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Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

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Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
2014-01-04 20:54:27 -08:00
parent 999c5ff766
commit 271f458837
52 changed files with 3368 additions and 727 deletions
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22
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -2,7 +2,7 @@
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
#include <string.h>
@@ -45,16 +45,16 @@ m_queue(queue)
m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>();
m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyCL>();
m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyData>();
m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaCL>();
m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaData>();
m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaCL>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx,queue,config.m_maxConvexBodies,false);
m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx,queue,config.m_maxConvexShapes);
m_data->m_collidablesCPU.reserve(config.m_maxConvexShapes);
@@ -63,14 +63,14 @@ m_queue(queue)
//m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false);
m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyCL>(ctx,queue, config.m_maxConvexBodies,false);
m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx,queue, config.m_maxConvexBodies,false);
m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx,queue,config.m_maxConvexShapes*config.m_maxFacesPerShape,false);
m_data->m_convexFaces.reserve(config.m_maxConvexShapes*config.m_maxFacesPerShape);
m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx,queue,config.m_maxCompoundChildShapes,false);
m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronCL>(ctx,queue,config.m_maxConvexShapes,false);
m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronData>(ctx,queue,config.m_maxConvexShapes,false);
m_data->m_convexPolyhedra.reserve(config.m_maxConvexShapes);
m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexUniqueEdges,true);
@@ -271,7 +271,7 @@ int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
b3ConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = convexPtr->mC;
convex.mE = convexPtr->mE;
convex.m_extents= convexPtr->m_extents;
@@ -673,7 +673,7 @@ int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>*
m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
b3ConvexPolyhedronCL& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
convex.mC = b3MakeVector3(0,0,0);
convex.mE = b3MakeVector3(0,0,0);
convex.m_extents= b3MakeVector3(0,0,0);
@@ -738,7 +738,7 @@ cl_mem b3GpuNarrowPhase::getBodiesGpu()
return (cl_mem)m_data->m_bodyBufferGPU->getBufferCL();
}
const struct b3RigidBodyCL* b3GpuNarrowPhase::getBodiesCpu() const
const struct b3RigidBodyData* b3GpuNarrowPhase::getBodiesCpu() const
{
return &m_data->m_bodyBufferCPU->at(0);
};
@@ -910,7 +910,7 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
m_data->m_bodyBufferCPU->resize(m_data->m_numAcceleratedRigidBodies+1);
b3RigidBodyCL& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
b3RigidBodyData& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
float friction = 1.f;
float restitution = 0.f;
@@ -940,7 +940,7 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
m_data->m_bodyBufferGPU->copyFromHostPointer(&body,1,m_data->m_numAcceleratedRigidBodies);
}
b3InertiaCL& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
b3InertiaData& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
if (mass==0.f)
{