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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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26
src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl
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@@ -22,15 +22,15 @@ int4 getGridPos(float4 worldPos, __global float4* pParams)
// calculate grid hash value for each body using its AABB
__kernel void kCalcHashAABB(int numObjects, __global float4* pAABB, __global int2* pHash, __global float4* pParams )
__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )
{
int index = get_global_id(0);
if(index >= numObjects)
{
return;
}
float4 bbMin = pAABB[index*2];
float4 bbMax = pAABB[index*2 + 1];
float4 bbMin = allpAABB[smallAabbMapping[index]*2];
float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];
float4 pos;
pos.x = (bbMin.x + bbMax.x) * 0.5f;
pos.y = (bbMin.y + bbMax.y) * 0.5f;
@@ -102,7 +102,8 @@ void findPairsInCell( int numObjects,
int index,
__global int2* pHash,
__global int* pCellStart,
__global float4* pAABB,
__global float4* allpAABB,
__global const int* smallAabbMapping,
__global float4* pParams,
volatile __global int* pairCount,
__global int4* pPairBuff2,
@@ -121,8 +122,8 @@ void findPairsInCell( int numObjects,
// iterate over bodies in this cell
int2 sortedData = pHash[index];
int unsorted_indx = sortedData.y;
float4 min0 = pAABB[unsorted_indx*2 + 0];
float4 max0 = pAABB[unsorted_indx*2 + 1];
float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];
float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];
int handleIndex = as_int(min0.w);
int bucketEnd = bucketStart + maxBodiesPerCell;
@@ -138,8 +139,8 @@ void findPairsInCell( int numObjects,
//if (unsorted_indx2 < unsorted_indx) // check not colliding with self
if (unsorted_indx2 != unsorted_indx) // check not colliding with self
{
float4 min1 = pAABB[unsorted_indx2*2 + 0];
float4 max1 = pAABB[unsorted_indx2*2 + 1];
float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];
float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];
if(testAABBOverlap(min0, max0, min1, max1))
{
if (pairCount)
@@ -166,7 +167,8 @@ void findPairsInCell( int numObjects,
}
__kernel void kFindOverlappingPairs( int numObjects,
__global float4* pAABB,
__global float4* allpAABB,
__global const int* smallAabbMapping,
__global int2* pHash,
__global int* pCellStart,
__global float4* pParams ,
@@ -183,8 +185,8 @@ __kernel void kFindOverlappingPairs( int numObjects,
}
int2 sortedData = pHash[index];
int unsorted_indx = sortedData.y;
float4 bbMin = pAABB[unsorted_indx*2 + 0];
float4 bbMax = pAABB[unsorted_indx*2 + 1];
float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];
float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];
float4 pos;
pos.x = (bbMin.x + bbMax.x) * 0.5f;
pos.y = (bbMin.y + bbMax.y) * 0.5f;
@@ -202,7 +204,7 @@ __kernel void kFindOverlappingPairs( int numObjects,
for(int x=-1; x<=1; x++)
{
gridPosB.x = gridPosA.x + x;
findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, pAABB, pParams, pairCount,pPairBuff2, maxPairs);
findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);
}
}
}