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fix many warnings

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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
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67
src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
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@@ -138,7 +138,7 @@ b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx,cl_device_id device,
m_data->m_offsets = new b3OpenCLArray<unsigned int>( ctx,m_data->m_queue,B3_SOLVER_N_CELLS);
m_data->m_offsets->resize(B3_SOLVER_N_CELLS);
const char* additionalMacros = "";
const char* srcFileNameForCaching="";
//const char* srcFileNameForCaching="";
@@ -556,26 +556,8 @@ static bool b3ContactCmp(const b3Contact4& p, const b3Contact4& q)
static const int gridTable4x4[] =
{
0,1,17,16,
1,2,18,19,
17,18,32,3,
16,19,3,34
};
static const int gridTable8x8[] =
{
0, 2, 3, 16, 17, 18, 19, 1,
66, 64, 80, 67, 82, 81, 65, 83,
131,144,128,130,147,129,145,146,
208,195,194,192,193,211,210,209,
21, 22, 23, 5, 4, 6, 7, 20,
86, 85, 69, 87, 70, 68, 84, 71,
151,133,149,150,135,148,132,134,
197,27,214,213,212,199,198,196
};
@@ -583,6 +565,30 @@ static const int gridTable8x8[] =
#define USE_SPATIAL_BATCHING 1
#define USE_4x4_GRID 1
#ifndef USE_SPATIAL_BATCHING
static const int gridTable4x4[] =
{
0,1,17,16,
1,2,18,19,
17,18,32,3,
16,19,3,34
};
static const int gridTable8x8[] =
{
0, 2, 3, 16, 17, 18, 19, 1,
66, 64, 80, 67, 82, 81, 65, 83,
131,144,128,130,147,129,145,146,
208,195,194,192,193,211,210,209,
21, 22, 23, 5, 4, 6, 7, 20,
86, 85, 69, 87, 70, 68, 84, 71,
151,133,149,150,135,148,132,134,
197,27,214,213,212,199,198,196
};
#endif
void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts,float scale,const b3Int4& nSplit,int staticIdx)
{
@@ -597,7 +603,6 @@ void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData*
int bIdx = abs(bPtrAndSignBit);
bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);
bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
#if USE_SPATIAL_BATCHING
int idx = (aStatic)? bIdx: aIdx;
@@ -609,6 +614,8 @@ void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData*
int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);
#else//USE_SPATIAL_BATCHING
bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
#if USE_4x4_GRID
int aa = aIdx&3;
int bb = bIdx&3;
@@ -797,7 +804,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
//const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
{
@@ -1033,7 +1040,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
bool compareGPU = false;
// bool compareGPU = false;
if (nContacts)
{
if (!gCpuBatchContacts)
@@ -1070,7 +1077,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
{
m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
int totalNumConstraints = cpuContacts.size();
int simdWidth =numBodies+1;//-1;//64;//-1;//32;
//int simdWidth =numBodies+1;//-1;//64;//-1;//32;
int numBatches = sortConstraintByBatch3( &cpuContacts[0], totalNumConstraints, totalNumConstraints+1,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[0]); // on GPU
maxNumBatches = b3Max(numBatches,maxNumBatches);
static int globalMaxBatch = 0;
@@ -1138,17 +1145,17 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
B3_PROFILE("copyToHost");
m_data->m_pBufContactOutGPU->copyToHost(cpuContacts);
}
b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
// b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
// b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
int numNonzeroGrid=0;
// int numNonzeroGrid=0;
{
m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
int totalNumConstraints = cpuContacts.size();
int simdWidth =numBodies+1;//-1;//64;//-1;//32;
// int simdWidth =numBodies+1;//-1;//64;//-1;//32;
int numBatches = sortConstraintByBatch3( &cpuContacts[0], totalNumConstraints, totalNumConstraints+1,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[0]); // on GPU
maxNumBatches = b3Max(numBatches,maxNumBatches);
static int globalMaxBatch = 0;
@@ -1420,7 +1427,7 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch2( b3Contact4* cs, int nu
idxSrc[i] = i;
int numValidConstraints = 0;
int unprocessedConstraintIndex = 0;
// int unprocessedConstraintIndex = 0;
int batchIdx = 0;
@@ -1588,7 +1595,7 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch3( b3Contact4* cs, int nu
#endif
int numValidConstraints = 0;
int unprocessedConstraintIndex = 0;
// int unprocessedConstraintIndex = 0;
int batchIdx = 0;