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towards GPU joint (non-contact) constraint solving. The ConstraintDemo shows that CPU performance is very good, so not much performance win is to be expected.

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erwin coumans
2013-07-02 21:13:42 -07:00
parent 72042f3094
commit 28f6e0fbd3
5 changed files with 635 additions and 8 deletions
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10
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -28,6 +28,8 @@ bool dumpContactStats = false;
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.h"
#include "b3GpuBatchingPgsSolver.h"
#include "b3Solver.h"
@@ -44,7 +46,7 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_device = device;
m_data->m_queue = q;
m_data->m_solver = new b3PgsJacobiSolver(true);
m_data->m_solver = new b3GpuPgsJacobiSolver(true);//new b3PgsJacobiSolver(true);
m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
@@ -226,11 +228,11 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<b3InertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3AlignedObjectArray<b3Contact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
// b3AlignedObjectArray<b3Contact4> hostContacts;
//gpuContacts.copyToHost(hostContacts);
{
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
// b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);