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share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL)

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integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)
This commit is contained in:
erwin coumans
2013-11-07 15:49:57 -08:00
parent e20cb22832
commit e85bae5fe3
19 changed files with 270 additions and 111 deletions
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43
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
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@@ -15,10 +15,14 @@
#include "GpuRigidBodyDemoInternalData.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
bool convertOnCpu = false;
#define MSTRINGIFY(A) #A
static const char* s_rigidBodyKernelString = MSTRINGIFY(
@@ -213,15 +217,36 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
if (numObjects)
{
B3_PROFILE("cl2gl_convert");
int ciErrNum = 0;
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
launch.setBuffer(bodies);
launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
launch.setConst(numObjects);
launch.launch1D(numObjects);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
if (convertOnCpu)
{
b3GpuNarrowPhaseInternalData* npData = m_data->m_np->getInternalData();
npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU);
b3AlignedObjectArray<b3Vector4> vboCPU;
m_data->m_instancePosOrnColor->copyToHost(vboCPU);
for (int i=0;i<numObjects;i++)
{
b3Vector4 pos = (const b3Vector4&)npData->m_bodyBufferCPU->at(i).m_pos;
b3Quat orn = npData->m_bodyBufferCPU->at(i).m_quat;
pos.w = 1.f;
vboCPU[i] = pos;
vboCPU[i + numObjects] = (b3Vector4&)orn;
}
m_data->m_instancePosOrnColor->copyFromHost(vboCPU);
} else
{
B3_PROFILE("cl2gl_convert");
int ciErrNum = 0;
cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
launch.setBuffer(bodies);
launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
launch.setConst(numObjects);
launch.launch1D(numObjects);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
}
if (animate && numObjects)