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Avoid breaking up the clipHullHull kernel, it ruins performance. Unfortunately, Mac OSX still requires it.

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Use indices instead of copies for small/large aabbs in broadphase (grid / sap)
This commit is contained in:
erwincoumans
2014-01-29 15:20:20 -08:00
parent ff051f87aa
commit 3e8b183587
11 changed files with 100 additions and 126 deletions
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97
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
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@@ -33,8 +33,8 @@ b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_
m_device(device),
m_queue(q),
m_allAabbsGPU1(ctx,q),
m_largeAabbsGPU(ctx,q),
m_smallAabbsGPU(ctx,q),
m_smallAabbsMappingGPU(ctx,q),
m_largeAabbsMappingGPU(ctx,q),
m_gpuPairs(ctx,q),
m_hashGpu(ctx,q),
@@ -117,8 +117,10 @@ void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
m_allAabbsCPU1.push_back(aabb);
m_smallAabbsCPU.push_back(aabb);
}
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
{
@@ -127,8 +129,9 @@ void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Ve
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
m_allAabbsCPU1.push_back(aabb);
m_largeAabbsCPU.push_back(aabb);
}
void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
@@ -151,88 +154,25 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
return;
}
//sync small AABBs
{
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
{
int numLargeAabbs = m_largeAabbsGPU.size();
if (numLargeAabbs)
{
B3_PROFILE("copyAabbsKernelLarge");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_allAabbsGPU1.getBufferCL(), true ),
b3BufferInfoCL( m_largeAabbsGPU.getBufferCL()),
};
b3LauncherCL launcher(m_queue, m_copyAabbsKernel ,"m_copyAabbsKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numLargeAabbs );
int num = numLargeAabbs;
launcher.launch1D( num);
clFinish(m_queue);
}
}
int numSmallAabbs = m_smallAabbsGPU.size();
int numSmallAabbs = m_smallAabbsMappingGPU.size();
b3OpenCLArray<int> pairCount(m_context,m_queue);
pairCount.push_back(0);
m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody);
{
int numLargeAabbs = m_largeAabbsGPU.size();
int numLargeAabbs = m_largeAabbsMappingGPU.size();
if (numLargeAabbs && numSmallAabbs)
{
B3_PROFILE("sap2Kernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),
b3BufferInfoCL( m_smallAabbsGPU.getBufferCL() ),
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_allAabbsGPU1.getBufferCL() ),
b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ),
b3BufferInfoCL( m_gpuPairs.getBufferCL() ),
b3BufferInfoCL(pairCount.getBufferCL())};
b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
@@ -245,6 +185,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
int numPairs = pairCount.at(0);
if (numPairs >maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
@@ -264,7 +205,8 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
B3_PROFILE("kCalcHashAABB");
b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
launch.setConst(numSmallAabbs);
launch.setBuffer(m_smallAabbsGPU.getBufferCL());
launch.setBuffer(m_allAabbsGPU1.getBufferCL());
launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
launch.setBuffer(m_hashGpu.getBufferCL());
launch.setBuffer(this->m_paramsGPU.getBufferCL());
launch.launch1D(numSmallAabbs);
@@ -307,7 +249,8 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs");
launch.setConst(numSmallAabbs);
launch.setBuffer(m_smallAabbsGPU.getBufferCL());
launch.setBuffer(m_allAabbsGPU1.getBufferCL());
launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
launch.setBuffer(m_hashGpu.getBufferCL());
launch.setBuffer(m_cellStartGpu.getBufferCL());
@@ -397,8 +340,8 @@ void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
void b3GpuGridBroadphase::writeAabbsToGpu()
{
m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
m_largeAabbsGPU.copyFromHost(m_largeAabbsCPU);
m_smallAabbsGPU.copyFromHost(m_smallAabbsCPU);
m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
}