Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 1366 insertions, 0 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
new file mode 100644
index 0000000000..c45fbbdcaa
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
@@ -0,0 +1,1366 @@
+
+bool searchIncremental3dSapOnGpu = true;
+#include <limits.h>
+#include "b3GpuSapBroadphase.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h"
+
+
+#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
+#include "kernels/sapKernels.h"
+
+#include "Bullet3Common/b3MinMax.h"
+
+#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
+
+/*
+	
+ 
+	
+	
+	
+ 
+	b3OpenCLArray<int> m_pairCount;
+ 
+ 
+	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU;
+	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
+ 
+	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()
+	{
+ return m_allAabbsGPU;
+	}
+	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()
+	{
+ return m_allAabbsCPU;
+	}
+ 
+	b3OpenCLArray<b3Vector3>	m_sum;
+	b3OpenCLArray<b3Vector3>	m_sum2;
+	b3OpenCLArray<b3Vector3>	m_dst;
+ 
+	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
+ 
+	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
+	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
+ 
+	
+	b3OpenCLArray<b3Int4>		m_overlappingPairs;
+ 
+	//temporary gpu work memory
+	b3OpenCLArray<b3SortData>	m_gpuSmallSortData;
+	b3OpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;
+ 
+	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;
+ */
+
+b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q , b3GpuSapKernelType kernelType)
+:m_context(ctx),
+m_device(device),
+m_queue(q),
+
+m_objectMinMaxIndexGPUaxis0(ctx,q),
+m_objectMinMaxIndexGPUaxis1(ctx,q),
+m_objectMinMaxIndexGPUaxis2(ctx,q),
+m_objectMinMaxIndexGPUaxis0prev(ctx,q),
+m_objectMinMaxIndexGPUaxis1prev(ctx,q),
+m_objectMinMaxIndexGPUaxis2prev(ctx,q),
+m_sortedAxisGPU0(ctx,q),
+m_sortedAxisGPU1(ctx,q),
+m_sortedAxisGPU2(ctx,q),
+m_sortedAxisGPU0prev(ctx,q),
+m_sortedAxisGPU1prev(ctx,q),
+m_sortedAxisGPU2prev(ctx,q),
+m_addedHostPairsGPU(ctx,q),
+m_removedHostPairsGPU(ctx,q),
+m_addedCountGPU(ctx,q),
+m_removedCountGPU(ctx,q),
+m_currentBuffer(-1),
+m_pairCount(ctx,q),
+m_allAabbsGPU(ctx,q),
+m_sum(ctx,q),
+m_sum2(ctx,q),
+m_dst(ctx,q),
+m_smallAabbsMappingGPU(ctx,q),
+m_largeAabbsMappingGPU(ctx,q),
+m_overlappingPairs(ctx,q),
+m_gpuSmallSortData(ctx,q),
+m_gpuSmallSortedAabbs(ctx,q)
+{
+	const char* sapSrc = sapCL;
+    
+    
+	cl_int errNum=0;
+
+	b3Assert(m_context);
+	b3Assert(m_device);
+	cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
+	b3Assert(errNum==CL_SUCCESS);
+
+
+	b3Assert(errNum==CL_SUCCESS);
+#ifndef __APPLE__
+	m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context,m_device,m_queue);
+#else
+	m_prefixScanFloat4 = 0;
+#endif
+	m_sapKernel = 0;
+	
+	switch (kernelType)
+	{
+		case B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU:
+		{
+			m_sapKernel=0;
+			break;
+		}
+		case 		B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU:
+		{
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBruteForce",&errNum,sapProg );
+			break;
+		}
+
+		case B3_GPU_SAP_KERNEL_ORIGINAL:
+		{
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
+			break;
+		}
+		case B3_GPU_SAP_KERNEL_BARRIER:
+		{
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBarrier",&errNum,sapProg );
+			break;
+		}
+		case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY:
+		{
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
+			break;
+		}
+
+		default:
+		{
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
+			b3Error("Unknown 3D GPU SAP provided, fallback to computePairsKernelLocalSharedMemory");
+		}
+	};
+	
+		
+	
+	m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
+	b3Assert(errNum==CL_SUCCESS);
+
+	m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "prepareSumVarianceKernel",&errNum,sapProg );
+	b3Assert(errNum==CL_SUCCESS);
+
+		
+	m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "flipFloatKernel",&errNum,sapProg );
+
+	m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
+
+	m_scatterKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "scatterKernel",&errNum,sapProg );
+
+	m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);
+}
+
+b3GpuSapBroadphase::~b3GpuSapBroadphase()
+{
+	delete m_sorter;
+	delete m_prefixScanFloat4;
+
+	clReleaseKernel(m_scatterKernel);
+	clReleaseKernel(m_flipFloatKernel);
+	clReleaseKernel(m_copyAabbsKernel);
+	clReleaseKernel(m_sapKernel);
+	clReleaseKernel(m_sap2Kernel);
+	clReleaseKernel(m_prepareSumVarianceKernel);
+	
+
+}
+
+/// conservative test for overlap between two aabbs
+static bool TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
+								const b3Vector3 &aabbMin2, const b3Vector3 &aabbMax2)
+{
+	bool overlap = true;
+	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
+	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
+	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
+	return overlap;
+}
+
+
+
+//http://stereopsis.com/radix.html
+static unsigned int FloatFlip(float fl)
+{
+	unsigned int f = *(unsigned int*)&fl;
+	unsigned int mask = -(int)(f >> 31) | 0x80000000;
+	return f ^ mask;
+};
+
+void  b3GpuSapBroadphase::init3dSap()
+{
+	if (m_currentBuffer<0)
+	{
+		m_allAabbsGPU.copyToHost(m_allAabbsCPU);
+
+		m_currentBuffer = 0;
+		for (int axis=0;axis<3;axis++)
+		{
+			for (int buf=0;buf<2;buf++)
+			{
+				int totalNumAabbs = m_allAabbsCPU.size();
+				int numEndPoints = 2*totalNumAabbs;
+				m_sortedAxisCPU[axis][buf].resize(numEndPoints);
+
+				if (buf==m_currentBuffer)
+				{
+					for (int i=0;i<totalNumAabbs;i++)
+					{
+						m_sortedAxisCPU[axis][buf][i*2].m_key = FloatFlip(m_allAabbsCPU[i].m_min[axis])-1;
+						m_sortedAxisCPU[axis][buf][i*2].m_value = i*2;
+						m_sortedAxisCPU[axis][buf][i*2+1].m_key = FloatFlip(m_allAabbsCPU[i].m_max[axis])+1;
+						m_sortedAxisCPU[axis][buf][i*2+1].m_value = i*2+1;
+					}
+				}
+			}
+		}
+
+		for (int axis=0;axis<3;axis++)
+		{
+			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
+		}
+
+		for (int axis=0;axis<3;axis++)
+		{
+			//int totalNumAabbs = m_allAabbsCPU.size();
+			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
+			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
+			for (int i=0;i<numEndPoints;i++)
+			{
+				int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
+				int newDest = destIndex/2;
+				if (destIndex&1)
+				{
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y=i;
+				} else
+				{
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x=i;
+				}
+			}
+		}
+
+	}
+}
+
+
+static bool b3PairCmp(const b3Int4& p, const b3Int4& q)
+{
+	return ((p.x<q.x) || ((p.x==q.x) && (p.y<q.y)));
+}
+
+
+static bool operator==(const b3Int4& a,const b3Int4& b)
+{
+	return a.x == b.x && a.y == b.y;
+};
+
+static bool operator<(const b3Int4& a,const b3Int4& b)
+{
+	return a.x < b.x || (a.x == b.x && a.y < b.y);
+};
+
+static bool operator>(const b3Int4& a,const b3Int4& b)
+{
+	return a.x > b.x || (a.x == b.x && a.y > b.y);
+};
+
+b3AlignedObjectArray<b3Int4> addedHostPairs;
+b3AlignedObjectArray<b3Int4> removedHostPairs;
+
+b3AlignedObjectArray<b3SapAabb>	preAabbs;
+
+void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
+{
+	//static int framepje = 0;
+	//printf("framepje=%d\n",framepje++);
+	
+
+	B3_PROFILE("calculateOverlappingPairsHostIncremental3Sap");
+
+	addedHostPairs.resize(0);
+	removedHostPairs.resize(0);
+
+	b3Assert(m_currentBuffer>=0);
+	
+	{
+		preAabbs.resize(m_allAabbsCPU.size());
+		for (int i=0;i<preAabbs.size();i++)
+		{
+			preAabbs[i]=m_allAabbsCPU[i];
+		}
+	}
+	
+
+	if (m_currentBuffer<0)
+		return;
+	{
+		B3_PROFILE("m_allAabbsGPU.copyToHost");
+		m_allAabbsGPU.copyToHost(m_allAabbsCPU);
+	}
+
+	b3AlignedObjectArray<b3Int4> allPairs;
+	{
+		B3_PROFILE("m_overlappingPairs.copyToHost");
+		m_overlappingPairs.copyToHost(allPairs);
+	}
+	if (0)
+	{
+	{
+		printf("ab[40].min=%f,%f,%f,ab[40].max=%f,%f,%f\n",
+		m_allAabbsCPU[40].m_min[0],	m_allAabbsCPU[40].m_min[1],m_allAabbsCPU[40].m_min[2],
+		m_allAabbsCPU[40].m_max[0],	m_allAabbsCPU[40].m_max[1],m_allAabbsCPU[40].m_max[2]);
+	}
+
+	{
+		printf("ab[53].min=%f,%f,%f,ab[53].max=%f,%f,%f\n",
+		m_allAabbsCPU[53].m_min[0],	m_allAabbsCPU[53].m_min[1],m_allAabbsCPU[53].m_min[2],
+		m_allAabbsCPU[53].m_max[0],	m_allAabbsCPU[53].m_max[1],m_allAabbsCPU[53].m_max[2]);
+	}
+	
+
+	{
+	b3Int4 newPair;
+	newPair.x = 40;
+	newPair.y = 53;
+		int index = allPairs.findBinarySearch(newPair);
+		printf("hasPair(40,53)=%d out of %d\n",index, allPairs.size());
+
+		{
+			int overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[40].m_min, (const b3Vector3&)m_allAabbsCPU[40].m_max,(const b3Vector3&)m_allAabbsCPU[53].m_min,(const b3Vector3&)m_allAabbsCPU[53].m_max);
+			printf("overlap=%d\n",overlap);
+		}
+
+		if (preAabbs.size())
+		{
+			int prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[40].m_min, (const b3Vector3&)preAabbs[40].m_max,(const b3Vector3&)preAabbs[53].m_min,(const b3Vector3&)preAabbs[53].m_max);
+			printf("prevoverlap=%d\n",prevOverlap);
+		} else
+		{
+			printf("unknown prevoverlap\n");
+		}
+
+	}
+	}
+
+
+	if (0)
+	{
+		for (int i=0;i<m_allAabbsCPU.size();i++)
+		{
+			//printf("aabb[%d] min=%f,%f,%f max=%f,%f,%f\n",i,m_allAabbsCPU[i].m_min[0],m_allAabbsCPU[i].m_min[1],m_allAabbsCPU[i].m_min[2],			m_allAabbsCPU[i].m_max[0],m_allAabbsCPU[i].m_max[1],m_allAabbsCPU[i].m_max[2]);
+
+
+		}
+
+		for (int axis=0;axis<3;axis++)
+		{
+			for (int buf=0;buf<2;buf++)
+			{
+				b3Assert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size()*2);
+			}
+		}
+	}
+
+
+
+	m_currentBuffer = 1-m_currentBuffer;
+	
+
+
+	int totalNumAabbs = m_allAabbsCPU.size();
+
+	{
+		B3_PROFILE("assign m_sortedAxisCPU(FloatFlip)");
+		for (int i=0;i<totalNumAabbs;i++)
+		{
+		
+
+			unsigned int keyMin[3];
+			unsigned int keyMax[3];
+			for (int axis=0;axis<3;axis++)
+			{
+				float vmin=m_allAabbsCPU[i].m_min[axis];
+				float vmax = m_allAabbsCPU[i].m_max[axis];
+				keyMin[axis] = FloatFlip(vmin);
+				keyMax[axis] = FloatFlip(vmax);
+			
+				m_sortedAxisCPU[axis][m_currentBuffer][i*2].m_key = keyMin[axis]-1;
+				m_sortedAxisCPU[axis][m_currentBuffer][i*2].m_value = i*2;
+				m_sortedAxisCPU[axis][m_currentBuffer][i*2+1].m_key = keyMax[axis]+1;
+				m_sortedAxisCPU[axis][m_currentBuffer][i*2+1].m_value = i*2+1;
+			}
+			//printf("aabb[%d] min=%u,%u,%u max %u,%u,%u\n", i,keyMin[0],keyMin[1],keyMin[2],keyMax[0],keyMax[1],keyMax[2]);
+
+		}
+	}
+	
+	
+
+	{
+		B3_PROFILE("sort m_sortedAxisCPU");
+		for (int axis=0;axis<3;axis++)
+			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
+	}
+
+#if 0
+	if (0)
+	{
+		for (int axis=0;axis<3;axis++)
+		{
+			//printf("axis %d\n",axis);
+			for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++)
+			{
+				//int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
+				//int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
+				//printf("[%d]=%d\n",i,value);
+			}
+
+		}
+	}
+#endif
+
+	{
+		B3_PROFILE("assign m_objectMinMaxIndexCPU");
+		for (int axis=0;axis<3;axis++)
+		{
+			int totalNumAabbs = m_allAabbsCPU.size();
+			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
+			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(totalNumAabbs);
+			for (int i=0;i<numEndPoints;i++)
+			{
+				int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
+				int newDest = destIndex/2;
+				if (destIndex&1)
+				{
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y=i;
+				} else
+				{
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x=i;
+				}
+			}
+		}
+	}
+
+#if 0
+	if (0)
+	{	
+		printf("==========================\n");
+		for (int axis=0;axis<3;axis++)
+		{
+			unsigned int curMinIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].x;
+			unsigned int curMaxIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].y;
+			unsigned int prevMaxIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].y;
+			unsigned int prevMinIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].x;
+
+			int dmin40 = curMinIndex40 - prevMinIndex40;
+			int dmax40 = curMinIndex40 - prevMinIndex40;
+			printf("axis %d curMinIndex40=%d prevMinIndex40=%d\n",axis,curMinIndex40, prevMinIndex40);
+			printf("axis %d curMaxIndex40=%d prevMaxIndex40=%d\n",axis,curMaxIndex40, prevMaxIndex40);
+		}
+		printf(".........................\n");
+		for (int axis=0;axis<3;axis++)
+		{
+			unsigned int curMinIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].x;
+			unsigned int curMaxIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].y;
+			unsigned int prevMaxIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].y;
+			unsigned int prevMinIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].x;
+
+			int dmin40 = curMinIndex53 - prevMinIndex53;
+			int dmax40 = curMinIndex53 - prevMinIndex53;
+			printf("axis %d curMinIndex53=%d prevMinIndex53=%d\n",axis,curMinIndex53, prevMinIndex53);
+			printf("axis %d curMaxIndex53=%d prevMaxIndex53=%d\n",axis,curMaxIndex53, prevMaxIndex53);
+		}
+
+	}
+#endif
+
+
+	int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
+	int b = m_objectMinMaxIndexCPU[1][m_currentBuffer].size();
+	int c = m_objectMinMaxIndexCPU[2][m_currentBuffer].size();
+	b3Assert(a==b);
+	b3Assert(b==c);
+	/*
+	if (searchIncremental3dSapOnGpu)
+	{
+		B3_PROFILE("computePairsIncremental3dSapKernelGPU");
+		int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
+		int maxCapacity = 1024*1024;
+		{
+			B3_PROFILE("copy from host");
+			m_objectMinMaxIndexGPUaxis0.copyFromHost(m_objectMinMaxIndexCPU[0][m_currentBuffer]);
+			m_objectMinMaxIndexGPUaxis1.copyFromHost(m_objectMinMaxIndexCPU[1][m_currentBuffer]);
+			m_objectMinMaxIndexGPUaxis2.copyFromHost(m_objectMinMaxIndexCPU[2][m_currentBuffer]);
+			m_objectMinMaxIndexGPUaxis0prev.copyFromHost(m_objectMinMaxIndexCPU[0][1-m_currentBuffer]);
+			m_objectMinMaxIndexGPUaxis1prev.copyFromHost(m_objectMinMaxIndexCPU[1][1-m_currentBuffer]);
+			m_objectMinMaxIndexGPUaxis2prev.copyFromHost(m_objectMinMaxIndexCPU[2][1-m_currentBuffer]);
+
+			m_sortedAxisGPU0.copyFromHost(m_sortedAxisCPU[0][m_currentBuffer]);
+			m_sortedAxisGPU1.copyFromHost(m_sortedAxisCPU[1][m_currentBuffer]);
+			m_sortedAxisGPU2.copyFromHost(m_sortedAxisCPU[2][m_currentBuffer]);
+			m_sortedAxisGPU0prev.copyFromHost(m_sortedAxisCPU[0][1-m_currentBuffer]);
+			m_sortedAxisGPU1prev.copyFromHost(m_sortedAxisCPU[1][1-m_currentBuffer]);
+			m_sortedAxisGPU2prev.copyFromHost(m_sortedAxisCPU[2][1-m_currentBuffer]);
+
+		
+			m_addedHostPairsGPU.resize(maxCapacity);
+			m_removedHostPairsGPU.resize(maxCapacity);
+
+			m_addedCountGPU.resize(0);
+			m_addedCountGPU.push_back(0);
+			m_removedCountGPU.resize(0);
+			m_removedCountGPU.push_back(0);
+		}
+
+		{
+			B3_PROFILE("launch1D");
+			b3LauncherCL launcher(m_queue,  m_computePairsIncremental3dSapKernel,"m_computePairsIncremental3dSapKernel");
+			launcher.setBuffer(m_objectMinMaxIndexGPUaxis0.getBufferCL());
+			launcher.setBuffer(m_objectMinMaxIndexGPUaxis1.getBufferCL());
+			launcher.setBuffer(m_objectMinMaxIndexGPUaxis2.getBufferCL());
+			launcher.setBuffer(m_objectMinMaxIndexGPUaxis0prev.getBufferCL());
+			launcher.setBuffer(m_objectMinMaxIndexGPUaxis1prev.getBufferCL());
+			launcher.setBuffer(m_objectMinMaxIndexGPUaxis2prev.getBufferCL());
+
+			launcher.setBuffer(m_sortedAxisGPU0.getBufferCL());
+			launcher.setBuffer(m_sortedAxisGPU1.getBufferCL());
+			launcher.setBuffer(m_sortedAxisGPU2.getBufferCL());
+			launcher.setBuffer(m_sortedAxisGPU0prev.getBufferCL());
+			launcher.setBuffer(m_sortedAxisGPU1prev.getBufferCL());
+			launcher.setBuffer(m_sortedAxisGPU2prev.getBufferCL());
+
+		
+			launcher.setBuffer(m_addedHostPairsGPU.getBufferCL());
+			launcher.setBuffer(m_removedHostPairsGPU.getBufferCL());
+			launcher.setBuffer(m_addedCountGPU.getBufferCL());
+			launcher.setBuffer(m_removedCountGPU.getBufferCL());
+			launcher.setConst(maxCapacity);
+			launcher.setConst( numObjects);
+			launcher.launch1D( numObjects);
+			clFinish(m_queue);
+		}
+
+		{
+			B3_PROFILE("copy to host");
+			int addedCountGPU = m_addedCountGPU.at(0);
+			m_addedHostPairsGPU.resize(addedCountGPU);
+			m_addedHostPairsGPU.copyToHost(addedHostPairs);
+
+			//printf("addedCountGPU=%d\n",addedCountGPU);
+			int removedCountGPU = m_removedCountGPU.at(0);
+			m_removedHostPairsGPU.resize(removedCountGPU);
+			m_removedHostPairsGPU.copyToHost(removedHostPairs);
+			//printf("removedCountGPU=%d\n",removedCountGPU);
+
+		}
+
+
+
+	} 
+	else
+	*/
+	{
+		int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
+
+		B3_PROFILE("actual search");
+		for (int i=0;i<numObjects;i++)
+		{
+			//int numObjects = m_objectMinMaxIndexCPU[axis][m_currentBuffer].size();
+			//int checkObjects[]={40,53};
+			//int numCheckObjects = sizeof(checkObjects)/sizeof(int);
+			
+			//for (int a=0;a<numCheckObjects ;a++)
+			
+			for (int axis=0;axis<3;axis++)
+			{
+				//int i = checkObjects[a];
+
+				unsigned int curMinIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].x;
+				unsigned int curMaxIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].y;
+				unsigned int prevMinIndex = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][i].x;
+				int dmin = curMinIndex - prevMinIndex;
+				
+				unsigned int prevMaxIndex = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][i].y;
+
+				
+
+				int dmax = curMaxIndex - prevMaxIndex;
+				if (dmin!=0)
+				{
+					//printf("for object %d, dmin=%d\n",i,dmin);
+				}
+				if (dmax!=0)
+				{
+					//printf("for object %d, dmax=%d\n",i,dmax);
+				}
+				for (int otherbuffer = 0;otherbuffer<2;otherbuffer++)
+				{
+					if (dmin!=0)
+					{
+						int stepMin = dmin<0 ? -1 : 1;
+						for (int j=prevMinIndex;j!=curMinIndex;j+=stepMin)
+						{
+							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
+							int otherIndex = otherIndex2/2;
+							if (otherIndex!=i)
+							{
+								bool otherIsMax = ((otherIndex2&1)!=0);
+
+								if (otherIsMax)
+								{
+									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
+									//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
+									
+									bool overlap = true;
+
+									for (int ax=0;ax<3;ax++)
+									{
+										if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
+											(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
+											overlap=false;
+									}
+
+								//	b3Assert(overlap2==overlap);
+
+									bool prevOverlap = true;
+
+									for (int ax=0;ax<3;ax++)
+									{
+										if ((m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].y) ||
+											(m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].x))
+											prevOverlap=false;
+									}
+									
+
+									//b3Assert(overlap==overlap2);
+								
+
+
+									if (dmin<0)
+									{
+										if (overlap && !prevOverlap)
+										{
+											//add a pair
+											b3Int4 newPair;
+											if (i<=otherIndex)
+											{
+												newPair.x = i;
+												newPair.y = otherIndex;
+											} else
+											{
+												newPair.x = otherIndex;
+												newPair.y = i;
+											}
+											addedHostPairs.push_back(newPair);
+										}
+									} 
+									else
+									{
+										if (!overlap && prevOverlap)
+										{
+									
+											//remove a pair
+											b3Int4 removedPair;
+											if (i<=otherIndex)
+											{
+												removedPair.x = i;
+												removedPair.y = otherIndex;
+											} else
+											{
+												removedPair.x = otherIndex;
+												removedPair.y = i;
+											}
+											removedHostPairs.push_back(removedPair);
+										}
+									}//otherisMax
+								}//if (dmin<0)
+							}//if (otherIndex!=i)
+						}//for (int j=
+					}
+				
+					if (dmax!=0)
+					{
+						int stepMax = dmax<0 ? -1 : 1;
+						for (int j=prevMaxIndex;j!=curMaxIndex;j+=stepMax)
+						{
+							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
+							int otherIndex = otherIndex2/2;
+							if (otherIndex!=i)
+							{
+								//bool otherIsMin = ((otherIndex2&1)==0);
+								//if (otherIsMin)
+								{
+									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
+									//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
+									
+									bool overlap = true;
+
+									for (int ax=0;ax<3;ax++)
+									{
+										if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
+											(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
+											overlap=false;
+									}
+									//b3Assert(overlap2==overlap);
+
+									bool prevOverlap = true;
+
+									for (int ax=0;ax<3;ax++)
+									{
+										if ((m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].y) ||
+											(m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].x))
+											prevOverlap=false;
+									}
+									
+
+									if (dmax>0)
+									{
+										if (overlap && !prevOverlap)
+										{
+											//add a pair
+											b3Int4 newPair;
+											if (i<=otherIndex)
+											{
+												newPair.x = i;
+												newPair.y = otherIndex;
+											} else
+											{
+												newPair.x = otherIndex;
+												newPair.y = i;
+											}
+											addedHostPairs.push_back(newPair);
+							
+										}
+									} 
+									else
+									{
+										if (!overlap && prevOverlap)
+										{
+											//if (otherIndex2&1==0) -> min?
+											//remove a pair
+											b3Int4 removedPair;
+											if (i<=otherIndex)
+											{
+												removedPair.x = i;
+												removedPair.y = otherIndex;
+											} else
+											{
+												removedPair.x = otherIndex;
+												removedPair.y = i;
+											}
+											removedHostPairs.push_back(removedPair);
+								
+										}
+									}
+							
+								}//if (dmin<0)
+							}//if (otherIndex!=i)
+						}//for (int j=
+					}
+				}//for (int otherbuffer
+			}//for (int axis=0;
+		}//for (int i=0;i<numObjects
+	}
+
+	//remove duplicates and add/remove then to existing m_overlappingPairs
+	
+	
+	
+	{
+		{
+			B3_PROFILE("sort allPairs");
+			allPairs.quickSort(b3PairCmp);
+		}
+		{
+			B3_PROFILE("sort addedHostPairs");
+			addedHostPairs.quickSort(b3PairCmp);
+		}
+		{
+			B3_PROFILE("sort removedHostPairs");
+			removedHostPairs.quickSort(b3PairCmp);
+		}
+	}
+
+	b3Int4 prevPair;
+	prevPair.x = -1;
+	prevPair.y = -1;
+	
+	int uniqueRemovedPairs = 0;
+
+	b3AlignedObjectArray<int> removedPositions;
+
+	{
+		B3_PROFILE("actual removing");
+		for (int i=0;i<removedHostPairs.size();i++)
+		{
+			b3Int4 removedPair = removedHostPairs[i];
+			if ((removedPair.x != prevPair.x) || (removedPair.y != prevPair.y))
+			{
+
+			int index1 = allPairs.findBinarySearch(removedPair);
+
+	//#ifdef _DEBUG
+				
+				
+	
+				int index2 = allPairs.findLinearSearch(removedPair);
+				b3Assert(index1==index2);
+	
+				//b3Assert(index1!=allPairs.size());
+				if (index1<allPairs.size())
+	//#endif//_DEBUG
+				{
+					uniqueRemovedPairs++;
+					removedPositions.push_back(index1);
+					{
+						//printf("framepje(%d) remove pair(%d):%d,%d\n",framepje,i,removedPair.x,removedPair.y);
+					}
+				}
+			}
+			prevPair = removedPair;
+		}
+
+		if (uniqueRemovedPairs)
+		{
+			for (int i=0;i<removedPositions.size();i++)
+			{
+				allPairs[removedPositions[i]].x = INT_MAX ;
+				allPairs[removedPositions[i]].y = INT_MAX ;
+			}
+			allPairs.quickSort(b3PairCmp);
+			allPairs.resize(allPairs.size()-uniqueRemovedPairs);
+		}
+	}
+	//if (uniqueRemovedPairs)
+	//	printf("uniqueRemovedPairs=%d\n",uniqueRemovedPairs);
+	//printf("removedHostPairs.size = %d\n",removedHostPairs.size());
+
+	prevPair.x = -1;
+	prevPair.y = -1;
+	
+	int uniqueAddedPairs=0;
+	b3AlignedObjectArray<b3Int4> actualAddedPairs;
+
+	{
+		B3_PROFILE("actual adding");
+		for (int i=0;i<addedHostPairs.size();i++)
+		{
+			b3Int4 newPair = addedHostPairs[i];
+			if ((newPair.x != prevPair.x) || (newPair.y != prevPair.y))
+			{
+//#ifdef _DEBUG		
+				int index1 = allPairs.findBinarySearch(newPair);
+				
+	
+				int index2 = allPairs.findLinearSearch(newPair);
+				b3Assert(index1==index2);
+	
+
+				b3Assert(index1==allPairs.size());
+				if (index1!=allPairs.size())
+				{
+					printf("??\n");
+				}
+
+				if (index1==allPairs.size())
+//#endif //_DEBUG
+				{
+					uniqueAddedPairs++;
+					actualAddedPairs.push_back(newPair);
+				}
+			}
+			prevPair = newPair;
+		}
+		for (int i=0;i<actualAddedPairs.size();i++)
+		{
+			//printf("framepje (%d), new pair(%d):%d,%d\n",framepje,i,actualAddedPairs[i].x,actualAddedPairs[i].y);
+			allPairs.push_back(actualAddedPairs[i]);
+		}
+	}
+	
+	//if (uniqueAddedPairs)
+	//	printf("uniqueAddedPairs=%d\n", uniqueAddedPairs);
+
+
+	{
+		B3_PROFILE("m_overlappingPairs.copyFromHost");
+		m_overlappingPairs.copyFromHost(allPairs);
+	}
+
+	
+}
+
+
+
+
+void  b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
+{
+	//test
+//	if (m_currentBuffer>=0)
+	//	return calculateOverlappingPairsHostIncremental3Sap();
+
+	b3Assert(m_allAabbsCPU.size() == m_allAabbsGPU.size());
+	m_allAabbsGPU.copyToHost(m_allAabbsCPU);
+
+
+	
+	int axis=0;
+	{
+		B3_PROFILE("CPU compute best variance axis");
+		b3Vector3 s=b3MakeVector3(0,0,0),s2=b3MakeVector3(0,0,0);
+		int numRigidBodies = m_smallAabbsMappingCPU.size();
+
+		for(int i=0;i<numRigidBodies;i++) 
+		{
+			b3SapAabb aabb = this->m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
+
+			b3Vector3 maxAabb=b3MakeVector3(aabb.m_max[0],aabb.m_max[1],aabb.m_max[2]);
+			b3Vector3 minAabb=b3MakeVector3(aabb.m_min[0],aabb.m_min[1],aabb.m_min[2]);
+			b3Vector3 centerAabb=(maxAabb+minAabb)*0.5f;
+						
+			s += centerAabb;
+			s2 += centerAabb*centerAabb;
+		}
+		b3Vector3 v = s2 - (s*s) / (float)numRigidBodies;
+		
+		if(v[1] > v[0]) 
+			axis = 1;
+		if(v[2] > v[axis]) 
+			axis = 2;
+	}
+
+
+	
+
+	b3AlignedObjectArray<b3Int4> hostPairs;
+
+	{
+		int numSmallAabbs = m_smallAabbsMappingCPU.size();
+		for (int i=0;i<numSmallAabbs;i++)
+		{
+			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
+			//float reference = smallAabbi.m_max[axis];
+
+			for (int j=i+1;j<numSmallAabbs;j++)
+			{
+
+				b3SapAabb smallAabbj = m_allAabbsCPU[m_smallAabbsMappingCPU[j]];
+
+				if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
+					(b3Vector3&)smallAabbj.m_min,(b3Vector3&)smallAabbj.m_max))
+				{
+					b3Int4 pair;
+					int a = smallAabbi.m_minIndices[3];
+					int b = smallAabbj.m_minIndices[3];
+					if (a<=b)
+					{
+						pair.x = a;//store the original index in the unsorted aabb array
+						pair.y = b;
+					} else
+					{
+						pair.x = b;//store the original index in the unsorted aabb array
+						pair.y = a;
+					}
+					hostPairs.push_back(pair);
+				}
+			}
+		}
+	}
+
+	
+	{
+		int numSmallAabbs = m_smallAabbsMappingCPU.size();
+		for (int i=0;i<numSmallAabbs;i++)
+		{
+			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
+
+			//float reference = smallAabbi.m_max[axis];
+			int numLargeAabbs = m_largeAabbsMappingCPU.size();
+
+			for (int j=0;j<numLargeAabbs;j++)
+			{
+				b3SapAabb largeAabbj = m_allAabbsCPU[m_largeAabbsMappingCPU[j]];
+				if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
+					(b3Vector3&)largeAabbj.m_min,(b3Vector3&)largeAabbj.m_max))
+				{
+					b3Int4 pair;
+					int a = largeAabbj.m_minIndices[3];
+					int b = smallAabbi.m_minIndices[3];
+					if (a<=b)
+					{
+						pair.x = a; 
+						pair.y = b;//store the original index in the unsorted aabb array
+					} else
+					{
+						pair.x = b;
+						pair.y = a;//store the original index in the unsorted aabb array
+					}
+					
+					hostPairs.push_back(pair);
+				}
+			}
+		}
+	}
+
+	if (hostPairs.size() > maxPairs)
+	{
+		hostPairs.resize(maxPairs);
+	}
+
+	if (hostPairs.size())
+	{
+		m_overlappingPairs.copyFromHost(hostPairs);
+	} else
+	{
+		m_overlappingPairs.resize(0);
+	}
+
+	//init3dSap();
+
+}
+
+void  b3GpuSapBroadphase::reset()
+{
+	m_allAabbsGPU.resize(0);
+	m_allAabbsCPU.resize(0);
+
+
+	m_smallAabbsMappingGPU.resize(0);
+	m_smallAabbsMappingCPU.resize(0);
+
+	m_pairCount.resize(0);
+
+	m_largeAabbsMappingGPU.resize(0);
+	m_largeAabbsMappingCPU.resize(0);
+
+}
+
+
+void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
+{
+	if (m_sapKernel==0)
+	{
+		calculateOverlappingPairsHost(maxPairs);
+		return;
+	}
+
+	//if (m_currentBuffer>=0)
+	//	return calculateOverlappingPairsHostIncremental3Sap();
+
+	//calculateOverlappingPairsHost(maxPairs);
+
+	B3_PROFILE("GPU 1-axis SAP calculateOverlappingPairs");
+
+	int axis = 0;
+
+	{
+
+	//bool syncOnHost = false;
+
+	int numSmallAabbs = m_smallAabbsMappingCPU.size();
+	if (m_prefixScanFloat4 && numSmallAabbs)
+	{
+		B3_PROFILE("GPU compute best variance axis");
+		
+		if (m_dst.size()!=(numSmallAabbs+1))
+		{
+			m_dst.resize(numSmallAabbs+128);
+			m_sum.resize(numSmallAabbs+128);
+			m_sum2.resize(numSmallAabbs+128);
+			m_sum.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
+			m_sum2.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
+		}
+
+		b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel ,"m_prepareSumVarianceKernel");
+		launcher.setBuffer(m_allAabbsGPU.getBufferCL());
+		
+		launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
+		launcher.setBuffer(m_sum.getBufferCL());
+		launcher.setBuffer(m_sum2.getBufferCL());
+		launcher.setConst( numSmallAabbs  );
+		int num = numSmallAabbs;
+		launcher.launch1D( num);
+		
+
+		b3Vector3 s;
+		b3Vector3 s2;
+		m_prefixScanFloat4->execute(m_sum,m_dst,numSmallAabbs+1,&s);
+		m_prefixScanFloat4->execute(m_sum2,m_dst,numSmallAabbs+1,&s2);
+
+		b3Vector3 v = s2 - (s*s) / (float)numSmallAabbs;
+		
+		if(v[1] > v[0]) 
+			axis = 1;
+		if(v[2] > v[axis]) 
+			axis = 2;
+	}
+
+
+		
+		m_gpuSmallSortData.resize(numSmallAabbs);
+		
+
+#if 1
+		if (m_smallAabbsMappingGPU.size())
+		{
+			
+			B3_PROFILE("flipFloatKernel");
+			b3BufferInfoCL bInfo[] = { 
+				b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ), 
+				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL(), true),
+				b3BufferInfoCL( m_gpuSmallSortData.getBufferCL())};
+			b3LauncherCL launcher(m_queue, m_flipFloatKernel ,"m_flipFloatKernel");
+			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst( numSmallAabbs  );
+			launcher.setConst( axis  );
+			
+			int num = numSmallAabbs;
+			launcher.launch1D( num);
+			clFinish(m_queue);
+		}
+
+		if (m_gpuSmallSortData.size())
+		{
+			B3_PROFILE("gpu radix sort");
+			m_sorter->execute(m_gpuSmallSortData);
+			clFinish(m_queue);
+		}
+
+		m_gpuSmallSortedAabbs.resize(numSmallAabbs);
+		if (numSmallAabbs)
+		{
+			B3_PROFILE("scatterKernel");
+			
+			b3BufferInfoCL bInfo[] = { 
+				b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ),
+				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL(), true),
+				b3BufferInfoCL( m_gpuSmallSortData.getBufferCL(),true),
+				b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
+			b3LauncherCL launcher(m_queue, m_scatterKernel ,"m_scatterKernel ");
+			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setConst( numSmallAabbs);
+			int num = numSmallAabbs;
+			launcher.launch1D( num);
+			clFinish(m_queue);
+			
+		}
+        
+
+			m_overlappingPairs.resize(maxPairs);
+
+			m_pairCount.resize(0);
+			m_pairCount.push_back(0);
+            int numPairs=0;
+
+			{
+				int numLargeAabbs = m_largeAabbsMappingGPU.size();
+				if (numLargeAabbs && numSmallAabbs)
+				{
+					//@todo
+					B3_PROFILE("sap2Kernel");
+					b3BufferInfoCL bInfo[] = { 
+						b3BufferInfoCL( m_allAabbsGPU.getBufferCL() ),
+						b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
+						b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ), 
+						b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), 
+						b3BufferInfoCL(m_pairCount.getBufferCL())};
+					b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
+					launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+					launcher.setConst(   numLargeAabbs  );
+					launcher.setConst( numSmallAabbs);
+					launcher.setConst( axis  );
+					launcher.setConst( maxPairs  );
+//@todo: use actual maximum work item sizes of the device instead of hardcoded values
+					launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
+                
+					numPairs = m_pairCount.at(0);
+					if (numPairs >maxPairs)
+					{
+						b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+						numPairs =maxPairs;
+					}
+				}
+			}
+			if (m_gpuSmallSortedAabbs.size())
+			{
+				B3_PROFILE("sapKernel");
+				b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
+				b3LauncherCL launcher(m_queue, m_sapKernel,"m_sapKernel");
+				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+				launcher.setConst( numSmallAabbs  );
+				launcher.setConst( axis  );
+				launcher.setConst( maxPairs  );
+
+			
+				int num = numSmallAabbs;
+#if 0                
+                int buffSize = launcher.getSerializationBufferSize();
+                unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
+                for (int i=0;i<buffSize+1;i++)
+                {
+                    unsigned char* ptr = (unsigned char*)&buf[i];
+                    *ptr = 0xff;
+                }
+                int actualWrite = launcher.serializeArguments(buf,buffSize);
+                
+                unsigned char* cptr = (unsigned char*)&buf[buffSize];
+    //            printf("buf[buffSize] = %d\n",*cptr);
+                
+                assert(buf[buffSize]==0xff);//check for buffer overrun
+                int* ptr = (int*)&buf[buffSize];
+                
+                *ptr = num;
+                
+                FILE* f = fopen("m_sapKernelArgs.bin","wb");
+                fwrite(buf,buffSize+sizeof(int),1,f);
+                fclose(f);
+#endif//
+
+                launcher.launch1D( num);
+				clFinish(m_queue);
+                
+                numPairs = m_pairCount.at(0);
+                if (numPairs>maxPairs)
+				{
+					b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+					numPairs = maxPairs;
+					m_pairCount.resize(0);
+					m_pairCount.push_back(maxPairs);
+				}
+			}
+			
+#else
+        int numPairs = 0;
+        
+        
+        b3LauncherCL launcher(m_queue, m_sapKernel);
+
+        const char* fileName = "m_sapKernelArgs.bin";
+        FILE* f = fopen(fileName,"rb");
+        if (f)
+        {
+            int sizeInBytes=0;
+            if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET)) 
+            {
+                printf("error, cannot get file size\n");
+                exit(0);
+            }
+            
+            unsigned char* buf = (unsigned char*) malloc(sizeInBytes);
+            fread(buf,sizeInBytes,1,f);
+            int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes,m_context);
+            int num = *(int*)&buf[serializedBytes];
+            launcher.launch1D( num);
+            
+            b3OpenCLArray<int> pairCount(m_context, m_queue);
+            int numElements = launcher.m_arrays[2]->size()/sizeof(int);
+            pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(),numElements);
+            numPairs = pairCount.at(0);
+            //printf("overlapping pairs = %d\n",numPairs);
+            b3AlignedObjectArray<b3Int4>		hostOoverlappingPairs;
+            b3OpenCLArray<b3Int4> tmpGpuPairs(m_context,m_queue);
+            tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(),numPairs );
+   
+            tmpGpuPairs.copyToHost(hostOoverlappingPairs);
+            m_overlappingPairs.copyFromHost(hostOoverlappingPairs);
+            //printf("hello %d\n", m_overlappingPairs.size());
+            free(buf);
+            fclose(f);
+            
+        } else {
+            printf("error: cannot find file %s\n",fileName);
+        }
+        
+        clFinish(m_queue);
+
+        
+#endif
+
+			
+        m_overlappingPairs.resize(numPairs);
+		
+	}//B3_PROFILE("GPU_RADIX SORT");
+	//init3dSap();
+}
+
+void b3GpuSapBroadphase::writeAabbsToGpu()
+{
+	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
+	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
+
+	m_allAabbsGPU.copyFromHost(m_allAabbsCPU);//might not be necessary, the 'setupGpuAabbsFull' already takes care of this
+	
+	
+
+}
+
+void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
+{
+	int index = userPtr;
+	b3SapAabb aabb;
+	for (int i=0;i<4;i++)
+	{
+		aabb.m_min[i] = aabbMin[i];
+		aabb.m_max[i] = aabbMax[i];
+	}
+	aabb.m_minIndices[3] = index;
+	aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
+	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU.size());
+	
+	m_allAabbsCPU.push_back(aabb);
+}
+
+void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
+{
+	int index = userPtr;
+	b3SapAabb aabb;
+	for (int i=0;i<4;i++)
+	{
+		aabb.m_min[i] = aabbMin[i];
+		aabb.m_max[i] = aabbMax[i];
+	}
+	aabb.m_minIndices[3] = index;
+	aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
+	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU.size());
+
+
+	m_allAabbsCPU.push_back(aabb);
+}
+
+cl_mem	b3GpuSapBroadphase::getAabbBufferWS()
+{
+	return m_allAabbsGPU.getBufferCL();
+}
+
+int	b3GpuSapBroadphase::getNumOverlap()
+{
+	return m_overlappingPairs.size();
+}
+cl_mem	b3GpuSapBroadphase::getOverlappingPairBuffer()
+{
+	return m_overlappingPairs.getBufferCL();
+}
+
+b3OpenCLArray<b3Int4>& b3GpuSapBroadphase::getOverlappingPairsGPU()
+{
+	return m_overlappingPairs;
+}
+b3OpenCLArray<int>& b3GpuSapBroadphase::getSmallAabbIndicesGPU()
+{
+	return m_smallAabbsMappingGPU;
+}
+b3OpenCLArray<int>& b3GpuSapBroadphase::getLargeAabbIndicesGPU()
+{
+	return m_largeAabbsMappingGPU;
+}