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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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This commit is contained in:
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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75
src/Bullet3OpenCL/RigidBody/b3Solver.cpp
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@@ -551,6 +551,75 @@ void b3Solver::solveContactConstraintHost( b3OpenCLArray<b3RigidBodyCL>* bodyBu
}
void checkConstraintBatch(const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint,
b3OpenCLArray<unsigned int>* m_numConstraints,
b3OpenCLArray<unsigned int>* m_offsets,
int batchId
)
{
// b3BufferInfoCL( m_numConstraints->getBufferCL() ),
// b3BufferInfoCL( m_offsets->getBufferCL() )
const int nn = b3SolverBase::N_SPLIT*b3SolverBase::N_SPLIT;
int numWorkItems = 64*nn/b3SolverBase::N_BATCHES;
b3AlignedObjectArray<unsigned int> gN;
m_numConstraints->copyToHost(gN);
b3AlignedObjectArray<unsigned int> gOffsets;
m_offsets->copyToHost(gOffsets);
int nSplit = b3SolverBase::N_SPLIT;
int bIdx = batchId;
b3AlignedObjectArray<b3GpuConstraint4> cpuConstraints;
constraint->copyToHost(cpuConstraints);
printf("batch = %d\n", batchId);
int numWorkgroups = nn/b3SolverBase::N_BATCHES;
b3AlignedObjectArray<int> usedBodies;
for (int wgIdx=0;wgIdx<numWorkgroups;wgIdx++)
{
printf("wgIdx = %d ", wgIdx);
int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);
int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);
int cellIdx = xIdx+yIdx*nSplit;
printf("cellIdx=%d\n",cellIdx);
if( gN[cellIdx] == 0 )
continue;
const int start = gOffsets[cellIdx];
const int end = start + gN[cellIdx];
for (int c=start;c<end;c++)
{
b3GpuConstraint4& constraint = cpuConstraints[c];
//printf("constraint (%d,%d)\n", constraint.m_bodyA,constraint.m_bodyB);
if (usedBodies.findLinearSearch(constraint.m_bodyA)< usedBodies.size())
{
printf("error?\n");
}
if (usedBodies.findLinearSearch(constraint.m_bodyB)< usedBodies.size())
{
printf("error?\n");
}
}
for (int c=start;c<end;c++)
{
b3GpuConstraint4& constraint = cpuConstraints[c];
usedBodies.push_back(constraint.m_bodyA);
usedBodies.push_back(constraint.m_bodyB);
}
}
}
static bool verify=false;
void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches)
{
@@ -580,6 +649,12 @@ void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* body
{
for(int ib=0; ib<N_BATCHES; ib++)
{
if (verify)
{
checkConstraintBatch(bodyBuf,shapeBuf,constraint,m_numConstraints,m_offsets,ib);
}
#ifdef DEBUG_ME
memset(debugInfo,0,sizeof(SolverDebugInfo)*numWorkItems);
gpuDebugInfo.write(debugInfo,numWorkItems);