move shaders to .glsl files and stringify to .h file.

add crude screenshot facility (using F1 key), it can also be used for debugging
start with shadows using shadowmap, not working yet
add experimental 'ignore' body index in raycast, using b3HitInfo.m_m_hitResult2

src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp

@@ -194,6 +194,7 @@ cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
 
 void b3OpenCLUtils::getPlatformInfo(cl_platform_id platform, b3OpenCLPlatformInfo* platformInfo)
 {
+	b3Assert(platform);
 	cl_int ciErrNum;
 	ciErrNum = clGetPlatformInfo(	platform,CL_PLATFORM_VENDOR,B3_MAX_STRING_LENGTH,platformInfo->m_platformVendor,NULL);
 	oclCHECKERROR(ciErrNum,CL_SUCCESS);

src/Bullet3OpenCL/Initialize/b3OpenCLUtils.h

@@ -105,12 +105,19 @@ typedef struct
 
 } b3OpenCLDeviceInfo;
 
-typedef struct
+struct b3OpenCLPlatformInfo
 {
 	char m_platformVendor[B3_MAX_STRING_LENGTH];
 	char m_platformName[B3_MAX_STRING_LENGTH];
 	char m_platformVersion[B3_MAX_STRING_LENGTH];
-} b3OpenCLPlatformInfo;
+	
+	b3OpenCLPlatformInfo()
+	{
+		m_platformVendor[0]=0;
+		m_platformName[0]=0;
+		m_platformVersion[0]=0;
+	}
+};
 
 
 ///C++ API for OpenCL utilities: convenience functions

src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp

@@ -214,11 +214,16 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3Align
 	B3_PROFILE("castRaysGPU");
 
 	b3OpenCLArray<b3RayInfo> gpuRays(m_data->m_context,m_data->m_q);
-	gpuRays.copyFromHost(rays);
-
 	b3OpenCLArray<b3RayHit> gpuHitResults(m_data->m_context,m_data->m_q);
-	gpuHitResults.resize(hitResults.size());
-	gpuHitResults.copyFromHost(hitResults);
+
+	{
+		B3_PROFILE("raycast copyFromHost");
+		gpuRays.copyFromHost(rays);
+
+	
+		gpuHitResults.resize(hitResults.size());
+		gpuHitResults.copyFromHost(hitResults);
+	}
 
 
 	//run kernel
@@ -243,6 +248,9 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3Align
 	}
 
 	//copy results
-	gpuHitResults.copyToHost(hitResults);
+	{
+		B3_PROFILE("raycast copyToHost");
+		gpuHitResults.copyToHost(hitResults);
+	}
 
 }

src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl

@@ -281,7 +281,8 @@ __kernel void rayCastKernel(
 
 	for (int b=0;b<numBodies;b++)
 	{
-
+		if (hitResults[i].m_hitResult2==b)
+			continue;
 		Body body = bodies[b];
 		float4 pos = body.m_pos;
 		float4 orn = body.m_quat;
@@ -310,6 +311,7 @@ __kernel void rayCastKernel(
 				if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
 				{
 					hitBodyIndex = b;
+					
 				}
 			}
 		}
@@ -320,7 +322,6 @@ __kernel void rayCastKernel(
 			if (sphere_intersect(pos,  radius, rayFrom, rayTo, &hitFraction))
 			{
 				hitBodyIndex = b;
-				hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
 				hitNormal = (float4) (hitPoint-bodies[b].m_pos);
 			}
 		}
@@ -328,6 +329,7 @@ __kernel void rayCastKernel(
 
 	if (hitBodyIndex>=0)
 	{
+		hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);
 		hitResults[i].m_hitFraction = hitFraction;
 		hitResults[i].m_hitPoint = hitPoint;
 		hitResults[i].m_hitNormal = normalize(hitNormal);

src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h

@@ -283,7 +283,8 @@ static const char* rayCastKernelCL= \
 "\n"
 "	for (int b=0;b<numBodies;b++)\n"
 "	{\n"
-"\n"
+"		if (hitResults[i].m_hitResult2==b)\n"
+"			continue;\n"
 "		Body body = bodies[b];\n"
 "		float4 pos = body.m_pos;\n"
 "		float4 orn = body.m_quat;\n"
@@ -312,6 +313,7 @@ static const char* rayCastKernelCL= \
 "				if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
 "				{\n"
 "					hitBodyIndex = b;\n"
+"					\n"
 "				}\n"
 "			}\n"
 "		}\n"
@@ -322,7 +324,6 @@ static const char* rayCastKernelCL= \
 "			if (sphere_intersect(pos,  radius, rayFrom, rayTo, &hitFraction))\n"
 "			{\n"
 "				hitBodyIndex = b;\n"
-"				hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
 "				hitNormal = (float4) (hitPoint-bodies[b].m_pos);\n"
 "			}\n"
 "		}\n"
@@ -330,6 +331,7 @@ static const char* rayCastKernelCL= \
 "\n"
 "	if (hitBodyIndex>=0)\n"
 "	{\n"
+"		hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
 "		hitResults[i].m_hitFraction = hitFraction;\n"
 "		hitResults[i].m_hitPoint = hitPoint;\n"
 "		hitResults[i].m_hitNormal = normalize(hitNormal);\n"