

avoid crashes in instancing renderer if instance maximum is exceeded.

Demos3/BasicGpuDemo/BasicGpuDemo.cpp

@@ -15,9 +15,9 @@ subject to the following restrictions:
 
 
 ///create 125 (5x5x5) dynamic object
-#define ARRAY_SIZE_X 1//25
-#define ARRAY_SIZE_Y 20//20
-#define ARRAY_SIZE_Z 1//25
+#define ARRAY_SIZE_X 25
+#define ARRAY_SIZE_Y 20
+#define ARRAY_SIZE_Z 25
 
 //maximum number of objects (and allow user to shoot additional boxes)
 #define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
@@ -284,9 +284,9 @@ void	BasicGpuDemo::initPhysics()
 		//create a few dynamic rigidbodies
 		// Re-using the same collision is better for memory usage and performance
 
-		//btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
+		btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
 
-		btCollisionShape* colShape = new btSphereShape(btScalar(SCALING*1.f));
+		//btCollisionShape* colShape = new btSphereShape(btScalar(SCALING*1.f));
 		m_collisionShapes.push_back(colShape);
 
 		/// Create Dynamic Objects

Demos3/GpuDemos/main_opengl3core.cpp

@@ -608,6 +608,8 @@ int main(int argc, char* argv[])
 
 		
 		int maxObjectCapacity=128*1024;
+		maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10);
+
 
 		ci.m_instancingRenderer = new GLInstancingRenderer(maxObjectCapacity);//render.getInstancingRenderer();
 		ci.m_window = window;

Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp

@@ -108,6 +108,12 @@ void	GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
 		m_data->m_copyTransformsToVBOKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_rigidBodyKernelString,"copyTransformsToVBOKernel",&errNum,rbProg);
 		
 		b3Config config;
+		config.m_maxConvexBodies = b3Max(config.m_maxConvexBodies,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ+10);
+		config.m_maxConvexShapes = config.m_maxConvexBodies;
+		config.m_maxBroadphasePairs = 8*config.m_maxConvexBodies;
+		config.m_maxContactCapacity = config.m_maxBroadphasePairs;
+		
+
 		b3GpuNarrowPhase* np = new b3GpuNarrowPhase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue,config);
 		b3GpuSapBroadphase* bp = new b3GpuSapBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
 		m_data->m_np = np;
@@ -157,7 +163,18 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
 {
 	bool animate=true;
 	int numObjects= m_data->m_rigidBodyPipeline->getNumBodies();
-//m_instancingRenderer->getInternalData()->m_totalNumInstances;
+	if (numObjects > m_instancingRenderer->getInstanceCapacity())
+	{
+		static bool once = true;
+		if (once)
+		{
+			once=false;
+			b3Assert(0);
+			b3Error("m_instancingRenderer out-of-memory\n");
+		}
+		numObjects = m_instancingRenderer->getInstanceCapacity();
+	}
+
 	b3Vector4* positions = 0;
 	if (animate && numObjects)
 	{
@@ -205,7 +222,9 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
 		GLint err = glGetError();
 		assert(err==GL_NO_ERROR);
 		GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
+
 		int arraySizeInBytes  = numObjects * (3)*sizeof(b3Vector4);
+
 		glBindBuffer(GL_ARRAY_BUFFER, vbo);
 		cl_bool blocking=  CL_TRUE;
 		positions=  (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -669,8 +669,9 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
 
 	int index = gfxObj->m_numGraphicsInstances + gfxObj->m_instanceOffset;
 	
-
-
+	int maxElements = m_data->m_instance_positions_ptr.size();
+	if (index*4<maxElements)
+	{
 		m_data->m_instance_positions_ptr[index*4]=position[0];
 		m_data->m_instance_positions_ptr[index*4+1]=position[1];
 		m_data->m_instance_positions_ptr[index*4+2]=position[2];
@@ -691,6 +692,11 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
 		m_data->m_instance_scale_ptr[index*3+2] = scaling[2];
 
 		gfxObj->m_numGraphicsInstances++;
+	} else
+	{
+		b3Error("registerGraphicsInstance out of range, %d\n", maxElements);
+		return -1;
+	}
 	return gfxObj->m_numGraphicsInstances;
 }
 

btgui/OpenGLWindow/GLInstancingRenderer.h

@@ -105,6 +105,10 @@ public:
 	{
 		return m_maxShapeCapacityInBytes;
 	}
+	int getInstanceCapacity() const
+	{
+		return m_maxNumObjectCapacity;
+	}
 };
 
 #endif //GL_INSTANCING_RENDERER_H

src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp

@@ -40,6 +40,7 @@ bool dumpContactStats = false;
 b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue  q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
 {
 	m_data = new b3GpuRigidBodyPipelineInternalData;
+	m_data->m_config = config;
 	m_data->m_context = ctx;
 	m_data->m_device = device;
 	m_data->m_queue = q;