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remove dynamic OpenCL allocations at run-time

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This commit is contained in:
erwin coumans
2013-07-12 16:00:25 -07:00
parent 74aa499ab6
commit 0fcdd290f5
7 changed files with 87 additions and 65 deletions
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100
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -56,7 +56,15 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
m_device(device),
m_queue(q),
m_findSeparatingAxisKernel(0),
m_totalContactsOut(m_context, m_queue)
m_totalContactsOut(m_context, m_queue),
m_sepNormals(m_context, m_queue),
m_hasSeparatingNormals(m_context, m_queue),
m_concaveSepNormals(m_context, m_queue),
m_numConcavePairsOut(m_context, m_queue),
m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue)
{
m_totalContactsOut.push_back(0);
@@ -1866,31 +1874,25 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("computeConvexConvexContactsGPUSAT");
// printf("nContacts = %d\n",nContacts);
b3OpenCLArray<b3Vector3> sepNormals(m_context,m_queue);
sepNormals.resize(nPairs);
b3OpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
hasSeparatingNormals.resize(nPairs);
m_sepNormals.resize(nPairs);
m_hasSeparatingNormals.resize(nPairs);
int concaveCapacity=maxTriConvexPairCapacity;
b3OpenCLArray<b3Vector3> concaveSepNormals(m_context,m_queue);
concaveSepNormals.resize(concaveCapacity);
m_concaveSepNormals.resize(concaveCapacity);
b3OpenCLArray<int> numConcavePairsOut(m_context,m_queue);
numConcavePairsOut.push_back(0);
m_numConcavePairsOut.push_back(0);
int compoundPairCapacity=65536*10;
b3OpenCLArray<b3CompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
gpuCompoundPairs.resize(compoundPairCapacity);
m_gpuCompoundPairs.resize(compoundPairCapacity);
b3OpenCLArray<b3Vector3> gpuCompoundSepNormals(m_context,m_queue);
gpuCompoundSepNormals.resize(compoundPairCapacity);
m_gpuCompoundSepNormals.resize(compoundPairCapacity);
b3OpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue);
gpuHasCompoundSepNormals.resize(compoundPairCapacity);
m_gpuHasCompoundSepNormals.resize(compoundPairCapacity);
b3OpenCLArray<int> numCompoundPairsOut(m_context,m_queue);
numCompoundPairsOut.push_back(0);
m_numCompoundPairsOut.resize(0);
m_numCompoundPairsOut.push_back(0);
int numCompoundPairs = 0;
@@ -1914,8 +1916,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL())
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
@@ -1937,14 +1939,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
if (treeNodesGPU->size() && treeNodesGPU->size())
{
B3_PROFILE("m_bvhTraversalKernel");
numConcavePairs = numConcavePairsOut.at(0);
numConcavePairs = m_numConcavePairsOut.at(0);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL());
launcher.setBuffer( clAabbsWS.getBufferCL());
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setBuffer( m_numConcavePairsOut.getBufferCL());
launcher.setBuffer( subTreesGPU->getBufferCL());
launcher.setBuffer( treeNodesGPU->getBufferCL());
launcher.setBuffer( bvhInfo->getBufferCL());
@@ -1954,7 +1956,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
numConcavePairs = numConcavePairsOut.at(0);
numConcavePairs = m_numConcavePairsOut.at(0);
if (numConcavePairs > maxTriConvexPairCapacity)
{
@@ -1979,7 +1981,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL())
b3BufferInfoCL( m_concaveSepNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
@@ -1992,7 +1994,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
clFinish(m_queue);
// b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
// concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// b3AlignedObjectArray<b3Int4> cpuConcavePairs;
// triangleConvexPairsOut.copyToHost(cpuConcavePairs);
@@ -2002,7 +2004,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
}
}
numCompoundPairs = numCompoundPairsOut.at(0);
numCompoundPairs = m_numCompoundPairsOut.at(0);
if (1)
{
@@ -2019,8 +2021,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( numCompoundPairsOut.getBufferCL())
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
@@ -2034,14 +2036,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
}
numCompoundPairs = numCompoundPairsOut.at(0);
numCompoundPairs = m_numCompoundPairsOut.at(0);
//printf("numCompoundPairs =%d\n",numCompoundPairs );
if (numCompoundPairs > compoundPairCapacity)
numCompoundPairs = compoundPairCapacity;
gpuCompoundPairs.resize(numCompoundPairs);
gpuHasCompoundSepNormals.resize(numCompoundPairs);
gpuCompoundSepNormals.resize(numCompoundPairs);
m_gpuCompoundPairs.resize(numCompoundPairs);
m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
m_gpuCompoundSepNormals.resize(numCompoundPairs);
if (numCompoundPairs)
@@ -2050,7 +2052,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("processCompoundPairsPrimitivesKernel");
b3BufferInfoCL bInfo[] =
{
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
@@ -2083,7 +2085,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("processCompoundPairsKernel");
b3BufferInfoCL bInfo[] =
{
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
@@ -2093,8 +2095,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())
b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL()),
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel);
@@ -2192,7 +2194,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL()),
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
@@ -2256,8 +2258,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
@@ -2283,13 +2285,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
{
B3_PROFILE("clipFacesAndContactReductionKernel");
//nContacts = m_totalContactsOut.at(0);
//int h = hasSeparatingNormals.at(0);
//int h = m_hasSeparatingNormals.at(0);
//int4 p = clippingFacesOutGPU.at(0);
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
@@ -2334,8 +2336,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
{
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
@@ -2373,8 +2375,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
@@ -2389,12 +2391,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
contactOut->resize(nContacts);
}
int nCompoundsPairs = gpuCompoundPairs.size();
int nCompoundsPairs = m_gpuCompoundPairs.size();
if (nCompoundsPairs)
{
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
@@ -2403,8 +2405,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};