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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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11
src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
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@@ -63,25 +63,26 @@ bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL*
}
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping, __global const btAabbCL* sortedAabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping, __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)
{
int i = get_global_id(0);
if (i>=numUnsortedAabbs)
return;
int j = get_global_id(1);
if (j>=numSortedAabbs)
if (j>=numUnSortedAabbs2)
return;
__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];
__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];
if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,&sortedAabbs[j]))
if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))
{
int4 myPair;
int xIndex = unsortedAabbPtr[0].m_minIndices[3];
int yIndex = sortedAabbs[j].m_minIndices[3];
int yIndex = unsortedAabbPtr2[0].m_minIndices[3];
if (xIndex>yIndex)
{
int tmp = xIndex;
@@ -349,7 +350,7 @@ __kernel void copyAabbsKernel( __global const btAabbCL* allAabbs, __global btA
}
__kernel void flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global int2* sortData, int numObjects, int axis)
__kernel void flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)
{
int i = get_global_id(0);
if (i>=numObjects)