1 files changed, 306 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
new file mode 100644
index 0000000000..d70c30f53f
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
@@ -0,0 +1,306 @@
+#ifndef B3_OPENCL_ARRAY_H
+#define B3_OPENCL_ARRAY_H
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
+
+template <typename T>
+class b3OpenCLArray
+{
+	size_t	m_size;
+	size_t	m_capacity;
+	cl_mem	m_clBuffer;
+
+	cl_context		 m_clContext;
+	cl_command_queue m_commandQueue;
+
+	bool	m_ownsMemory;
+
+	bool	m_allowGrowingCapacity;
+
+	void deallocate()
+	{
+		if (m_clBuffer && m_ownsMemory)
+		{
+			clReleaseMemObject(m_clBuffer);
+		}
+		m_clBuffer = 0;
+		m_capacity=0;
+	}
+
+	b3OpenCLArray<T>& operator=(const b3OpenCLArray<T>& src);
+
+	B3_FORCE_INLINE	size_t	allocSize(size_t size)
+		{
+			return (size ? size*2 : 1);
+		}
+
+public:
+
+	b3OpenCLArray(cl_context ctx, cl_command_queue queue, size_t initialCapacity=0, bool allowGrowingCapacity=true)
+	:m_size(0),  m_capacity(0),m_clBuffer(0),
+	m_clContext(ctx),m_commandQueue(queue),
+	m_ownsMemory(true),m_allowGrowingCapacity(true)
+	{
+		if (initialCapacity)
+		{
+			reserve(initialCapacity);
+		}
+		m_allowGrowingCapacity = allowGrowingCapacity;
+	}
+
+	///this is an error-prone method with no error checking, be careful!
+	void setFromOpenCLBuffer(cl_mem buffer, size_t sizeInElements)
+	{
+		deallocate();
+		m_ownsMemory = false;
+		m_allowGrowingCapacity = false;
+		m_clBuffer = buffer;
+		m_size = sizeInElements;
+		m_capacity = sizeInElements;
+	}
+
+// we could enable this assignment, but need to make sure to avoid accidental deep copies
+//	b3OpenCLArray<T>& operator=(const b3AlignedObjectArray<T>& src)
+//	{
+//		copyFromArray(src);
+//		return *this;
+//	}
+
+
+	cl_mem	getBufferCL() const
+	{
+		return m_clBuffer;
+	}
+
+
+	virtual ~b3OpenCLArray()
+	{
+		deallocate();
+		m_size=0;
+		m_capacity=0;
+	}
+
+	B3_FORCE_INLINE	bool push_back(const T& _Val,bool waitForCompletion=true)
+	{
+		bool result = true;
+		size_t sz = size();
+		if( sz == capacity() )
+		{
+			result = reserve( allocSize(size()) );
+		}
+		copyFromHostPointer(&_Val, 1, sz, waitForCompletion);
+		m_size++;
+		return result;
+	}
+
+	B3_FORCE_INLINE T forcedAt(size_t n) const
+	{
+		b3Assert(n>=0);
+		b3Assert(n<capacity());
+		T elem;
+		copyToHostPointer(&elem,1,n,true);
+		return elem;
+	}
+
+	B3_FORCE_INLINE T at(size_t n) const
+	{
+		b3Assert(n>=0);
+		b3Assert(n<size());
+		T elem;
+		copyToHostPointer(&elem,1,n,true);
+		return elem;
+	}
+
+	B3_FORCE_INLINE	bool resize(size_t newsize, bool copyOldContents=true)
+	{
+		bool result = true;
+		size_t curSize = size();
+
+		if (newsize < curSize)
+		{
+			//leave the OpenCL memory for now
+		} else
+		{
+			if (newsize > size())
+			{
+				result = reserve(newsize,copyOldContents);
+			}
+
+			//leave new data uninitialized (init in debug mode?)
+			//for (size_t i=curSize;i<newsize;i++) ...
+		}
+
+		if (result)
+		{
+			m_size = newsize;
+		} else
+		{
+			m_size = 0;
+		}
+		return result;
+	}
+
+	B3_FORCE_INLINE size_t size() const
+	{
+		return m_size;
+	}
+
+	B3_FORCE_INLINE	size_t capacity() const
+	{
+		return m_capacity;
+	}
+
+	B3_FORCE_INLINE	bool reserve(size_t _Count, bool copyOldContents=true)
+	{
+		bool result=true;
+		// determine new minimum length of allocated storage
+		if (capacity() < _Count)
+		{	// not enough room, reallocate
+
+			if (m_allowGrowingCapacity)
+			{
+				cl_int ciErrNum;
+				//create a new OpenCL buffer
+				size_t memSizeInBytes = sizeof(T)*_Count;
+				cl_mem buf = clCreateBuffer(m_clContext, CL_MEM_READ_WRITE, memSizeInBytes, NULL, &ciErrNum);
+				if (ciErrNum!=CL_SUCCESS)
+				{
+					b3Error("OpenCL out-of-memory\n");
+					_Count = 0;
+					result = false;
+				}
+//#define B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
+#ifdef B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
+				unsigned char* src = (unsigned char*)malloc(memSizeInBytes);
+				for (size_t i=0;i<memSizeInBytes;i++)
+					src[i] = 0xbb;
+				ciErrNum = clEnqueueWriteBuffer( m_commandQueue, buf, CL_TRUE, 0, memSizeInBytes, src, 0,0,0 );
+				b3Assert(ciErrNum==CL_SUCCESS);
+				clFinish(m_commandQueue);
+				free(src);
+#endif //B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
+
+				if (result)
+				{
+					if (copyOldContents)
+						copyToCL(buf, size());
+				}
+
+				//deallocate the old buffer
+				deallocate();
+
+				m_clBuffer = buf;
+
+				m_capacity = _Count;
+			} else
+			{
+				//fail: assert and
+				b3Assert(0);
+				deallocate();
+				result=false;
+			}
+		}
+		return result;
+	}
+
+
+	void copyToCL(cl_mem destination, size_t numElements, size_t firstElem=0, size_t dstOffsetInElems=0) const
+	{
+		if (numElements<=0)
+			return;
+
+		b3Assert(m_clBuffer);
+		b3Assert(destination);
+
+		//likely some error, destination is same as source
+		b3Assert(m_clBuffer != destination);
+
+		b3Assert((firstElem+numElements)<=m_size);
+
+		cl_int status = 0;
+
+
+		b3Assert(numElements>0);
+		b3Assert(numElements<=m_size);
+
+		size_t srcOffsetBytes = sizeof(T)*firstElem;
+		size_t dstOffsetInBytes = sizeof(T)*dstOffsetInElems;
+
+		status = clEnqueueCopyBuffer( m_commandQueue, m_clBuffer, destination,
+			srcOffsetBytes, dstOffsetInBytes, sizeof(T)*numElements, 0, 0, 0 );
+
+		b3Assert( status == CL_SUCCESS );
+	}
+
+	void copyFromHost(const b3AlignedObjectArray<T>& srcArray, bool waitForCompletion=true)
+	{
+		size_t newSize = srcArray.size();
+
+		bool copyOldContents = false;
+		resize (newSize,copyOldContents);
+		if (newSize)
+			copyFromHostPointer(&srcArray[0],newSize,0,waitForCompletion);
+
+	}
+
+	void copyFromHostPointer(const T* src, size_t numElems, size_t destFirstElem= 0, bool waitForCompletion=true)
+	{
+		b3Assert(numElems+destFirstElem <= capacity());
+
+		if (numElems+destFirstElem)
+		{
+			cl_int status = 0;
+			size_t sizeInBytes=sizeof(T)*numElems;
+			status = clEnqueueWriteBuffer( m_commandQueue, m_clBuffer, 0, sizeof(T)*destFirstElem, sizeInBytes,
+			src, 0,0,0 );
+			b3Assert(status == CL_SUCCESS );
+			if (waitForCompletion)
+				clFinish(m_commandQueue);
+		} else
+		{
+			b3Error("copyFromHostPointer invalid range\n");
+		}
+	}
+
+
+	void copyToHost(b3AlignedObjectArray<T>& destArray, bool waitForCompletion=true) const
+	{
+		destArray.resize(this->size());
+		if (size())
+			copyToHostPointer(&destArray[0], size(),0,waitForCompletion);
+	}
+
+	void copyToHostPointer(T* destPtr, size_t numElem, size_t srcFirstElem=0, bool waitForCompletion=true) const
+	{
+		b3Assert(numElem+srcFirstElem <= capacity());
+
+		if(numElem+srcFirstElem <= capacity())
+		{
+			cl_int status = 0;
+			status = clEnqueueReadBuffer( m_commandQueue, m_clBuffer, 0, sizeof(T)*srcFirstElem, sizeof(T)*numElem,
+			destPtr, 0,0,0 );
+			b3Assert( status==CL_SUCCESS );
+
+			if (waitForCompletion)
+				clFinish(m_commandQueue);
+		} else
+		{
+			b3Error("copyToHostPointer invalid range\n");
+		}
+	}
+
+	void copyFromOpenCLArray(const b3OpenCLArray& src)
+	{
+		size_t newSize = src.size();
+		resize(newSize);
+		if (size())
+		{
+			src.copyToCL(m_clBuffer,size());
+		}
+	}
+
+};
+
+
+#endif //B3_OPENCL_ARRAY_H