split the unitsphere search in a separate kernel, m_findSeparatingAxisUnitSphereKernel, hopefully it works on Mac OSX OpenCL now.

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp

@@ -148,6 +148,10 @@ m_unitSphereDirections(m_context,m_queue)
 			b3Assert(m_mprPenetrationKernel);
 			b3Assert(errNum==CL_SUCCESS);
 
+			m_findSeparatingAxisUnitSphereKernel =  b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,mprSrc, "findSeparatingAxisUnitSphereKernel",&errNum,mprProg );
+			b3Assert(m_findSeparatingAxisUnitSphereKernel);
+            b3Assert(errNum==CL_SUCCESS);
+
 
 			int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
 			m_unitSphereDirections.resize(numDirections);
@@ -285,6 +289,8 @@ GpuSatCollision::~GpuSatCollision()
 	if (m_findSeparatingAxisEdgeEdgeKernel)
 		clReleaseKernel(m_findSeparatingAxisEdgeEdgeKernel);
 
+	if (m_findSeparatingAxisUnitSphereKernel)
+		clReleaseKernel(m_findSeparatingAxisUnitSphereKernel);
 
 	if (m_mprPenetrationKernel)
 		clReleaseKernel(m_mprPenetrationKernel);
@@ -3222,12 +3228,37 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
 						launcher.setConst( numDirections);
 						launcher.setConst( nPairs  );
-
 						int num = nPairs;
 						launcher.launch1D( num);
 						clFinish(m_queue);
 
 					}
+					
+					{
+						B3_PROFILE("findSeparatingAxisUnitSphereKernel");
+						b3BufferInfoCL bInfo[] = { 
+								b3BufferInfoCL( pairs->getBufferCL(), true ), 
+								b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
+								b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
+								b3BufferInfoCL( convexData.getBufferCL(),true),
+								b3BufferInfoCL( gpuVertices.getBufferCL(),true),
+								b3BufferInfoCL( m_unitSphereDirections.getBufferCL(),true),
+								b3BufferInfoCL( m_sepNormals.getBufferCL()),
+								b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
+								b3BufferInfoCL( m_dmins.getBufferCL())
+						};
+
+						b3LauncherCL launcher(m_queue, m_findSeparatingAxisUnitSphereKernel,"findSeparatingAxisUnitSphereKernel");
+						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+						int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
+						launcher.setConst( numDirections);
+
+						launcher.setConst( nPairs  );
+                                                
+						int num = nPairs;
+						launcher.launch1D( num);
+						clFinish(m_queue);
+					}
 			}
 				
 

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h

@@ -27,6 +27,7 @@ struct GpuSatCollision
 	cl_command_queue		m_queue;
 	cl_kernel				m_findSeparatingAxisKernel;
 	cl_kernel				m_mprPenetrationKernel;
+	cl_kernel				m_findSeparatingAxisUnitSphereKernel;
 
 
 	cl_kernel m_findSeparatingAxisVertexFaceKernel;

src/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl

@@ -290,6 +290,9 @@ __kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs,
 			const float4 DeltaC2 = c0 - c1;
 			float4 sepNormal = separatingNormals[i];
 			
+			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;
+			if (numEdgeEdgeDirections>numUnitSphereDirections)
+			{
 				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
 																										posB,ornB,
 																										DeltaC2,
@@ -302,6 +305,7 @@ __kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs,
 					hasSeparatingAxis[i] = 1;
 					separatingNormals[i] = sepNormal;
 				}
+			}
 		}		//if (hasSeparatingAxis[i])
 	}//(i<numPairs)
 }

src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h

@@ -1418,6 +1418,9 @@ static const char* mprKernelsCL= \
 "			const float4 DeltaC2 = c0 - c1;\n"
 "			float4 sepNormal = separatingNormals[i];\n"
 "			\n"
+"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
+"			if (numEdgeEdgeDirections>numUnitSphereDirections)\n"
+"			{\n"
 "				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
 "																										posB,ornB,\n"
 "																										DeltaC2,\n"
@@ -1430,6 +1433,7 @@ static const char* mprKernelsCL= \
 "					hasSeparatingAxis[i] = 1;\n"
 "					separatingNormals[i] = sepNormal;\n"
 "				}\n"
+"			}\n"
 "		}		//if (hasSeparatingAxis[i])\n"
 "	}//(i<numPairs)\n"
 "}\n"

src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl

@@ -1566,22 +1566,14 @@ __kernel void   findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs,
 			
 			bool sepEE = false;
 			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;
-			if (numEdgeEdgeDirections<numUnitSphereDirections)
+			if (numEdgeEdgeDirections<=numUnitSphereDirections)
 			{
 				sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
 																									posB,ornB,
 																									DeltaC2,
 																									vertices,uniqueEdges,faces,
 																									indices,&sepNormal,&dmin);
-			}
+																									
-			else
-			{
-				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
-																									posB,ornB,
-																									DeltaC2,
-																									vertices,unitSphereDirections,numUnitSphereDirections,
-																									&sepNormal,&dmin);
-			}
 					if (!sepEE)
 					{
 						hasSeparatingAxis[i] = 0;
@@ -1590,6 +1582,26 @@ __kernel void   findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs,
 						hasSeparatingAxis[i] = 1;
 						separatingNormals[i] = sepNormal;
 					}
+			}
+			/*
+			///else case is a separate kernel, to make Mac OSX OpenCL compiler happy
+			else
+			{
+				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,
+																									posB,ornB,
+																									DeltaC2,
+																									vertices,unitSphereDirections,numUnitSphereDirections,
+																									&sepNormal,&dmin);
+					if (!sepEE)
+					{
+						hasSeparatingAxis[i] = 0;
+					} else
+					{
+						hasSeparatingAxis[i] = 1;
+						separatingNormals[i] = sepNormal;
+					}
+			}
+			*/
 		}		//if (hasSeparatingAxis[i])
 	}//(i<numPairs)
 }

src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h

@@ -1700,22 +1700,14 @@ static const char* satKernelsCL= \
 "			\n"
 "			bool sepEE = false;\n"
 "			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
-"			if (numEdgeEdgeDirections<numUnitSphereDirections)\n"
+"			if (numEdgeEdgeDirections<=numUnitSphereDirections)\n"
 "			{\n"
 "				sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
 "																									posB,ornB,\n"
 "																									DeltaC2,\n"
 "																									vertices,uniqueEdges,faces,\n"
 "																									indices,&sepNormal,&dmin);\n"
-"			}\n"
+"																									\n"
-"			else\n"
-"			{\n"
-"				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																									posB,ornB,\n"
-"																									DeltaC2,\n"
-"																									vertices,unitSphereDirections,numUnitSphereDirections,\n"
-"																									&sepNormal,&dmin);\n"
-"			}\n"
 "					if (!sepEE)\n"
 "					{\n"
 "						hasSeparatingAxis[i] = 0;\n"
@@ -1724,6 +1716,26 @@ static const char* satKernelsCL= \
 "						hasSeparatingAxis[i] = 1;\n"
 "						separatingNormals[i] = sepNormal;\n"
 "					}\n"
+"			}\n"
+"			/*\n"
+"			///else case is a separate kernel, to make Mac OSX OpenCL compiler happy\n"
+"			else\n"
+"			{\n"
+"				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+"																									posB,ornB,\n"
+"																									DeltaC2,\n"
+"																									vertices,unitSphereDirections,numUnitSphereDirections,\n"
+"																									&sepNormal,&dmin);\n"
+"					if (!sepEE)\n"
+"					{\n"
+"						hasSeparatingAxis[i] = 0;\n"
+"					} else\n"
+"					{\n"
+"						hasSeparatingAxis[i] = 1;\n"
+"						separatingNormals[i] = sepNormal;\n"
+"					}\n"
+"			}\n"
+"			*/\n"
 "		}		//if (hasSeparatingAxis[i])\n"
 "	}//(i<numPairs)\n"
 "}\n"