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better host check code, to determine failing OpenCL kernels on certain (Apple) platforms

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This commit is contained in:
erwin coumans
2013-12-13 13:27:00 -08:00
parent 571b14787a
commit d24b1eaae9
1 changed files with 204 additions and 201 deletions
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405
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -2915,7 +2915,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL) hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{ {
//printf("hostPairs[i].z=%d\n",hostPairs[i].z); //printf("hostPairs[i].z=%d\n",hostPairs[i].z);
int contactIndex = 0;//computeContactConvexConvex2(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); //int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
@@ -3018,7 +3018,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
clFinish(m_queue); clFinish(m_queue);
if (findSeparatingAxisOnGpu) if (findSeparatingAxisOnGpu)
{ {
#ifndef CHECK_ON_HOST
{ {
B3_PROFILE("findSeparatingAxisKernel"); B3_PROFILE("findSeparatingAxisKernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
@@ -3043,11 +3043,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
} }
#endif
numCompoundPairs = m_numCompoundPairsOut.at(0); numCompoundPairs = m_numCompoundPairsOut.at(0);
bool useGpuFindCompoundPairs=true; bool useGpuFindCompoundPairs=true;
#ifndef CHECK_ON_HOST
if (useGpuFindCompoundPairs) if (useGpuFindCompoundPairs)
{ {
B3_PROFILE("findCompoundPairsKernel"); B3_PROFILE("findCompoundPairsKernel");
@@ -3165,14 +3166,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
printf("numCompoundPairsOut=%d\n",numCompoundPairsOut); printf("numCompoundPairsOut=%d\n",numCompoundPairsOut);
} }
} }
if (numCompoundPairs > compoundPairCapacity) if (numCompoundPairs > compoundPairCapacity)
{ {
b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity); b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
numCompoundPairs = compoundPairCapacity; numCompoundPairs = compoundPairCapacity;
} }
#endif //CHECK_ON_HOST
@@ -3222,7 +3222,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
if (numCompoundPairs) if (numCompoundPairs)
{ {
#ifndef CHECK_ON_HOST
B3_PROFILE("processCompoundPairsKernel"); B3_PROFILE("processCompoundPairsKernel");
b3BufferInfoCL bInfo[] = b3BufferInfoCL bInfo[] =
{ {
@@ -3247,7 +3247,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int num = numCompoundPairs; int num = numCompoundPairs;
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
#endif
} }
@@ -3554,9 +3554,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
#ifdef __APPLE__ #ifdef __APPLE__
bool contactClippingOnGpu = true; bool contactClippingOnGpu = true;
#else #else
bool contactClippingOnGpu = true; bool contactClippingOnGpu = true;
#endif #endif
if (contactClippingOnGpu) if (contactClippingOnGpu)
{ {
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true); m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
@@ -3572,41 +3572,41 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
//concave-convex contact clipping //concave-convex contact clipping
if (numConcavePairs) if (numConcavePairs)
{ {
// printf("numConcavePairs = %d\n", numConcavePairs); // printf("numConcavePairs = %d\n", numConcavePairs);
// nContacts = m_totalContactsOut.at(0); // nContacts = m_totalContactsOut.at(0);
// printf("nContacts before = %d\n", nContacts); // printf("nContacts before = %d\n", nContacts);
if (breakupConcaveConvexKernel) if (breakupConcaveConvexKernel)
{ {
worldVertsB2GPU.resize(vertexFaceCapacity*numConcavePairs); worldVertsB2GPU.resize(vertexFaceCapacity*numConcavePairs);
//clipFacesAndFindContacts //clipFacesAndFindContacts
if (clipFacesAndFindContactsCPU) if (clipFacesAndFindContactsCPU)
{ {
b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
clippingFacesOutGPU.copyToHost(clippingFacesOutCPU); b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
worldVertsA1GPU.copyToHost(worldVertsA1CPU); b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
worldNormalsAGPU.copyToHost(worldNormalsACPU); b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
worldVertsB1GPU.copyToHost(worldVertsB1CPU); b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
worldVertsA1GPU.copyToHost(worldVertsA1CPU);
worldNormalsAGPU.copyToHost(worldNormalsACPU);
worldVertsB1GPU.copyToHost(worldVertsB1CPU);
b3AlignedObjectArray<int>concaveHasSeparatingNormalsCPU; b3AlignedObjectArray<int>concaveHasSeparatingNormalsCPU;
m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU); m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU);
b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost; b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
m_concaveSepNormals.copyToHost(concaveSepNormalsHost); m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
b3AlignedObjectArray<b3Vector3> worldVertsB2CPU; b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
worldVertsB2CPU.resize(worldVertsB2GPU.size()); worldVertsB2CPU.resize(worldVertsB2GPU.size());
for (int i=0;i<numConcavePairs;i++) for (int i=0;i<numConcavePairs;i++)
@@ -3620,7 +3620,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
&worldVertsB1CPU.at(0), &worldVertsB1CPU.at(0),
&worldVertsB2CPU.at(0), &worldVertsB2CPU.at(0),
vertexFaceCapacity, vertexFaceCapacity,
i); i);
} }
clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU); clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
@@ -3633,7 +3633,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
if (1) if (1)
{ {
B3_PROFILE("clipFacesAndFindContacts"); B3_PROFILE("clipFacesAndFindContacts");
//nContacts = m_totalContactsOut.at(0); //nContacts = m_totalContactsOut.at(0);
@@ -3664,32 +3664,32 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
//contactReduction //contactReduction
{ {
contactOut->reserve(nContacts+numConcavePairs); contactOut->reserve(nContacts+numConcavePairs);
{ {
B3_PROFILE("newContactReductionKernel"); B3_PROFILE("newContactReductionKernel");
b3BufferInfoCL bInfo[] = b3BufferInfoCL bInfo[] =
{ {
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ), b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()), b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()), b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL()) b3BufferInfoCL( m_totalContactsOut.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel"); b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) ); launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity); launcher.setConst(vertexFaceCapacity);
launcher.setConst( numConcavePairs ); launcher.setConst( numConcavePairs );
int num = numConcavePairs; int num = numConcavePairs;
launcher.launch1D( num); launcher.launch1D( num);
} }
nContacts = m_totalContactsOut.at(0); nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts); contactOut->resize(nContacts);
} }
//re-use? //re-use?
@@ -3723,173 +3723,177 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3AlignedObjectArray<b3Contact4> cpuContacts; b3AlignedObjectArray<b3Contact4> cpuContacts;
contactOut->copyToHost(cpuContacts); contactOut->copyToHost(cpuContacts);
} }
// printf("nContacts after = %d\n", nContacts); // printf("nContacts after = %d\n", nContacts);
} }//numConcavePairs
//convex-convex contact clipping //convex-convex contact clipping
if (1) B3_PROFILE("clipHullHullKernel");
{ bool breakupKernel = false;
B3_PROFILE("clipHullHullKernel");
bool breakupKernel = false;
#ifdef __APPLE__ #ifdef __APPLE__
breakupKernel = true; breakupKernel = true;
#endif #endif
if (breakupKernel) #ifndef CHECK_ON_HOST
if (breakupKernel)
{
worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
clippingFacesOutGPU.resize(nPairs);
worldNormalsAGPU.resize(nPairs);
worldVertsA1GPU.resize(vertexFaceCapacity*nPairs);
worldVertsB2GPU.resize(vertexFaceCapacity*nPairs);
{ {
worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
clippingFacesOutGPU.resize(nPairs);
worldNormalsAGPU.resize(nPairs);
worldVertsA1GPU.resize(vertexFaceCapacity*nPairs);
worldVertsB2GPU.resize(vertexFaceCapacity*nPairs);
{
B3_PROFILE("findClippingFacesKernel"); B3_PROFILE("findClippingFacesKernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ), b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true), b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true), b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true), b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true), b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()), b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()), b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB1GPU.getBufferCL()) b3BufferInfoCL( worldVertsB1GPU.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_findClippingFacesKernel,"m_findClippingFacesKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( vertexFaceCapacity);
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
} b3LauncherCL launcher(m_queue, m_findClippingFacesKernel,"m_findClippingFacesKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( vertexFaceCapacity);
launcher.setConst( nPairs );
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
///clip face B against face A, reduce contacts and append them to a global contact array }
if (1)
{
///clip face B against face A, reduce contacts and append them to a global contact array
if (1)
{
B3_PROFILE("clipFacesAndFindContacts"); B3_PROFILE("clipFacesAndFindContacts");
//nContacts = m_totalContactsOut.at(0); //nContacts = m_totalContactsOut.at(0);
//int h = m_hasSeparatingNormals.at(0); //int h = m_hasSeparatingNormals.at(0);
//int4 p = clippingFacesOutGPU.at(0); //int4 p = clippingFacesOutGPU.at(0);
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()), b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()), b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB1GPU.getBufferCL()), b3BufferInfoCL( worldVertsB1GPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()) b3BufferInfoCL( worldVertsB2GPU.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts,"m_clipFacesAndFindContacts"); b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts,"m_clipFacesAndFindContacts");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) ); launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity); launcher.setConst(vertexFaceCapacity);
launcher.setConst( nPairs ); launcher.setConst( nPairs );
int debugMode = 0; int debugMode = 0;
launcher.setConst( debugMode); launcher.setConst( debugMode);
int num = nPairs; int num = nPairs;
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
{ {
// nContacts = m_totalContactsOut.at(0); // nContacts = m_totalContactsOut.at(0);
// printf("nContacts = %d\n",nContacts); // printf("nContacts = %d\n",nContacts);
contactOut->reserve(nContacts+nPairs); contactOut->reserve(nContacts+nPairs);
{ {
B3_PROFILE("newContactReductionKernel"); B3_PROFILE("newContactReductionKernel");
b3BufferInfoCL bInfo[] = b3BufferInfoCL bInfo[] =
{ {
b3BufferInfoCL( pairs->getBufferCL(), true ), b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()), b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL()) b3BufferInfoCL( m_totalContactsOut.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel"); b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) ); launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity); launcher.setConst(vertexFaceCapacity);
launcher.setConst( nPairs ); launcher.setConst( nPairs );
int num = nPairs; int num = nPairs;
launcher.launch1D( num); launcher.launch1D( num);
} }
nContacts = m_totalContactsOut.at(0); nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts); contactOut->resize(nContacts);
// b3Contact4 pt = contactOut->at(0); // b3Contact4 pt = contactOut->at(0);
// printf("nContacts = %d\n",nContacts); // printf("nContacts = %d\n",nContacts);
} }
} }
} }
else//breakupKernel else//breakupKernel
{ {
if (nPairs) if (nPairs)
{ {
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ), b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true), b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true), b3BufferInfoCL( convexData.getBufferCL(),true),
b3BufferInfoCL( gpuVertices.getBufferCL(),true), b3BufferInfoCL( gpuVertices.getBufferCL(),true),
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true), b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( m_sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL()) b3BufferInfoCL( m_totalContactsOut.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_clipHullHullKernel,"m_clipHullHullKernel"); b3LauncherCL launcher(m_queue, m_clipHullHullKernel,"m_clipHullHullKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) ); launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nPairs ); launcher.setConst( nPairs );
launcher.setConst(maxContactCapacity); launcher.setConst(maxContactCapacity);
int num = nPairs; int num = nPairs;
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
nContacts = m_totalContactsOut.at(0); nContacts = m_totalContactsOut.at(0);
if (nContacts >= maxContactCapacity) if (nContacts >= maxContactCapacity)
{ {
b3Error("Exceeded contact capacity (%d/%d)\n",nContacts,maxContactCapacity); b3Error("Exceeded contact capacity (%d/%d)\n",nContacts,maxContactCapacity);
nContacts = maxContactCapacity; nContacts = maxContactCapacity;
}
contactOut->resize(nContacts);
} }
contactOut->resize(nContacts);
} }
#endif //#endif //CHECK_ON_HOST
#ifndef CHECK_ON_HOST
int nCompoundsPairs = m_gpuCompoundPairs.size(); int nCompoundsPairs = m_gpuCompoundPairs.size();
if (nCompoundsPairs) if (nCompoundsPairs)
{ {
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ), b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true), b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
@@ -3912,18 +3916,17 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int num = nCompoundsPairs; int num = nCompoundsPairs;
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
nContacts = m_totalContactsOut.at(0); nContacts = m_totalContactsOut.at(0);
if (nContacts>maxContactCapacity) if (nContacts>maxContactCapacity)
{ {
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity); b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
nContacts = maxContactCapacity; nContacts = maxContactCapacity;
} }
contactOut->resize(nContacts); contactOut->resize(nContacts);
} }//if nCompoundsPairs
} #endif //CHECK_ON_HOST
}
} }//contactClippingOnGpu
} }