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add re-usable createGraphicsSphere method in GpuDemo.

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introduce and use maxContactCapacity (needs to be fixed in various other contact kernels)
implement sphere versus trimesh
disable new/sequential GPU batching (only uses 1 thread in a warp, slow but works on NVIDIA/Apple OpenCL)
This commit is contained in:
erwin coumans
2013-04-04 17:54:45 -07:00
parent 733572e625
commit 358f4f97a2
15 changed files with 1008 additions and 139 deletions
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60
opencl/gpu_sat/host/ConvexHullContact.cpp
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@@ -62,13 +62,18 @@ m_totalContactsOut(m_context, m_queue)
btAssert(errNum==CL_SUCCESS);
m_findSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findSeparatingAxisKernel",&errNum,satProg );
btAssert(m_findSeparatingAxisKernel);
btAssert(errNum==CL_SUCCESS);
m_findConcaveSeparatingAxisKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findConcaveSeparatingAxisKernel",&errNum,satProg );
btAssert(m_findConcaveSeparatingAxisKernel);
btAssert(errNum==CL_SUCCESS);
m_findCompoundPairsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "findCompoundPairsKernel",&errNum,satProg );
btAssert(m_findCompoundPairsKernel);
btAssert(errNum==CL_SUCCESS);
m_processCompoundPairsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,src, "processCompoundPairsKernel",&errNum,satProg );
btAssert(m_processCompoundPairsKernel);
btAssert(errNum==CL_SUCCESS);
}
@@ -126,12 +131,16 @@ m_totalContactsOut(m_context, m_queue)
{
const char* primitiveContactsSrc = primitiveContactsKernelsCL;
cl_program primitiveContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_sat/kernels/primitiveContacts.cl",disableKernelCaching);
cl_program primitiveContactsProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"","opencl/gpu_sat/kernels/primitiveContacts.cl");
btAssert(errNum==CL_SUCCESS);
m_primitiveContactsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
btAssert(errNum==CL_SUCCESS);
m_findConcaveSphereContactsKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "findConcaveSphereContactsKernel",&errNum,primitiveContactsProg );
btAssert(errNum==CL_SUCCESS);
btAssert(m_findConcaveSphereContactsKernel);
m_processCompoundPairsPrimitivesKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "processCompoundPairsPrimitivesKernel",&errNum,primitiveContactsProg,"");
btAssert(errNum==CL_SUCCESS);
btAssert(m_processCompoundPairsPrimitivesKernel);
@@ -166,6 +175,9 @@ GpuSatCollision::~GpuSatCollision()
if (m_primitiveContactsKernel)
clReleaseKernel(m_primitiveContactsKernel);
if (m_findConcaveSphereContactsKernel)
clReleaseKernel(m_findConcaveSphereContactsKernel);
if (m_processCompoundPairsPrimitivesKernel)
clReleaseKernel(m_processCompoundPairsPrimitivesKernel);
@@ -828,6 +840,45 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
}
if (numConcavePairs)
{
if (numConcavePairs)
{
BT_PROFILE("findConcaveSphereContactsKernel");
btBufferInfoCL bInfo[] = {
btBufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( contactOut->getBufferCL()),
btBufferInfoCL( m_totalContactsOut.getBufferCL())
};
btLauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
launcher.setConst( numConcavePairs );
launcher.setConst(maxContactCapacity);
int num = numConcavePairs;
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
}
}
#ifdef __APPLE__
bool contactClippingOnGpu = true;
#else
@@ -869,6 +920,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
nContacts = m_totalContactsOut.at(0);
}
//convex-convex contact clipping
if (1)

2
opencl/gpu_sat/host/ConvexHullContact.h
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@@ -53,6 +53,8 @@ struct GpuSatCollision
cl_kernel m_bvhTraversalKernel;
cl_kernel m_primitiveContactsKernel;
cl_kernel m_findConcaveSphereContactsKernel;
cl_kernel m_processCompoundPairsPrimitivesKernel;