Added a possibility to build appGpu2dDemo with CUDA solver.
It is disabled by default, see Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h for instructions how to enable it Cleaned up Extras/CUDA folder and libbulletcuda project
This commit is contained in:
rponom
@@ -1,31 +1,17 @@
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/*
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* Copyright 1993-2006 NVIDIA Corporation. All rights reserved.
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*
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* NOTICE TO USER:
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*
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* This source code is subject to NVIDIA ownership rights under U.S. and
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* international Copyright laws.
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*
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* NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
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* CODE FOR ANY PURPOSE. IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
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* IMPLIED WARRANTY OF ANY KIND. NVIDIA DISCLAIMS ALL WARRANTIES WITH
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* REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
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* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
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* IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
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* OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
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* OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
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* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
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* OR PERFORMANCE OF THIS SOURCE CODE.
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*
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* U.S. Government End Users. This source code is a "commercial item" as
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* that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting of
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* "commercial computer software" and "commercial computer software
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* documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
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* and is provided to the U.S. Government only as a commercial end item.
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* Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
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* 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
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* source code with only those rights set forth herein.
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*/
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include <cstdlib>
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#include <cstdio>
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@@ -34,41 +20,27 @@
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#include "cutil_math.h"
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#include "math_constants.h"
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#if defined(__APPLE__) || defined(MACOSX)
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include <cuda_gl_interop.h>
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#include "btCudaBroadphaseKernel.h"
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//#include "radixsort.cu"
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#include <vector_types.h>
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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// K E R N E L F U N C T I O N S
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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#include "btCudaDefines.h"
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//----------------------------------------------------------------------------------------
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#ifdef __DEVICE_EMULATION__
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#define B_CUDA_USE_TEX 0
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#else
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#define B_CUDA_USE_TEX 1
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#endif
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#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
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#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h"
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__device__ inline btCuda3F1U tex_fetch3F1U(float4 a) { return *((btCuda3F1U*)(&a)); }
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//----------------------------------------------------------------------------------------
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#if B_CUDA_USE_TEX
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#define BT3DGRIDFETCH(t, i) tex_fetch3F1U(tex1Dfetch(t##Tex, i))
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#else
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#define BT3DGRIDFETCH(t, i) t[i]
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#endif
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__device__ inline bt3DGrid3F1U tex_fetch3F1U(float4 a) { return *((bt3DGrid3F1U*)(&a)); }
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//----------------------------------------------------------------------------------------
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void btCuda_exit(int val);
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//----------------------------------------------------------------------------------------
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texture<uint2, 1, cudaReadModeElementType> particleHashTex;
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texture<uint, 1, cudaReadModeElementType> cellStartTex;
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@@ -76,98 +48,30 @@ texture<float4, 1, cudaReadModeElementType> pAABBTex;
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//----------------------------------------------------------------------------------------
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__constant__ btCudaBroadphaseParams params;
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__constant__ bt3DGridBroadphaseParams params;
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//----------------------------------------------------------------------------------------
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#define BT3DGRID__device__ __device__
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#define BT3DGRIDmax(a, b) max(a, b)
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#define BT3DGRIDmin(a, b) min(a, b)
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#define BT3DGRIDparams params
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#define BT3DGRID__mul24(a, b) __mul24(a, b)
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#define BT3DGRID__global__ __global__
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#define BT3DGRID__shared__ __shared__
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#define BT3DGRID__syncthreads() __syncthreads()
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#define BT3DGRIDmake_uint2(x, y) make_uint2(x, y)
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#define BT3DGRIDmake_int3(x, y, z) make_int3(x, y, z)
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#define BT3DGRIDPREF(func) btCuda_##func
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#define BT3DGPRDMemset cudaMemset
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#define BT3DGRIDblockIdx blockIdx
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#define BT3DGRIDblockDim blockDim
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#define BT3DGRIDthreadIdx threadIdx
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#define BT3DGRIDEXECKERNEL(numb, numt, kfunc, args) kfunc<<<numb, numt>>>args
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extern "C"
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{
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//----------------------------------------------------------------------------------------
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//! Check for CUDA error
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# define CUT_CHECK_ERROR(errorMessage) do { \
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cudaError_t err = cudaGetLastError(); \
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if( cudaSuccess != err) { \
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fprintf(stderr, "Cuda error: %s in file '%s' in line %i : %s.\n", \
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errorMessage, __FILE__, __LINE__, cudaGetErrorString( err) );\
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btCuda_exit(EXIT_FAILURE); \
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} \
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err = cudaThreadSynchronize(); \
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if( cudaSuccess != err) { \
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fprintf(stderr, "Cuda error: %s in file '%s' in line %i : %s.\n", \
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errorMessage, __FILE__, __LINE__, cudaGetErrorString( err) );\
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btCuda_exit(EXIT_FAILURE); \
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} } while (0)
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# define MY_CUDA_SAFE_CALL_NO_SYNC( call) do { \
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cudaError err = call; \
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if( cudaSuccess != err) { \
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fprintf(stderr, "Cuda error in file '%s' in line %i : %s.\n", \
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__FILE__, __LINE__, cudaGetErrorString( err) ); \
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btCuda_exit(EXIT_FAILURE); \
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} } while (0)
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# define MY_CUDA_SAFE_CALL( call) do { \
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MY_CUDA_SAFE_CALL_NO_SYNC(call); \
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cudaError err = cudaThreadSynchronize(); \
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if( cudaSuccess != err) { \
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fprintf(stderr, "Cuda errorSync in file '%s' in line %i : %s.\n", \
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__FILE__, __LINE__, cudaGetErrorString( err) ); \
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btCuda_exit(EXIT_FAILURE); \
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} } while (0)
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//----------------------------------------------------------------------------------------
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void btCuda_exit(int val)
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{
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exit(val);
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}
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void btCuda_allocateArray(void** devPtr, unsigned int size)
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{
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MY_CUDA_SAFE_CALL(cudaMalloc(devPtr, size));
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}
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void btCuda_freeArray(void* devPtr)
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{
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MY_CUDA_SAFE_CALL(cudaFree(devPtr));
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}
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void btCuda_copyArrayFromDevice(void* host, const void* device, unsigned int size)
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{
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MY_CUDA_SAFE_CALL(cudaMemcpy(host, device, size, cudaMemcpyDeviceToHost));
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}
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void btCuda_copyArrayToDevice(void* device, const void* host, unsigned int size)
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{
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MY_CUDA_SAFE_CALL(cudaMemcpy((char*)device, host, size, cudaMemcpyHostToDevice));
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}
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void btCuda_setParameters(btCudaBroadphaseParams* hostParams)
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void btCuda_setParameters(bt3DGridBroadphaseParams* hostParams)
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{
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// copy parameters to constant memory
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MY_CUDA_SAFE_CALL(cudaMemcpyToSymbol(params, hostParams, sizeof(btCudaBroadphaseParams)));
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}
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BT_GPU_SAFE_CALL(cudaMemcpyToSymbol(params, hostParams, sizeof(bt3DGridBroadphaseParams)));
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} // btCuda_setParameters()
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//----------------------------------------------------------------------------------------
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#include "bt3DGridBroadphaseFunc.h"
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} // extern "C"
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//----------------------------------------------------------------------------------------
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#include "../../src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h"
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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