Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 135 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h b/thirdparty/bullet/src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
new file mode 100644
index 0000000000..1b267b31ef
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
@@ -0,0 +1,135 @@
+
+#ifndef B3_LAUNCHER_CL_H
+#define B3_LAUNCHER_CL_H
+
+#include "b3BufferInfoCL.h"
+#include "Bullet3Common/b3MinMax.h"
+#include "b3OpenCLArray.h"
+#include <stdio.h>
+
+#define B3_DEBUG_SERIALIZE_CL
+
+
+#ifdef _WIN32
+#pragma warning(disable :4996)
+#endif
+#define B3_CL_MAX_ARG_SIZE 16
+B3_ATTRIBUTE_ALIGNED16(struct) b3KernelArgData
+{
+    int m_isBuffer;
+    int m_argIndex;
+    int m_argSizeInBytes;
+	int m_unusedPadding;
+    union
+    {
+        cl_mem m_clBuffer;
+        unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
+    };
+    
+};
+
+class b3LauncherCL
+{
+
+	cl_command_queue m_commandQueue;
+	cl_kernel m_kernel;
+	int m_idx;
+	
+    b3AlignedObjectArray<b3KernelArgData> m_kernelArguments;
+    int m_serializationSizeInBytes;
+	bool	m_enableSerialization;
+
+	const char* m_name;
+	public:
+
+     b3AlignedObjectArray<b3OpenCLArray<unsigned char>* > m_arrays;
+    
+		b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name);
+    
+    virtual ~b3LauncherCL();
+    
+		void setBuffer( cl_mem clBuffer);
+
+		void setBuffers( b3BufferInfoCL* buffInfo, int n );
+    
+    int getSerializationBufferSize() const 
+    {
+        return m_serializationSizeInBytes;
+    }
+    
+    int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx);
+
+	inline int validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx);
+
+    int serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
+    
+	int getNumArguments() const
+	{
+		return m_kernelArguments.size();
+	}
+
+	b3KernelArgData getArgument(int index)
+	{
+		return m_kernelArguments[index];
+	}
+
+	void serializeToFile(const char* fileName, int numWorkItems);
+
+	template<typename T>
+		inline void setConst( const T& consts )
+		{
+			int sz=sizeof(T);
+			b3Assert(sz<=B3_CL_MAX_ARG_SIZE);
+
+			if (m_enableSerialization)
+			{
+				b3KernelArgData kernelArg;
+				kernelArg.m_argIndex = m_idx;
+				kernelArg.m_isBuffer = 0;
+				T* destArg = (T*)kernelArg.m_argData;
+				*destArg = consts;
+				kernelArg.m_argSizeInBytes = sizeof(T);
+				m_kernelArguments.push_back(kernelArg);
+				m_serializationSizeInBytes+=sizeof(b3KernelArgData);
+			}
+            
+			cl_int status = clSetKernelArg( m_kernel, m_idx++, sz, &consts );
+			b3Assert( status == CL_SUCCESS );
+		}
+
+		inline void launch1D( int numThreads, int localSize = 64)
+		{
+			launch2D( numThreads, 1, localSize, 1 );
+		}
+
+		inline void launch2D( int numThreadsX, int numThreadsY, int localSizeX, int localSizeY )
+		{
+			size_t gRange[3] = {1,1,1};
+			size_t lRange[3] = {1,1,1};
+			lRange[0] = localSizeX;
+			lRange[1] = localSizeY;
+			gRange[0] = b3Max((size_t)1, (numThreadsX/lRange[0])+(!(numThreadsX%lRange[0])?0:1));
+			gRange[0] *= lRange[0];
+			gRange[1] = b3Max((size_t)1, (numThreadsY/lRange[1])+(!(numThreadsY%lRange[1])?0:1));
+			gRange[1] *= lRange[1];
+
+			cl_int status = clEnqueueNDRangeKernel( m_commandQueue, 
+				m_kernel, 2, NULL, gRange, lRange, 0,0,0 );
+            if (status != CL_SUCCESS)
+            {
+                printf("Error: OpenCL status = %d\n",status);
+            }
+			b3Assert( status == CL_SUCCESS );
+
+		}
+	
+		void	enableSerialization(bool serialize)
+		{
+			m_enableSerialization = serialize;
+		}
+		
+};
+
+
+
+#endif //B3_LAUNCHER_CL_H