Update Bullet to the latest commit 126b676

1 files changed, 79 insertions, 86 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
index 1b267b31ef..18e9c1db2b 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
@@ -9,60 +9,57 @@
 
 #define B3_DEBUG_SERIALIZE_CL
 
-
 #ifdef _WIN32
-#pragma warning(disable :4996)
+#pragma warning(disable : 4996)
 #endif
 #define B3_CL_MAX_ARG_SIZE 16
-B3_ATTRIBUTE_ALIGNED16(struct) b3KernelArgData
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3KernelArgData
 {
-    int m_isBuffer;
-    int m_argIndex;
-    int m_argSizeInBytes;
+	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];
-    };
-    
+	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;
+
+	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);
+
+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 serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
+
 	int getNumArguments() const
 	{
 		return m_kernelArguments.size();
@@ -75,61 +72,57 @@ class b3LauncherCL
 
 	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 );
-		}
+	template <typename T>
+	inline void setConst(const T& consts)
+	{
+		int sz = sizeof(T);
+		b3Assert(sz <= B3_CL_MAX_ARG_SIZE);
 
-		inline void launch1D( int numThreads, int localSize = 64)
+		if (m_enableSerialization)
 		{
-			launch2D( numThreads, 1, localSize, 1 );
+			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);
 		}
 
-		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 );
+		cl_int status = clSetKernelArg(m_kernel, m_idx++, sz, &consts);
+		b3Assert(status == CL_SUCCESS);
+	}
 
-		}
-	
-		void	enableSerialization(bool serialize)
+	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)
 		{
-			m_enableSerialization = serialize;
+			printf("Error: OpenCL status = %d\n", status);
 		}
-		
-};
-
+		b3Assert(status == CL_SUCCESS);
+	}
 
+	void enableSerialization(bool serialize)
+	{
+		m_enableSerialization = serialize;
+	}
+};
 
-#endif //B3_LAUNCHER_CL_H
+#endif  //B3_LAUNCHER_CL_H