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add some command-line options

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--use_jacobi
--allow_opencl_cpu

b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel
b3SetCustomErrorMessageFunc, printf error and exit(0)
This commit is contained in:
erwin coumans
2013-11-19 13:42:53 -08:00
parent 54909160a7
commit 26dfaa441e
27 changed files with 491 additions and 448 deletions
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80
src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
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@@ -1,32 +1,16 @@
//#define USE_CPU
#ifdef USE_CPU
bool b3GpuBatchContacts = false;
bool b3GpuSolveConstraint = false;
bool gpuRadixSort=false;
bool gpuSetSortData = false;
bool optionalSortContactsDeterminism = true;
bool gpuSortContactsDeterminism = false;
bool useCpuCopyConstraints = true;
bool gCpuBatchContacts = false;
bool gCpuSolveConstraint = false;
bool gCpuRadixSort=false;
bool gCpuSetSortData = false;
bool gCpuSortContactsDeterminism = false;
bool gUseCpuCopyConstraints = false;
bool gUseScanHost = false;
bool gReorderContactsOnCpu = false;
bool useScanHost = true;
bool reorderContactsOnCpu = true;
bool optionalSortContactsDeterminism = true;
#else
bool b3GpuBatchContacts = true;
bool b3GpuSolveConstraint = true;
bool gpuRadixSort=true;
bool gpuSetSortData = true;
bool optionalSortContactsDeterminism = true;
bool gpuSortContactsDeterminism = true;
bool useCpuCopyConstraints = false;
bool useScanHost = false;
bool reorderContactsOnCpu = false;
#endif
#include "b3GpuPgsContactSolver.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
@@ -336,7 +320,7 @@ void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3Rigid
cdata.z = ib;
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveContactKernel );
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
#if 1
b3BufferInfoCL bInfo[] = {
@@ -441,7 +425,7 @@ void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3Rigid
,b3BufferInfoCL(&gpuDebugInfo)
#endif //DEBUG_ME
};
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveFrictionKernel );
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata.x );
launcher.setConst( cdata.y );
@@ -598,7 +582,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (optionalSortContactsDeterminism)
{
if (gpuSortContactsDeterminism)
if (!gCpuSortContactsDeterminism)
{
B3_PROFILE("GPU Sort contact constraints (determinism)");
@@ -608,7 +592,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
m_data->m_pBufContactOutGPU->copyToCL(m_data->m_pBufContactOutGPUCopy->getBufferCL(),numContacts,0,0);
{
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel);
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel,"m_setDeterminismSortDataChildShapeBKernel");
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
launcher.setConst(numContacts);
@@ -616,7 +600,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
{
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel);
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel,"m_setDeterminismSortDataChildShapeAKernel");
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
launcher.setConst(numContacts);
@@ -624,7 +608,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
{
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel);
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel,"m_setDeterminismSortDataBodyBKernel");
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
launcher.setConst(numContacts);
@@ -634,7 +618,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
{
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel);
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel,"m_setDeterminismSortDataBodyAKernel");
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
launcher.setConst(numContacts);
@@ -651,7 +635,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
//b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
// , b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel);
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel,"m_reorderContactKernel");
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
launcher.setBuffer(m_data->m_pBufContactOutGPU->getBufferCL());
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
@@ -755,7 +739,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
if (gpuSetSortData)
if (!gCpuSetSortData)
{ // 2. set cell idx
B3_PROFILE("GPU set cell idx");
struct CB
@@ -779,7 +763,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL()), b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel );
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel,"m_setSortDataKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata.m_nContacts );
launcher.setConst( cdata.m_scale );
@@ -812,7 +796,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (gpuRadixSort)
if (!gCpuRadixSort)
{ // 3. sort by cell idx
B3_PROFILE("gpuRadixSort");
//int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
@@ -836,7 +820,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
if (useScanHost)
if (gUseScanHost)
{
// 4. find entries
B3_PROFILE("cpuBoundSearch");
@@ -879,7 +863,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (nContacts)
{ // 5. sort constraints by cellIdx
if (reorderContactsOnCpu)
if (gReorderContactsOnCpu)
{
B3_PROFILE("cpu m_reorderContactKernel");
b3AlignedObjectArray<b3SortData> sortDataHost;
@@ -918,7 +902,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
, b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel);
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel,"m_reorderContactKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
launcher.launch1D( nContacts, 64 );
@@ -944,7 +928,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (nContacts)
{
if (useCpuCopyConstraints)
if (gUseCpuCopyConstraints)
{
for (int i=0;i<nContacts;i++)
{
@@ -962,7 +946,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() )
};
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel );
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel,"m_copyConstraintKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
launcher.launch1D( nContacts, 64 );
@@ -975,7 +959,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
bool compareGPU = false;
if (nContacts)
{
if (b3GpuBatchContacts)
if (!gCpuBatchContacts)
{
B3_PROFILE("gpu batchContacts");
maxNumBatches = 150;//250;
@@ -984,10 +968,12 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
} else
{
B3_PROFILE("cpu batchContacts");
b3AlignedObjectArray<b3Contact4> cpuContacts;
static b3AlignedObjectArray<b3Contact4> cpuContacts;
b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
contactsIn->copyToHost(cpuContacts);
{
B3_PROFILE("copyToHost");
contactsIn->copyToHost(cpuContacts);
}
b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
@@ -1025,7 +1011,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
}
clFinish(m_data->m_queue);
//clFinish(m_data->m_queue);
}
{
B3_PROFILE("m_contactBuffer->copyFromHost");
@@ -1063,7 +1049,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
int numIter = 4;
m_data->m_solverGPU->m_nIterations = numIter;//10
if (b3GpuSolveConstraint)
if (!gCpuSolveConstraint)
{
B3_PROFILE("GPU solveContactConstraint");