Deltas of linear and angular velocities applied to rigid bodies now are kept between simulation steps.

Read-only access functions added to btRigidBody to get these values
Several OpenCL functions are implemented for MiniCL

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -732,7 +732,7 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 }
 
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
 {
 	BT_PROFILE("solveGroupCacheFriendlySetup");
 	(void)stackAlloc;
@@ -745,6 +745,33 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 		return 0.f;
 	}
 
+	if (infoGlobal.m_splitImpulse)
+	{
+		for (int i = 0; i < numBodies; i++)
+		{
+			btRigidBody* body = btRigidBody::upcast(bodies[i]);
+			if (body)
+			{	
+				body->internalGetDeltaLinearVelocity().setZero();
+				body->internalGetDeltaAngularVelocity().setZero();
+				body->internalGetPushVelocity().setZero();
+				body->internalGetTurnVelocity().setZero();
+			}
+		}
+	}
+	else
+	{
+		for (int i = 0; i < numBodies; i++)
+		{
+			btRigidBody* body = btRigidBody::upcast(bodies[i]);
+			if (body)
+			{	
+				body->internalGetDeltaLinearVelocity().setZero();
+				body->internalGetDeltaAngularVelocity().setZero();
+			}
+		}
+	}
+
 	if (1)
 	{
 		int j;

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -328,10 +328,10 @@ void	btRigidBody::internalWritebackVelocity(btScalar timeStep)
 		setWorldTransform(newTransform);
 		//m_originalBody->setCompanionId(-1);
 	}
-	m_deltaLinearVelocity.setZero();
-	m_deltaAngularVelocity .setZero();
-	m_pushVelocity.setZero();
-	m_turnVelocity.setZero();
+//	m_deltaLinearVelocity.setZero();
+//	m_deltaAngularVelocity .setZero();
+//	m_pushVelocity.setZero();
+//	m_turnVelocity.setZero();
 }
 
 

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -519,6 +519,26 @@ public:
 		return m_rigidbodyFlags;
 	}
 
+	const btVector3& getDeltaLinearVelocity() const
+	{
+		return m_deltaLinearVelocity;
+	}
+
+	const btVector3& getDeltaAngularVelocity() const
+	{
+		return m_deltaAngularVelocity;
+	}
+
+	const btVector3& getPushVelocity() const 
+	{
+		return m_pushVelocity;
+	}
+
+	const btVector3& getTurnVelocity() const 
+	{
+		return m_turnVelocity;
+	}
+
 
 	////////////////////////////////////////////////
 	///some internal methods, don't use them
@@ -589,8 +609,8 @@ public:
 		{
 			setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
 			setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
-			m_deltaLinearVelocity.setZero();
-			m_deltaAngularVelocity .setZero();
+			//m_deltaLinearVelocity.setZero();
+			//m_deltaAngularVelocity .setZero();
 			//m_originalBody->setCompanionId(-1);
 		}
 	}

src/BulletMultiThreaded/MiniCL.cpp

@@ -28,6 +28,60 @@ subject to the following restrictions:
 
 //#define DEBUG_MINICL_KERNELS 1
 
+static char* spPlatformID = "MiniCL, SCEA";
+
+CL_API_ENTRY cl_int CL_API_CALL clGetPlatformIDs(
+	cl_uint           num_entries,
+    cl_platform_id *  platforms,
+    cl_uint *         num_platforms ) CL_API_SUFFIX__VERSION_1_0
+{
+	if(platforms != NULL)
+	{
+		if(num_entries <= 0)
+		{
+			return CL_INVALID_VALUE; 
+		}
+		*((char**)platforms) = spPlatformID;
+	}
+	if(num_platforms != NULL)
+	{
+		*num_platforms = 1;
+	}
+	return CL_SUCCESS;
+}
+
+
+CL_API_ENTRY cl_int CL_API_CALL clGetPlatformInfo(
+	cl_platform_id   platform, 
+	cl_platform_info param_name,
+	size_t           param_value_size, 
+	void *           param_value,
+	size_t *         param_value_size_ret) CL_API_SUFFIX__VERSION_1_0
+{
+	char* pId = (char*)platform;
+	if(strcmp(pId, spPlatformID))
+	{
+			return CL_INVALID_PLATFORM; 
+	}
+	switch(param_name)
+	{
+		case CL_PLATFORM_VENDOR	:
+			if(param_value_size < (strlen(spPlatformID) + 1))
+			{
+				return CL_INVALID_VALUE; 
+			}
+			strcpy((char*)param_value, spPlatformID);
+			if(param_value_size_ret != NULL)
+			{
+				*param_value_size_ret = strlen(spPlatformID) + 1;
+			}
+			break;
+		default : 
+			return CL_INVALID_VALUE; 
+	}
+	return CL_SUCCESS;
+}
+
 
 
 
@@ -262,7 +316,7 @@ static void* localBufMalloc(int size)
 	if((sLocalBufUsed + size16) > LOCAL_BUF_SIZE)
 	{ // reset
 		spLocalBufCurr = sLocalMemBuf;
-		while((long)spLocalBufCurr & 0x0F) spLocalBufCurr++; // align to 16 bytes
+		while((int)spLocalBufCurr & 0x0F) spLocalBufCurr++; // align to 16 bytes
 		sLocalBufUsed = 0;
 	}
 	void* ret = spLocalBufCurr;
@@ -487,8 +541,11 @@ CL_API_ENTRY cl_int CL_API_CALL clReleaseContext(cl_context  context ) CL_API_SU
 	return 0;
 }
 extern CL_API_ENTRY cl_int CL_API_CALL
-clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0
+clFinish(cl_command_queue command_queue ) CL_API_SUFFIX__VERSION_1_0
 {
+	MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue;
+	///wait for all work items to be completed
+	scheduler->flush();
 	return CL_SUCCESS;
 }