1 files changed, 39 insertions, 45 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
index 42cd197740..822b511633 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
@@ -7,25 +7,24 @@
 #include "kernels/PrefixScanKernelsCL.h"
 
 b3PrefixScanCL::b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-:m_commandQueue(queue)
+	: m_commandQueue(queue)
 {
 	const char* scanKernelSource = prefixScanKernelsCL;
 	cl_int pErrNum;
-	char* additionalMacros=0;
+	char* additionalMacros = 0;
 
-	m_workBuffer = new b3OpenCLArray<unsigned int>(ctx,queue,size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, scanKernelSource, &pErrNum,additionalMacros, B3_PREFIXSCAN_PROG_PATH);
+	m_workBuffer = new b3OpenCLArray<unsigned int>(ctx, queue, size);
+	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_PROG_PATH);
 	b3Assert(scanProg);
 
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_localScanKernel );
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_blockSumKernel );
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_propagationKernel );
+	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_localScanKernel);
+	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_blockSumKernel);
+	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_propagationKernel);
 }
 
-
 b3PrefixScanCL::~b3PrefixScanCL()
 {
 	delete m_workBuffer;
@@ -34,20 +33,19 @@ b3PrefixScanCL::~b3PrefixScanCL()
 	clReleaseKernel(m_propagationKernel);
 }
 
-template<class T>
+template <class T>
 T b3NextPowerOf2(T n)
 {
 	n -= 1;
-	for(int i=0; i<sizeof(T)*8; i++)
-		n = n | (n>>i);
-	return n+1;
+	for (int i = 0; i < sizeof(T) * 8; i++)
+		n = n | (n >> i);
+	return n + 1;
 }
 
 void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum)
 {
-	
-//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)( (n+BLOCK_SIZE*2-1)/(BLOCK_SIZE*2) );
+	//	b3Assert( data->m_option == EXCLUSIVE );
+	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
 
 	dst.resize(src.size());
 	m_workBuffer->resize(src.size());
@@ -55,55 +53,51 @@ void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<uns
 	b3Int4 constBuffer;
 	constBuffer.x = n;
 	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2( numBlocks );
+	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
 
 	b3OpenCLArray<unsigned int>* srcNative = &src;
 	b3OpenCLArray<unsigned int>* dstNative = &dst;
-	
+
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( srcNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_localScanKernel,"m_localScanKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst(  constBuffer );
-		launcher.launch1D( numBlocks*BLOCK_SIZE, BLOCK_SIZE );
+		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
 	}
 
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_blockSumKernel,"m_blockSumKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( constBuffer );
-		launcher.launch1D( BLOCK_SIZE, BLOCK_SIZE );
+		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
 	}
-	
 
-	if( numBlocks > 1 )
+	if (numBlocks > 1)
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
-		b3LauncherCL launcher( m_commandQueue, m_propagationKernel,"m_propagationKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( constBuffer );
-		launcher.launch1D( (numBlocks-1)*BLOCK_SIZE, BLOCK_SIZE );
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
+		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
 	}
 
-
-	if( sum )
+	if (sum)
 	{
 		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum,1,n-1,true);
+		dstNative->copyToHostPointer(sum, 1, n - 1, true);
 	}
-
 }
 
-
 void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum)
 {
 	unsigned int s = 0;
 	//if( data->m_option == EXCLUSIVE )
 	{
-		for(int i=0; i<n; i++)
+		for (int i = 0; i < n; i++)
 		{
 			dst[i] = s;
 			s += src[i];
@@ -119,8 +113,8 @@ void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3Alig
 	}
 	*/
 
-	if( sum )
+	if (sum)
 	{
-		*sum = dst[n-1];
+		*sum = dst[n - 1];
 	}
 }
\ No newline at end of file