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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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24
src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
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@@ -82,8 +82,8 @@ struct b3GpuBatchingPgsSolverInternalData
b3OpenCLArray<b3SortData>* m_sortDataBuffer;
b3OpenCLArray<b3Contact4>* m_contactBuffer;
b3OpenCLArray<b3RigidBodyCL>* m_bodyBufferGPU;
b3OpenCLArray<b3InertiaCL>* m_inertiaBufferGPU;
b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU;
b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU;
b3OpenCLArray<b3Contact4>* m_pBufContactOutGPUCopy;
@@ -111,8 +111,8 @@ b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx,cl_device_id device,
m_data->m_pairCapacity = pairCapacity;
m_data->m_nIterations = 4;
m_data->m_batchSizesGpu = new b3OpenCLArray<int>(ctx,q);
m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyCL>(ctx,q);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaCL>(ctx,q);
m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx,q);
m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx,q);
m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx,q);
m_data->m_pBufContactOutGPUCopy = new b3OpenCLArray<b3Contact4>(ctx,q);
@@ -293,7 +293,7 @@ struct b3ConstraintCfg
void b3GpuPgsContactSolver::solveContactConstraintBatchSizes( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
void b3GpuPgsContactSolver::solveContactConstraintBatchSizes( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches,int numIterations, const b3AlignedObjectArray<int>* batchSizes)//const b3OpenCLArray<int>* gpuBatchSizes)
{
B3_PROFILE("solveContactConstraintBatchSizes");
@@ -353,7 +353,7 @@ void b3GpuPgsContactSolver::solveContactConstraintBatchSizes( const b3OpenCLArr
}
}
void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches,int numIterations, const b3AlignedObjectArray<int>* batchSizes)//,const b3OpenCLArray<int>* gpuBatchSizes)
{
@@ -582,7 +582,7 @@ static const int gridTable8x8[] =
#define USE_4x4_GRID 1
void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyCL* gBodies, b3SortData* gSortDataOut, int nContacts,float scale,const b3Int4& nSplit,int staticIdx)
void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts,float scale,const b3Int4& nSplit,int staticIdx)
{
for (int gIdx=0;gIdx<nContacts;gIdx++)
{
@@ -761,10 +761,10 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
csCfg.m_staticIdx = static0Index;
b3OpenCLArray<b3RigidBodyCL>* bodyBuf = m_data->m_bodyBufferGPU;
b3OpenCLArray<b3RigidBodyData>* bodyBuf = m_data->m_bodyBufferGPU;
void* additionalData = 0;//m_data->m_frictionCGPU;
const b3OpenCLArray<b3InertiaCL>* shapeBuf = m_data->m_inertiaBufferGPU;
const b3OpenCLArray<b3InertiaData>* shapeBuf = m_data->m_inertiaBufferGPU;
b3OpenCLArray<b3GpuConstraint4>* contactConstraintOut = m_data->m_contactCGPU;
int nContacts = nContactOut;
@@ -795,12 +795,12 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
const b3OpenCLArray<b3RigidBodyCL>* bodyNative = bodyBuf;
const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
{
//b3OpenCLArray<b3RigidBodyCL>* bodyNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, bodyBuf );
//b3OpenCLArray<b3RigidBodyData>* bodyNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, bodyBuf );
//b3OpenCLArray<b3Contact4>* contactNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, contactsIn );
const int sortAlignment = 512; // todo. get this out of sort
@@ -855,7 +855,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3AlignedObjectArray<b3Contact4> contactCPU;
m_data->m_pBufContactOutGPU->copyToHost(contactCPU);
b3AlignedObjectArray<b3RigidBodyCL> bodiesCPU;
b3AlignedObjectArray<b3RigidBodyData> bodiesCPU;
bodyBuf->copyToHost(bodiesCPU);
float scale = 1.f/csCfg.m_batchCellSize;
b3Int4 nSplit;