void CLPhysicsDemo::init(int preferredDevice, int preferredPlatform, bool useInterop)
{
InitCL(-1,-1,useInterop);
#define CUSTOM_CL_INITIALIZATION
#ifdef CUSTOM_CL_INITIALIZATION
g_deviceCL = new adl::DeviceCL();
g_deviceCL->m_deviceIdx = g_device;
g_deviceCL->m_context = g_cxMainContext;
g_deviceCL->m_commandQueue = g_cqCommandQue;
g_deviceCL->m_kernelManager = new adl::KernelManager;
#else
DeviceUtils::Config cfg;
cfg.m_type = DeviceUtils::Config::DEVICE_CPU;
g_deviceCL = DeviceUtils::allocate( TYPE_CL, cfg );
#endif
//adl::Solver<adl::TYPE_CL>::allocate(g_deviceCL->allocate(
m_data->m_linVelBuf = new adl::Buffer<btVector3>(g_deviceCL,MAX_CONVEX_BODIES_CL);
m_data->m_angVelBuf = new adl::Buffer<btVector3>(g_deviceCL,MAX_CONVEX_BODIES_CL);
m_data->m_bodyTimes = new adl::Buffer<float>(g_deviceCL,MAX_CONVEX_BODIES_CL);
m_data->m_localShapeAABB = new adl::Buffer<btAABBHost>(g_deviceCL,MAX_CONVEX_SHAPES_CL);
gLinVelMem = (cl_mem)m_data->m_linVelBuf->m_ptr;
gAngVelMem = (cl_mem)m_data->m_angVelBuf->m_ptr;
gBodyTimes = (cl_mem)m_data->m_bodyTimes->m_ptr;
narrowphaseAndSolver = new btGpuNarrowphaseAndSolver(g_deviceCL);
int maxObjects = btMax(256,MAX_CONVEX_BODIES_CL);
int maxPairsSmallProxy = 32;
btOverlappingPairCache* overlappingPairCache=0;
m_data->m_Broadphase = new btGridBroadphaseCl(overlappingPairCache,btVector3(4.f, 4.f, 4.f), 128, 128, 128,maxObjects, maxObjects, maxPairsSmallProxy, 100.f, 128,
g_cxMainContext ,g_device,g_cqCommandQue, g_deviceCL);
cl_program prog = btOpenCLUtils::compileCLProgramFromString(g_cxMainContext,g_device,interopKernelString,0,"",INTEROPKERNEL_SRC_PATH);
g_integrateTransformsKernel = btOpenCLUtils::compileCLKernelFromString(g_cxMainContext, g_device,interopKernelString, "integrateTransformsKernel" ,0,prog);
initFindPairs(gFpIO, g_cxMainContext, g_device, g_cqCommandQue, MAX_CONVEX_BODIES_CL);
}
void CLPhysicsDemo::init(int preferredDevice, int preferredPlatform, bool useInterop)
{
InitCL(preferredDevice,preferredPlatform,useInterop);
m_narrowphaseAndSolver = new btGpuNarrowphaseAndSolver(g_cxMainContext,g_device,g_cqCommandQue);
g_narrowphaseAndSolver = m_narrowphaseAndSolver;
//adl::Solver<adl::TYPE_CL>::allocate(g_deviceCL->allocate(
m_data->m_linVelBuf = new btOpenCLArray<btVector3>(g_cxMainContext,g_cqCommandQue,MAX_CONVEX_BODIES_CL,false);
m_data->m_angVelBuf = new btOpenCLArray<btVector3>(g_cxMainContext,g_cqCommandQue,MAX_CONVEX_BODIES_CL,false);
m_data->m_bodyTimes = new btOpenCLArray<float>(g_cxMainContext,g_cqCommandQue,MAX_CONVEX_BODIES_CL,false);
m_data->m_localShapeAABBGPU = new btOpenCLArray<btAABBHost>(g_cxMainContext,g_cqCommandQue,MAX_CONVEX_SHAPES_CL,false);
m_data->m_localShapeAABBCPU = new btAlignedObjectArray<btAABBHost>;
int maxObjects = btMax(256,MAX_CONVEX_BODIES_CL);
int maxPairsSmallProxy = 32;
if (useSapGpuBroadphase)
{
m_data->m_BroadphaseSap = new btGpuSapBroadphase(g_cxMainContext ,g_device,g_cqCommandQue);//overlappingPairCache,btVector3(4.f, 4.f, 4.f), 128, 128, 128,maxObjects, maxObjects, maxPairsSmallProxy, 100.f, 128,
} else
{
btOverlappingPairCache* overlappingPairCache=0;
m_data->m_BroadphaseGrid = new btGridBroadphaseCl(overlappingPairCache,btVector3(4.f, 4.f, 4.f), 128, 128, 128,maxObjects, maxObjects, maxPairsSmallProxy, 100.f, 128,
g_cxMainContext ,g_device,g_cqCommandQue);
} //g_cxMainContext ,g_device,g_cqCommandQue);
m_data->m_pgsSolver = new btPgsJacobiSolver();
cl_program prog = btOpenCLUtils::compileCLProgramFromString(g_cxMainContext,g_device,interopKernelString,0,"",INTEROPKERNEL_SRC_PATH);
g_integrateTransformsKernel = btOpenCLUtils::compileCLKernelFromString(g_cxMainContext, g_device,interopKernelString, "integrateTransformsKernel" ,0,prog);
g_integrateTransformsKernel2 = btOpenCLUtils::compileCLKernelFromString(g_cxMainContext, g_device,interopKernelString, "integrateTransformsKernel2" ,0,prog);
initFindPairs(gFpIO, g_cxMainContext, g_device, g_cqCommandQue, MAX_CONVEX_BODIES_CL);
}
