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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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8
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -33,7 +33,9 @@ m_queue(queue)
m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>;
m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context,m_queue, config.m_maxTriConvexPairCapacity);
//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
@@ -110,6 +112,7 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
{
delete m_data->m_gpuSatCollision;
delete m_data->m_pBufPairsCPU;
delete m_data->m_triangleConvexPairs;
//delete m_data->m_convexPairsOutGPU;
//delete m_data->m_planePairs;
delete m_data->m_pBufContactOutCPU;
@@ -722,7 +725,6 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
int nContactOut = 0;
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
b3OpenCLArray<b3Int4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
int numTriConvexPairsOut=0;
b3OpenCLArray<b3Int2> broadphasePairsGPU(m_context,m_queue);
@@ -755,7 +757,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_bvhInfoGPU,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,
*m_data->m_triangleConvexPairs,
numTriConvexPairsOut
);

1
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
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@@ -51,6 +51,7 @@ struct b3GpuNarrowPhaseInternalData
struct GpuSatCollision* m_gpuSatCollision;
b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU;
b3OpenCLArray<b3Int4>* m_triangleConvexPairs;
//b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
//b3OpenCLArray<b3Int2>* m_planePairs;

14
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
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@@ -56,6 +56,8 @@ struct b3GpuPgsJacobiSolverInternalData
cl_kernel m_getInfo2Kernel;
cl_kernel m_writeBackVelocitiesKernel;
b3OpenCLArray<unsigned int>* m_dst;
b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies;
b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints;
b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows;
@@ -123,6 +125,8 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx,device,queue);
m_gpuData->m_dst = new b3OpenCLArray<unsigned int>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
@@ -130,7 +134,7 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
cl_int errNum=0;
{
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH);
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH,true);
b3Assert(errNum==CL_SUCCESS);
m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog);
b3Assert(errNum==CL_SUCCESS);
@@ -164,6 +168,7 @@ b3GpuPgsJacobiSolver::~b3GpuPgsJacobiSolver ()
clReleaseKernel(m_gpuData->m_writeBackVelocitiesKernel);
delete m_gpuData->m_prefixScan;
delete m_gpuData->m_dst;
delete m_gpuData->m_gpuSolverBodies;
delete m_gpuData->m_gpuBatchConstraints;
delete m_gpuData->m_gpuConstraintRows;
@@ -292,10 +297,9 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
if (1)
{
//m_gpuData->m_gpuConstraintInfo1->copyToHost(m_tmpConstraintSizesPool);
b3OpenCLArray<unsigned int> dst(m_gpuData->m_context,m_gpuData->m_queue);
dst.resize(numConstraints);
m_gpuData->m_dst->resize(numConstraints);
unsigned int total=0;
m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,dst,numConstraints,&total);
m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,*m_gpuData->m_dst,numConstraints,&total);
unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints-1);
//b3AlignedObjectArray<unsigned int> dstHost;
//dst.copyToHost(dstHost);
@@ -304,7 +308,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
{
B3_PROFILE("init batch constraints");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel);
launcher.setBuffer(dst.getBufferCL());
launcher.setBuffer(m_gpuData->m_dst->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
launcher.setConst(numConstraints);
launcher.launch1D(numConstraints);