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share more code between OpenCL kernels and C++ by moving kernel data structures/code to the 'shared' folders

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This commit is contained in:
erwin coumans
2013-11-06 19:57:36 -08:00
parent 82a6855f9e
commit a9a758dd54
21 changed files with 549 additions and 364 deletions
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10
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -2897,11 +2897,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
oldHostContacts);
int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
// oldHostContacts);
if (contactIndex>=0)

8
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
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@@ -13,6 +13,7 @@ static const char* primitiveContactsKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3Fabs fabs\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"
@@ -33,6 +34,13 @@ static const char* primitiveContactsKernelsCL= \
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
" \n"
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
"{\n"
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
" return false;\n"
" return true;\n"
"}\n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"
"struct b3Contact4Data\n"

8
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
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@@ -45,6 +45,7 @@ static const char* satClipKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3Fabs fabs\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"
@@ -65,6 +66,13 @@ static const char* satClipKernelsCL= \
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
" \n"
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
"{\n"
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
" return false;\n"
" return true;\n"
"}\n"
"#endif //B3_FLOAT4_H\n"
"typedef struct b3Contact4Data b3Contact4Data_t;\n"
"struct b3Contact4Data\n"

8
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
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@@ -154,6 +154,7 @@ static const char* satKernelsCL= \
"#ifdef __cplusplus\n"
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3Fabs fabs\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"
@@ -174,6 +175,13 @@ static const char* satKernelsCL= \
" return cross(a1, b1);\n"
" }\n"
"#endif \n"
" \n"
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
"{\n"
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
" return false;\n"
" return true;\n"
"}\n"
"#endif //B3_FLOAT4_H\n"
"#ifndef B3_MAT3x3_H\n"
"#define B3_MAT3x3_H\n"