report when compound pair capacity is exceeded (and avoid crash)

add tetrahedron, reorganized demos

Demos3/GpuDemos/main_opengl3core.cpp

@@ -106,16 +106,12 @@ GpuDemo::CreateFunc* allDemos[]=
 
 	
 
-	ConcaveScene::MyCreateFunc,
-
+	
 	ConcaveSphereScene::MyCreateFunc,
 	
 	ConcaveCompoundScene::MyCreateFunc,
 
-//	GpuCompoundPlaneScene::MyCreateFunc,
-
-
-	GpuConstraintsDemo::MyCreateFunc,
+	GpuCompoundPlaneScene::MyCreateFunc,
 
 	GpuTetraScene::MyCreateFunc,
 

Demos3/GpuDemos/rigidbody/ConcaveScene.cpp

@@ -680,7 +680,7 @@ b3Vector3 childPositions[3] = {
 			{
 				float mass = 1;//j==0? 0.f : 1.f;
 
-				b3Vector3 position(i*ci.gapX,50+j*ci.gapY,k*ci.gapZ);
+				b3Vector3 position((-ci.arraySizeX/2+i)*ci.gapX,50+j*ci.gapY,(-ci.arraySizeZ/2+k)*ci.gapZ);
 				//b3Quaternion orn(0,0,0,1);
 				b3Quaternion orn(b3Vector3(1,0,0),0.7);
 				

Demos3/GpuDemos/rigidbody/ConcaveScene.h

@@ -12,7 +12,7 @@ public:
 	virtual ~ConcaveScene(){}
 	virtual const char* getName()
 	{
-		return "GRBConcave";
+		return "BoxTrimesh";
 	}
 
 	static GpuDemo* MyCreateFunc()
@@ -38,7 +38,7 @@ public:
 	virtual ~ConcaveSphereScene(){}
 	virtual const char* getName()
 	{
-		return "ConcaveSphere";
+		return "SphereTrimesh";
 	}
 
 	static GpuDemo* MyCreateFunc()
@@ -62,7 +62,7 @@ public:
 	virtual ~ConcaveCompoundScene(){}
 	virtual const char* getName()
 	{
-		return "GRBConcaveCompound";
+		return "CompoundConcave";
 	}
 
 	static GpuDemo* MyCreateFunc()

Demos3/GpuDemos/rigidbody/GpuCompoundScene.h

@@ -11,7 +11,7 @@ public:
 	virtual ~GpuCompoundScene(){}
 	virtual const char* getName()
 	{
-		return "GpuCompound";
+		return "CompoundOnSphere";
 	}
 
 	static GpuDemo* MyCreateFunc()
@@ -35,7 +35,7 @@ public:
 	virtual ~GpuCompoundPlaneScene(){}
 	virtual const char* getName()
 	{
-		return "GpuCompoundPlane";
+		return "CompoundOnPlane";
 	}
 
 	static GpuDemo* MyCreateFunc()

Demos3/GpuDemos/rigidbody/GpuConvexScene.h

@@ -20,7 +20,7 @@ public:
 	virtual ~GpuConvexScene(){}
 	virtual const char* getName()
 	{
-		return "GRBConvex";
+		return "Tetrahedra";
 	}
 
 	static GpuDemo* MyCreateFunc()
@@ -50,7 +50,7 @@ public:
 	virtual ~GpuConvexPlaneScene(){}
 	virtual const char* getName()
 	{
-		return "GRBConvexPlane";
+		return "ConvexOnPlane";
 	}
 
 	static GpuDemo* MyCreateFunc()
@@ -72,7 +72,7 @@ public:
 	virtual ~GpuBoxPlaneScene(){}
 	virtual const char* getName()
 	{
-		return "GRBBoxPlane";
+		return "BoxPlane";
 	}
 
 	static GpuDemo* MyCreateFunc()
@@ -97,7 +97,7 @@ void createFromTetGenData(const char* ele,
 public:
 	virtual const char* getName()
 	{
-		return "GpuTetraScene";
+		return "TetraBreakable";
 	}
 
 	static GpuDemo* MyCreateFunc()

Demos3/GpuDemos/rigidbody/GpuSphereScene.h

@@ -11,7 +11,7 @@ public:
 	virtual ~GpuSphereScene(){}
 	virtual const char* getName()
 	{
-		return "GRBSphere";
+		return "BoxOnSphere";
 	}
 
 	static GpuDemo* MyCreateFunc()

btgui/OpenGLWindow/ShapeData.h

@@ -263,7 +263,7 @@ static const int quad_indices[]=
 
 
 
-static const float tetra_vertices[] =
+static const float pyramid_vertices[] =
 {
 	-1.f,	0,  -1.f,  0.5f,	0,  1,0,	0,0,
 	-1.f,	0,	1.f,   0.5f,	0,  1,0,	1,0,
@@ -275,13 +275,35 @@ static const float tetra_vertices[] =
 
 
 
-static const int tetra_indices[]=
+static const int pyramid_indices[]=
 {
 	0,1,2,0,2,3,//ground face
 	4,1,2,4,2,3,
 	4,3,0,4,0,1
 };
 
+static const float tetra_vertices[] =
+{
+	1.f,	1.f,  1.f,  0.5f,	0,  1,0,	0,0,
+	1.f,	-1.f,	-1.f,   0.5f,	0,  1,0,	1,0,
+	-1.f,	1.f,  -1.f,   0.5f,	0,	1,0,	1,1,
+	-1.f,	-1,  1.f,  0.5f,	0,	1,0,	0,1
+};
+
+
+
+
+static const int tetra_indices[]=
+{
+	0,1,2,//ground face
+	3,1,2,
+	3,0,1,
+	3,2,0
+};
+
+
+
+
 static const float detailed_sphere_vertices[] =
 {
 0.000000,-0.183479,-0.983024,0.000000,0.000000,-0.183479,-0.983024,0.500000,0.408260,

build3/premake4.lua

@@ -99,10 +99,13 @@
 	
 	language "C++"
 	
+if not _OPTIONS["ios"] then
+	
+	include "../Demos3/GpuDemos"
 	include "../Demos3/Wavefront"
 	include "../btgui/MultiThreading"
 
-	if not _OPTIONS["ios"] then
+	
 --		include "../demo/gpudemo"
 --	include "../btgui/MidiTest"
 --		include "../opencl/vector_add_simplified"
@@ -126,7 +129,7 @@
 		include "../src/Bullet3Serialize/Bullet2FileLoader"
 	
 		include "../src/Bullet3OpenCL"
-		include "../Demos3/GpuDemos"
+		
 		
 			
 --		include "../demo/gpu_initialize"

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp

@@ -1685,6 +1685,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 			const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
 			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
 			int maxContactCapacity,
+			int compoundPairCapacity,
 			const b3OpenCLArray<b3ConvexPolyhedronCL>& convexData,
 			const b3OpenCLArray<b3Vector3>& gpuVertices,
 			const b3OpenCLArray<b3Vector3>& gpuUniqueEdges,
@@ -1884,7 +1885,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 	m_numConcavePairsOut.resize(0);
 	m_numConcavePairsOut.push_back(0);
 
-	int compoundPairCapacity=65536*10;
+	
 	m_gpuCompoundPairs.resize(compoundPairCapacity);
 
 	m_gpuCompoundSepNormals.resize(compoundPairCapacity);
@@ -1965,7 +1966,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 						if (numConcavePairs > maxTriConvexPairCapacity)
 						{
 							static int exceeded_maxTriConvexPairCapacity_count = 0;
-							printf("Rxceeded %d times the maxTriConvexPairCapacity (found %d but max is %d)\n", exceeded_maxTriConvexPairCapacity_count++,
+							b3Error("Rxceeded %d times the maxTriConvexPairCapacity (found %d but max is %d)\n", exceeded_maxTriConvexPairCapacity_count++,
 								numConcavePairs,maxTriConvexPairCapacity);
 							numConcavePairs = maxTriConvexPairCapacity;
 						}
@@ -2043,7 +2044,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 			numCompoundPairs = m_numCompoundPairsOut.at(0);
 			//printf("numCompoundPairs =%d\n",numCompoundPairs );
 			if (numCompoundPairs > compoundPairCapacity)
+			{
+				b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs,  compoundPairCapacity);
 				numCompoundPairs = compoundPairCapacity;
+			}
 
 			m_gpuCompoundPairs.resize(numCompoundPairs);
 			m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
@@ -2079,6 +2083,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 				launcher.launch1D( num);
 				clFinish(m_queue);
 				nContacts = m_totalContactsOut.at(0);
+				if (nContacts>maxContactCapacity)
+				{
+					
+					b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
+					nContacts = maxContactCapacity;
+				}
 #endif
 			}
 			
@@ -2159,6 +2169,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 			launcher.launch1D( num);
 			clFinish(m_queue);
 			nContacts = m_totalContactsOut.at(0);
+			if (nContacts >= maxContactCapacity)
+			{
+				b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
+				nContacts = maxContactCapacity;
+			}
 		}
 		
 	}
@@ -2424,6 +2439,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
 			clFinish(m_queue);
 		
 			nContacts = m_totalContactsOut.at(0);
+			if (nContacts>maxContactCapacity)
+			{
+					
+				b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
+				nContacts = maxContactCapacity;
+			}
 			contactOut->resize(nContacts);
 		}
 		}

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h

@@ -79,6 +79,7 @@ struct GpuSatCollision
 			const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
 			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
 			int maxContactCapacity,
+			int compoundPairCapacity,
 			const b3OpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
 			const b3OpenCLArray<b3Vector3>& vertices,
 			const b3OpenCLArray<b3Vector3>& uniqueEdges,

src/Bullet3OpenCL/RigidBody/b3Config.h

@@ -7,6 +7,7 @@ struct	b3Config
 	int	m_maxConvexShapes;
 	int	m_maxBroadphasePairs;
 	int m_maxContactCapacity;
+	int m_compoundPairCapacity;
 
 	int m_maxVerticesPerFace;
 	int m_maxFacesPerShape;
@@ -31,6 +32,7 @@ struct	b3Config
 		m_maxConvexShapes = m_maxConvexBodies;
 		m_maxBroadphasePairs = 16*m_maxConvexBodies;
 		m_maxContactCapacity = m_maxBroadphasePairs;
+		m_compoundPairCapacity = 1524*1024;
 	}
 };
 

src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp

@@ -738,6 +738,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
 		m_data->m_pBufContactOutGPU,
 		nContactOut,
 		m_data->m_config.m_maxContactCapacity,
+		m_data->m_config.m_compoundPairCapacity,
 		*m_data->m_convexPolyhedraGPU,
 		*m_data->m_convexVerticesGPU,
 		*m_data->m_uniqueEdgesGPU,