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Update btOpenCLUtils to allow caching of precompiled program binaries (save/load). See Bullet/Demos/SerializeDemo/AMD for an example use

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Fix in btBulletWorldImporter: load friction/restitution and patch radius of btCapsuleShape (it needs to embed the margin)
Partly apply a modified patch to make the SerializeDemo_AMD work, but avoid breaking the MiniCL version. See Issue 594
This commit is contained in:
erwin.coumans
2012-03-04 22:12:12 +00:00
parent 9c6a790e4b
commit 9bc3b5eb10
14 changed files with 422 additions and 180 deletions
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60
Demos/SerializeDemo/SerializeDemo.cpp
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@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#define TEST_SERIALIZATION 1
//#undef DESERIALIZE_SOFT_BODIES
@@ -57,6 +56,8 @@ subject to the following restrictions:
#ifdef USE_AMD_OPENCL
#include <BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h>
#include <BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h>
#include "../SharedOpenCL/btOpenCLUtils.h"
extern cl_context g_cxMainContext;
extern cl_device_id g_cdDevice;
extern cl_command_queue g_cqCommandQue;
@@ -198,7 +199,39 @@ void SerializeDemo::clientMoveAndDisplay()
swapBuffers();
}
#ifdef USE_AMD_OPENCL
///the CachingCLFuncs class will try to create/load precompiled binary programs, instead of the slow on-line compilation of programs
class CachingCLFuncs : public CLFunctions
{
cl_device_id m_device;
public:
CachingCLFuncs (cl_command_queue cqCommandQue, cl_context cxMainContext, cl_device_id device)
:CLFunctions(cqCommandQue,cxMainContext),
m_device(device)
{
}
virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros, const char* srcFileNameForCaching)
{
cl_int pErrNum;
cl_program prog;
prog = btOpenCLUtils::compileCLProgramFromFile( m_cxMainContext,m_device, &pErrNum,additionalMacros ,srcFileNameForCaching);
if (!prog)
{
printf("Using embedded kernel source instead:\n");
prog = btOpenCLUtils::compileCLProgramFromString( m_cxMainContext,m_device, kernelSource, &pErrNum,additionalMacros);
}
return btOpenCLUtils::compileCLKernelFromString( m_cxMainContext,m_device, kernelSource, kernelName, &pErrNum, prog,additionalMacros);
}
};
#endif
void SerializeDemo::displayCallback(void) {
@@ -277,18 +310,13 @@ void SerializeDemo::setupEmptyDynamicsWorld()
{
case kSolverAccelerationOpenCL_GPU:
{
fSoftBodySolver
= new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue,
g_cxMainContext );
// fSoftBodySolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
/*if (!fSoftBodySolver->checkInitialized())
{
btAssert(0);
delete fSoftBodySolver;
fSoftBodySolver = NULL;
}
*/
btOpenCLSoftBodySolverSIMDAware* softSolv= new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext );
//btOpenCLSoftBodySolver* softSolv= new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
fSoftBodySolver = softSolv;
CLFunctions* funcs = new CachingCLFuncs(g_cqCommandQue, g_cxMainContext,g_cdDevice);
softSolv->setCLFunctions(funcs);
break;
}
@@ -516,14 +544,14 @@ public:
psb->m_cfg.diterations=softBodyData->m_config.m_driftIterations;
psb->m_cfg.citerations=softBodyData->m_config.m_clusterIterations;
psb->m_cfg.viterations=softBodyData->m_config.m_velocityIterations;
//psb->setTotalMass(0.1);
psb->m_cfg.aeromodel = (btSoftBody::eAeroModel::_)softBodyData->m_config.m_aeroModel;
psb->m_cfg.kLF = softBodyData->m_config.m_lift;
psb->m_cfg.kDG = softBodyData->m_config.m_drag;
psb->m_cfg.kMT = softBodyData->m_config.m_poseMatch;
psb->m_cfg.collisions = softBodyData->m_config.m_collisionFlags;
psb->m_cfg.kDF = softBodyData->m_config.m_dynamicFriction;
psb->m_cfg.kDF = 1.f;//softBodyData->m_config.m_dynamicFriction;
psb->m_cfg.kDP = softBodyData->m_config.m_damping;
psb->m_cfg.kPR = softBodyData->m_config.m_pressure;
psb->m_cfg.kVC = softBodyData->m_config.m_volume;
@@ -715,7 +743,7 @@ void SerializeDemo::initPhysics()
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
setCameraDistance(btScalar(SCALING*30.));
setupEmptyDynamicsWorld();