Merge branch 'master' of https://github.com/erwincoumans/bullet3

Demos3/GpuDemos/main_opengl3core.cpp

@@ -77,6 +77,7 @@ GpuDemo::CreateFunc* allDemos[]=
 
 	//ConcaveSphereScene::MyCreateFunc,
 	//GpuRaytraceScene::MyCreateFunc,
+	GpuSoftClothDemo::MyCreateFunc,
 
 	GpuBoxPlaneScene::MyCreateFunc,
 	GpuConvexPlaneScene::MyCreateFunc,
@@ -100,7 +101,6 @@ GpuDemo::CreateFunc* allDemos[]=
 
 	GpuSphereScene::MyCreateFunc,
 
-	GpuSoftClothDemo::MyCreateFunc,
 
 	Bullet2FileDemo::MyCreateFunc,
 
@@ -532,6 +532,7 @@ int main(int argc, char* argv[])
 	glClear(GL_COLOR_BUFFER_BIT);
 
 	{
+
 		window->startRendering();
 		glFinish();
 
@@ -702,6 +703,9 @@ int main(int argc, char* argv[])
 		fprintf(defaultOutput,"\n");
 		do
 		{
+			GLint err = glGetError();
+			assert(err==GL_NO_ERROR);
+
 			b3ProfileManager::Reset();
 			b3ProfileManager::Increment_Frame_Counter();
 
@@ -731,6 +735,8 @@ int main(int argc, char* argv[])
 				B3_PROFILE("renderScene");
 				demo->renderScene();
 			}
+			err = glGetError();
+			assert(err==GL_NO_ERROR);
 
 
 			/*if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getNumCollisionObjects())
@@ -748,39 +754,45 @@ int main(int argc, char* argv[])
 				B3_PROFILE("gui->draw");
 				gui->draw(g_OpenGLWidth,g_OpenGLHeight);
 			}
+			err = glGetError();
+			assert(err==GL_NO_ERROR);
+
 			{
 				B3_PROFILE("window->endRendering");
 				window->endRendering();
 			}
+			err = glGetError();
+			assert(err==GL_NO_ERROR);
+
 			{
 				B3_PROFILE("glFinish");
 			}
 
 			
 
-		if (dump_timings)
+			if (dump_timings)
-		{
-			b3ProfileManager::dumpAll(stdout);
-		}
-
-		if (csvFile)
-		{
-			static int frameCount=0;
-
-			if (frameCount>0)
 			{
-				DumpSimulationTime(csvFile);
+				b3ProfileManager::dumpAll(stdout);
-				if (detailsFile)
-				{
-						fprintf(detailsFile,"\n==================================\nFrame %d:\n", frameCount);
-						b3ProfileManager::dumpAll(detailsFile);
-				}
 			}
 
-			if (frameCount>=102)
+			if (csvFile)
-				window->setRequestExit();
+			{
-			frameCount++;
+				static int frameCount=0;
-		}
+
+				if (frameCount>0)
+				{
+					DumpSimulationTime(csvFile);
+					if (detailsFile)
+					{
+							fprintf(detailsFile,"\n==================================\nFrame %d:\n", frameCount);
+							b3ProfileManager::dumpAll(detailsFile);
+					}
+				}
+
+				if (frameCount>=102)
+					window->setRequestExit();
+				frameCount++;
+			}
 
 
 

Demos3/GpuDemos/softbody/GpuSoftBodyDemo.cpp

@@ -89,6 +89,9 @@ void	GpuSoftBodyDemo::setupScene(const ConstructionInfo& ci)
 void	GpuSoftBodyDemo::initPhysics(const ConstructionInfo& ci)
 {
 
+	GLint err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	if (ci.m_window)
 	{
 		m_window = ci.m_window;
@@ -117,9 +120,15 @@ void	GpuSoftBodyDemo::initPhysics(const ConstructionInfo& ci)
 
 		m_data->m_rigidBodyPipeline = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, np, bp,broadphaseDbvt);
 
+		err = glGetError();
+		assert(err==GL_NO_ERROR);
+
 
 		setupScene(ci);
 
+		err = glGetError();
+		assert(err==GL_NO_ERROR);
+
 		m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
 		np->writeAllBodiesToGpu();
 		bp->writeAabbsToGpu();
@@ -205,6 +214,9 @@ void GpuSoftBodyDemo::renderScene()
 
 void GpuSoftBodyDemo::clientMoveAndDisplay()
 {
+	GLint err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	bool animate=true;
 	int numObjects= m_data->m_rigidBodyPipeline->getNumBodies();
 //m_instancingRenderer->getInternalData()->m_totalNumInstances;
@@ -231,6 +243,9 @@ void GpuSoftBodyDemo::clientMoveAndDisplay()
 		}
 	}
 	
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	{
 		B3_PROFILE("stepSimulation");
 		m_data->m_rigidBodyPipeline->stepSimulation(1./60.f);
@@ -249,6 +264,9 @@ void GpuSoftBodyDemo::clientMoveAndDisplay()
 		oclCHECKERROR(ciErrNum, CL_SUCCESS);
 	}
 
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	if (animate && numObjects)
 	{
 		B3_PROFILE("cl2gl_upload");
@@ -267,6 +285,9 @@ void GpuSoftBodyDemo::clientMoveAndDisplay()
 		assert(err==GL_NO_ERROR);
 	}
 
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 }
 
 
@@ -325,6 +346,10 @@ unsigned char* GpuSoftClothDemo::loadImage(const char* fileName, int& width, int
 
 void	GpuSoftClothDemo::setupScene(const ConstructionInfo& ci)
 {
+	GLint err = glGetError();
+	assert(err==GL_NO_ERROR);
+
+	
 	int width = 256;
 	int height = 256;
 
@@ -355,6 +380,9 @@ void	GpuSoftClothDemo::setupScene(const ConstructionInfo& ci)
 		}
 	}
 
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	int numIndices = 0;
 
 	// Generate and fill index array for rendering
@@ -387,17 +415,39 @@ void	GpuSoftClothDemo::setupScene(const ConstructionInfo& ci)
 		int width,height,n;
 		FILE* f = fopen("test.tst","wb");
 		fclose(f);
-		const char* filename = "../../data/bullet_logo.png";
+		const char* filename = "data/bullet_logo.png";
-		const unsigned char* image = loadImage(filename,width,height,n);
+		const unsigned char* image=0;
-		textureIndex = ci.m_instancingRenderer->registerTexture(image,width,height);
+		
+		const char* prefix[]={"./","../","../../","../../../","../../../../"};
+		int numprefix = sizeof(prefix)/sizeof(const char*);
+		
+		for (int i=0;!image && i<numprefix;i++)
+		{
+			char relativeFileName[1024];
+			sprintf(relativeFileName,"%s%s",prefix[i],filename);
+			image = loadImage(relativeFileName,width,height,n);
+		}
+		
+		b3Assert(image);
+		if (image)
+		{
+			textureIndex = ci.m_instancingRenderer->registerTexture(image,width,height);
+		}
 	}
 //	int shapeIndex = ci.m_instancingRenderer->registerShape(barrel_vertices,num_barrel_vertices,barrel_indices,num_barrel_indices);
 
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	m_data->m_clothVertices = &cpu_buffer[0].pos[0];
 
 	int shapeIndex = ci.m_instancingRenderer->registerShape(&cpu_buffer[0].pos[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
 	m_data->m_clothShapeIndex = shapeIndex;
 
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
+	
 	float pos[4] = {0,0,0,0};
 	float orn[4] = {0,0,0,1};
 	float color[4] = {1,1,1,1};
@@ -407,4 +457,7 @@ void	GpuSoftClothDemo::setupScene(const ConstructionInfo& ci)
 	ci.m_instancingRenderer->setCameraDistance(4);
 	ci.m_instancingRenderer->setCameraTargetPosition(pos);
 
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 }	

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -567,10 +567,16 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
 
 void GLInstancingRenderer::writeTransforms()
 {
+	GLint err = glGetError();
+    assert(err==GL_NO_ERROR);
+
 	
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
 	glFlush();
 
+	err = glGetError();
+    assert(err==GL_NO_ERROR);
+
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	if (orgBase)
 	{
@@ -639,13 +645,16 @@ void GLInstancingRenderer::writeTransforms()
 	{
 		b3Error("ERROR glMapBuffer failed\n");
 	}
+	err = glGetError();
+    assert(err==GL_NO_ERROR);
+
 	glUnmapBuffer( GL_ARRAY_BUFFER);
 	//if this glFinish is removed, the animation is not always working/blocks
 	//@todo: figure out why
 	glFlush();
 	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
 
-    GLint err = glGetError();
+    err = glGetError();
     assert(err==GL_NO_ERROR);
     
 }
@@ -688,18 +697,30 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
 
 int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height)
 {
+	GLint err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	int textureIndex = m_data->m_textureHandles.size();
 	const GLubyte*	image= (const GLubyte*)texels;
 	GLuint textureHandle;
 	glGenTextures(1,(GLuint*)&textureHandle);
 	glBindTexture(GL_TEXTURE_2D,textureHandle);
-	GLenum err;
+	
 	err = glGetError();
 	assert(err==GL_NO_ERROR);
 	err = glGetError();
 	assert(err==GL_NO_ERROR);
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width,height,0,GL_RGB,GL_UNSIGNED_BYTE,image);
+	
+	
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
 	glGenerateMipmap(GL_TEXTURE_2D);
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
+	
 	m_data->m_textureHandles.push_back(textureHandle);
 	return textureIndex;
 }

src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp

@@ -669,8 +669,8 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 
 				if (srcFileHandle==INVALID_HANDLE_VALUE)
 				{
-					const char* prefix[]={"../","../../","../../../","../../../../"};
+					const char* prefix[]={"./","../","../../","../../../","../../../../"};
-					for (int i=0;(srcFileHandle==INVALID_HANDLE_VALUE) && i<3;i++)
+					for (int i=0;(srcFileHandle==INVALID_HANDLE_VALUE) && i<5;i++)
 					{
 						char relativeFileName[1024];
 						sprintf(relativeFileName,"%s%s",prefix[i],clFileNameForCaching);

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp

@@ -904,10 +904,15 @@ void	b3GpuNarrowPhase::writeAllBodiesToGpu()
 	m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
 	m_data->m_inertiaBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
     
-	m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
+	if (m_data->m_numAcceleratedRigidBodies)
-	m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
+	{
-    
+		m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
-	m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
+		m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
+	}
+    if (m_data->m_collidablesCPU.size())
+	{
+		m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
+	}
 	
     
 }