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Apply a patch that updates vertex position on GPU for the OpenCL version, by Dongsoo Han (saggita), work-in-progress

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Removed the unused OpenCL kernels
Add example how to cache binary kernels, see SoftDemo compiled with OpenCL AMD using msvc/vs2008_opencl.bat
This commit is contained in:
erwin.coumans
2011-12-20 18:03:24 +00:00
parent 5cb40ed6e3
commit 1f7a67b7da
31 changed files with 441 additions and 1386 deletions
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136
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp
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@@ -33,32 +33,6 @@ static const size_t workGroupSize = GROUP_SIZE;
//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it
#if (0)//CL_VERSION_1_1 == 1)
//OpenCL 1.1 kernels use float3
#define MSTRINGIFY(A) #A
static const char* UpdatePositionsFromVelocitiesCLString =
#include "OpenCLC/UpdatePositionsFromVelocities.cl"
static const char* SolvePositionsCLString =
#include "OpenCLC/SolvePositionsSIMDBatched.cl"
static const char* UpdateNodesCLString =
#include "OpenCLC/UpdateNodes.cl"
static const char* UpdatePositionsCLString =
#include "OpenCLC/UpdatePositions.cl"
static const char* UpdateConstantsCLString =
#include "OpenCLC/UpdateConstants.cl"
static const char* IntegrateCLString =
#include "OpenCLC/Integrate.cl"
static const char* ApplyForcesCLString =
#include "OpenCLC/ApplyForces.cl"
static const char* UpdateNormalsCLString =
#include "OpenCLC/UpdateNormals.cl"
static const char* VSolveLinksCLString =
#include "OpenCLC/VSolveLinks.cl"
static const char* SolveCollisionsAndUpdateVelocitiesCLString =
#include "OpenCLC/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl"
static const char* OutputToVertexArrayCLString =
#include "OpenCLC/OutputToVertexArray.cl"
#else
////OpenCL 1.0 kernels don't use float3
#define MSTRINGIFY(A) #A
static const char* UpdatePositionsFromVelocitiesCLString =
@@ -75,6 +49,8 @@ static const char* IntegrateCLString =
#include "OpenCLC10/Integrate.cl"
static const char* ApplyForcesCLString =
#include "OpenCLC10/ApplyForces.cl"
static const char* UpdateFixedVertexPositionsCLString =
#include "OpenCLC10/UpdateFixedVertexPositions.cl"
static const char* UpdateNormalsCLString =
#include "OpenCLC10/UpdateNormals.cl"
static const char* VSolveLinksCLString =
@@ -83,7 +59,6 @@ static const char* SolveCollisionsAndUpdateVelocitiesCLString =
#include "OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl"
static const char* OutputToVertexArrayCLString =
#include "OpenCLC10/OutputToVertexArray.cl"
#endif //CL_VERSION_1_1
@@ -194,8 +169,8 @@ bool btSoftBodyLinkDataOpenCLSIMDAware::moveFromAccelerator()
btOpenCLSoftBodySolverSIMDAware::btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue, cl_context ctx) :
btOpenCLSoftBodySolver( queue, ctx ),
btOpenCLSoftBodySolverSIMDAware::btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) :
btOpenCLSoftBodySolver( queue, ctx, bUpdateAchchoredNodePos ),
m_linkData(queue, ctx)
{
// Initial we will clearly need to update solver constants
@@ -213,14 +188,17 @@ btOpenCLSoftBodySolverSIMDAware::~btOpenCLSoftBodySolverSIMDAware()
void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody * > &softBodies ,bool forceUpdate)
{
if( forceUpdate|| m_softBodySet.size() != softBodies.size() )
if( forceUpdate || m_softBodySet.size() != softBodies.size() )
{
// Have a change in the soft body set so update, reloading all the data
getVertexData().clear();
getTriangleData().clear();
getLinkData().clear();
m_softBodySet.resize(0);
m_anchorIndex.clear();
int maxPiterations = 0;
int maxViterations = 0;
for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex )
{
@@ -238,8 +216,7 @@ void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody
m_perClothLiftFactor.push_back( softBody->m_cfg.kLF );
m_perClothDragFactor.push_back( softBody->m_cfg.kDG );
m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density);
// Simple init values. Actually we'll put 0 and -1 into them at the appropriate time
m_perClothFriction.push_back( softBody->getFriction() );
m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) );
@@ -253,6 +230,7 @@ void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody
// Allocate space for new vertices in all the vertex arrays
getVertexData().createVertices( numVertices, softBodyIndex, maxVertices );
int firstTriangle = getTriangleData().getNumTriangles();
int numTriangles = softBody->m_faces.size();
int maxTriangles = numTriangles;
@@ -272,6 +250,8 @@ void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody
float vertexInverseMass = softBody->m_nodes[vertex].m_im;
desc.setInverseMass(vertexInverseMass);
getVertexData().setVertexAt( desc, firstVertex + vertex );
m_anchorIndex.push_back(-1.0);
}
// Copy triangles similarly
@@ -318,17 +298,78 @@ void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody
newSoftBody->setMaxTriangles( maxTriangles );
newSoftBody->setFirstLink( firstLink );
newSoftBody->setNumLinks( numLinks );
// Find maximum piterations and viterations
int piterations = softBody->m_cfg.piterations;
if ( piterations > maxPiterations )
maxPiterations = piterations;
int viterations = softBody->m_cfg.viterations;
if ( viterations > maxViterations )
maxViterations = viterations;
// zero mass
for( int vertex = 0; vertex < numVertices; ++vertex )
{
if ( softBody->m_nodes[vertex].m_im == 0 )
{
AnchorNodeInfoCL nodeInfo;
nodeInfo.clVertexIndex = firstVertex + vertex;
nodeInfo.pNode = &softBody->m_nodes[vertex];
m_anchorNodeInfoArray.push_back(nodeInfo);
}
}
// anchor position
if ( numVertices > 0 )
{
for ( int anchorIndex = 0; anchorIndex < softBody->m_anchors.size(); anchorIndex++ )
{
btSoftBody::Node* anchorNode = softBody->m_anchors[anchorIndex].m_node;
btSoftBody::Node* firstNode = &softBody->m_nodes[0];
AnchorNodeInfoCL nodeInfo;
nodeInfo.clVertexIndex = firstVertex + (int)(anchorNode - firstNode);
nodeInfo.pNode = anchorNode;
m_anchorNodeInfoArray.push_back(nodeInfo);
}
}
}
m_anchorPosition.clear();
m_anchorPosition.resize(m_anchorNodeInfoArray.size());
for ( int anchorNode = 0; anchorNode < m_anchorNodeInfoArray.size(); anchorNode++ )
{
const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[anchorNode];
m_anchorIndex[anchorNodeInfo.clVertexIndex] = anchorNode;
getVertexData().getInverseMass(anchorNodeInfo.clVertexIndex) = 0.0f;
}
updateConstants(0.f);
// set position and velocity iterations
setNumberOfPositionIterations(maxPiterations);
setNumberOfVelocityIterations(maxViterations);
// set wind velocity
m_perClothWindVelocity.resize( m_softBodySet.size() );
for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex )
{
btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody();
m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity());
}
m_clPerClothWindVelocity.changedOnCPU();
// generate batches
m_linkData.generateBatches();
m_triangleData.generateBatches();
// Build the shaders to match the batching parameters
buildShaders();
}
@@ -509,7 +550,9 @@ bool btOpenCLSoftBodySolverSIMDAware::buildShaders()
if( m_shadersInitialized )
return true;
m_clFunctions.clearKernelCompilationFailures();
const char* additionalMacros="";
m_currentCLFunctions->clearKernelCompilationFailures();
char *wavefrontMacros = new char[256];
@@ -522,22 +565,23 @@ bool btOpenCLSoftBodySolverSIMDAware::buildShaders()
WAVEFRONT_BLOCK_MULTIPLIER,
WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize());
m_updatePositionsFromVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", "" );
m_solvePositionsFromLinksKernel = m_clFunctions.compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros );
m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", "" );
m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_clFunctions.compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", "" );
m_integrateKernel = m_clFunctions.compileCLKernelFromString( IntegrateCLString, "IntegrateKernel", "" );
m_applyForcesKernel = m_clFunctions.compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel", "" );
m_solveCollisionsAndUpdateVelocitiesKernel = m_clFunctions.compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", "" );
m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl");
m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros ,"OpenCLC10/SolvePositionsSIMDBatched.cl");
m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", additionalMacros ,"OpenCLC10/UpdateNodes.cl");
m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositions.cl");
m_integrateKernel = m_currentCLFunctions->compileCLKernelFromString( IntegrateCLString, "IntegrateKernel", additionalMacros ,"OpenCLC10/Integrate.cl");
m_applyForcesKernel = m_currentCLFunctions->compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel", additionalMacros,"OpenCLC10/ApplyForces.cl" );
m_updateFixedVertexPositionsKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateFixedVertexPositionsCLString, "UpdateFixedVertexPositions" ,additionalMacros,"OpenCLC10/UpdateFixedVertexPositions.cl");
m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", additionalMacros ,"OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl");
// TODO: Rename to UpdateSoftBodies
m_resetNormalsAndAreasKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel", "" );
m_normalizeNormalsAndAreasKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel", "" );
m_updateSoftBodiesKernel = m_clFunctions.compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel", "" );
m_resetNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl");
m_normalizeNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl");
m_updateSoftBodiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl");
delete [] wavefrontMacros;
if( m_clFunctions.getKernelCompilationFailures()==0)
if( m_currentCLFunctions->getKernelCompilationFailures()==0)
{
m_shadersInitialized = true;
}