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allow PairBenchmark to select broadphase type, with cpu brute-force, gpu brute-force etc

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fix issue in PairBench, related to index offset
allow to add a large AABB in PairBench, to see the effect on the broadphase pair search performance
This commit is contained in:
erwin coumans
2014-01-28 17:11:56 -08:00
parent 71f0537c6e
commit 33ebebd1c9
10 changed files with 413 additions and 114 deletions
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76
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
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@@ -116,7 +116,7 @@ void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3
aabb.m_minVec = aabbMin;
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
m_allAabbsCPU1.push_back(aabb);
m_smallAabbsCPU.push_back(aabb);
}
@@ -126,7 +126,7 @@ void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Ve
aabb.m_minVec = aabbMin;
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
m_allAabbsCPU1.push_back(aabb);
m_largeAabbsCPU.push_back(aabb);
}
@@ -139,7 +139,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
if (0)
{
calculateOverlappingPairsHost(maxPairs);
/*
b3AlignedObjectArray<b3Int4> cpuPairs;
m_gpuPairs.copyToHost(cpuPairs);
printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
@@ -147,25 +147,53 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
{
printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
}
*/
return;
}
//sync small AABBs
{
int numSmallAabbs = m_smallAabbsGPU.size();
if (numSmallAabbs)
{
B3_PROFILE("copyAabbsKernelSmall");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_allAabbsGPU1.getBufferCL(), true ),
b3BufferInfoCL( m_smallAabbsGPU.getBufferCL()),
};
b3LauncherCL launcher(m_queue, m_copyAabbsKernel,"m_copyAabbsKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numSmallAabbs );
int num = numSmallAabbs;
launcher.launch1D( num);
bool syncOnHost = false;
if (syncOnHost)
{
m_allAabbsGPU1.copyToHost(this->m_allAabbsCPU1);
b3AlignedObjectArray<b3SapAabb> hostSmallAabbs;
m_smallAabbsGPU.copyToHost(hostSmallAabbs);
int numSmallAabbs = hostSmallAabbs.size();
for (int i=0;i<numSmallAabbs;i++)
{
//__kernel void copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)
{
//int i = get_global_id(0);
//if (i>=numObjects)
// return;
int src = hostSmallAabbs[i].m_signedMaxIndices[3];
hostSmallAabbs[i] = m_allAabbsCPU1[src];
hostSmallAabbs[i].m_signedMaxIndices[3] = src;
}
}
m_smallAabbsGPU.copyFromHost(hostSmallAabbs);
} else
{
int numSmallAabbs = m_smallAabbsGPU.size();
if (numSmallAabbs)
{
B3_PROFILE("copyAabbsKernelSmall");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_allAabbsGPU1.getBufferCL(), true ),
b3BufferInfoCL( m_smallAabbsGPU.getBufferCL()),
};
b3LauncherCL launcher(m_queue, m_copyAabbsKernel,"m_copyAabbsKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numSmallAabbs );
int num = numSmallAabbs;
launcher.launch1D( num);
}
}
}
//sync large AABBs
@@ -328,19 +356,19 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
}
void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
{
#if 0
m_hostPairs.resize(0);
m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
for (int i=0;i<m_allAabbsCPU.size();i++)
for (int i=0;i<m_allAabbsCPU1.size();i++)
{
for (int j=i+1;j<m_allAabbsCPU.size();j++)
for (int j=i+1;j<m_allAabbsCPU1.size();j++)
{
if (b3TestAabbAgainstAabb2(m_allAabbsCPU[i].m_minVec, m_allAabbsCPU[i].m_maxVec,
m_allAabbsCPU[j].m_minVec,m_allAabbsCPU[j].m_maxVec))
if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
m_allAabbsCPU1[j].m_minVec,m_allAabbsCPU1[j].m_maxVec))
{
b3Int4 pair;
int a = m_allAabbsCPU[j].m_minIndices[3];
int b = m_allAabbsCPU[i].m_minIndices[3];
int a = m_allAabbsCPU1[j].m_minIndices[3];
int b = m_allAabbsCPU1[i].m_minIndices[3];
if (a<=b)
{
pair.x = a;
@@ -361,7 +389,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
m_gpuPairs.copyFromHost(m_hostPairs);
#endif
}