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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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62
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -15,7 +15,7 @@ bool searchIncremental3dSapOnGpu = true;
#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
#define B3_BROADPHASE_SAPFAST_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl"
b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q )
b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q , b3GpuSapKernelType kernelType)
:m_context(ctx),
m_device(device),
m_queue(q),
@@ -64,10 +64,50 @@ m_removedCountGPU(ctx,q)
#else
m_prefixScanFloat4 = 0;
#endif
//m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
//m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBarrier",&errNum,sapProg );
//m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
m_sapKernel = 0;
switch (kernelType)
{
case B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU:
{
m_sapKernel=0;
break;
}
case B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBruteForce",&errNum,sapProg );
break;
}
case B3_GPU_SAP_KERNEL_ORIGINAL:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
break;
}
case B3_GPU_SAP_KERNEL_BARRIER:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBarrier",&errNum,sapProg );
break;
}
case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
break;
}
case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY_BATCH_WRITE:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsKernelLocalSharedMemoryBatchWrite",&errNum,sapFastProg );
break;
}
default:
{
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
b3Error("Unknown 3D GPU SAP provided, fallback to computePairsKernelLocalSharedMemory");
}
};
m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
@@ -78,21 +118,21 @@ m_removedCountGPU(ctx,q)
m_computePairsIncremental3dSapKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsIncremental3dSapKernel",&errNum,sapFastProg );
b3Assert(errNum==CL_SUCCESS);
/*
#if 0
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
#else
#ifndef __APPLE__
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsKernel",&errNum,sapFastProg );
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapFastSrc, "computePairsKernelLocalSharedMemoryBatchWrite",&errNum,sapFastProg );
b3Assert(errNum==CL_SUCCESS);
#else
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
#endif
#endif
*/
m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "flipFloatKernel",&errNum,sapProg );
m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
@@ -980,7 +1020,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
m_overlappingPairs.resize(0);
}
init3dSap();
//init3dSap();
}
@@ -999,9 +1039,15 @@ void b3GpuSapBroadphase::reset()
void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
{
if (m_sapKernel==0)
{
calculateOverlappingPairsHost(maxPairs);
return;
}
//if (m_currentBuffer>=0)
// return calculateOverlappingPairsHostIncremental3Sap();
//calculateOverlappingPairsHost(maxPairs);
B3_PROFILE("GPU 1-axis SAP calculateOverlappingPairs");