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only do gl2cl once

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add contact stats option
re-enable a few more demos
This commit is contained in:
erwin coumans
2013-04-19 18:30:05 -07:00
parent b883283460
commit d086090c77
9 changed files with 106 additions and 65 deletions
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22
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.cpp
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@@ -23,6 +23,8 @@
#include "Bullet3Common/b3Quickprof.h"
#include "b3Config.h"
bool dumpContactStats = false;
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap )
{
m_data = new b3GpuRigidBodyPipelineInternalData;
@@ -95,6 +97,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
int numPairs = m_data->m_broadphaseSap->getNumOverlap();
int numContacts = 0;
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
if (numPairs)
@@ -105,8 +108,23 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
numContacts = m_data->m_narrowphase->getNumContactsGpu();
//if (numContacts)
// printf("numContacts = %d\n", numContacts);
if (dumpContactStats && numContacts)
{
m_data->m_narrowphase->getContactsGpu();
printf("numContacts = %d\n", numContacts);
int totalPoints = 0;
const b3Contact4* contacts = m_data->m_narrowphase->getContactsCPU();
for (int i=0;i<numContacts;i++)
{
totalPoints += contacts->getNPoints();
}
printf("totalPoints=%d\n",totalPoints);
}
}