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experiment with first-level batching using object index instead of spatial hash in uniform grid (to avoid tuning average object size for uniform grid)

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erwin coumans
2013-05-03 01:14:34 -07:00
parent 6ee9eb9bb5
commit 1185de51d5
7 changed files with 211 additions and 15 deletions
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12
src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
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@@ -424,7 +424,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
float dt=1./60.;
b3ConstraintCfg csCfg( dt );
csCfg.m_enableParallelSolve = true;
csCfg.m_averageExtent = .2f;//@TODO m_averageObjExtent;
csCfg.m_averageExtent = 0.3;//0.1;//2;//.2f;//@TODO m_averageObjExtent;
csCfg.m_staticIdx = static0Index;
@@ -516,8 +516,8 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (gpuRadixSort)
{ // 3. sort by cell idx
B3_PROFILE("gpuRadixSort");
int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
int sortBit = 32;
//int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
//int sortBit = 32;
//if( n <= 0xffff ) sortBit = 16;
//if( n <= 0xff ) sortBit = 8;
//adl::RadixSort<adl::TYPE_CL>::execute( data->m_sort, *data->m_sortDataBuffer, sortSize );
@@ -581,6 +581,12 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
clFinish(m_data->m_queue);
// {
// b3AlignedObjectArray<unsigned int> histogram;
// m_data->m_solverGPU->m_numConstraints->copyToHost(histogram);
// printf(",,,\n");
// }
if (nContacts)
{