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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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10
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@@ -3171,6 +3171,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
if (1)
{
if (1)
{
{
B3_PROFILE("findSeparatingAxisVertexFaceKernel");
b3BufferInfoCL bInfo[] = {
@@ -3228,7 +3230,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
clFinish(m_queue);
}
}
if (1)
{
B3_PROFILE("findSeparatingAxisUnitSphereKernel");
b3BufferInfoCL bInfo[] = {
@@ -4466,8 +4469,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
//convex-convex contact clipping
B3_PROFILE("clipHullHullKernel");
bool breakupKernel = true;
bool breakupKernel = false;
#ifdef __APPLE__
breakupKernel = true;
@@ -4480,6 +4483,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
#endif//CHECK_ON_HOST
if (computeConvexConvex)
{
B3_PROFILE("clipHullHullKernel");
if (breakupKernel)
{

17
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl
View File

@@ -958,8 +958,15 @@ __kernel void clipHullHullKernel( __global int4* pairs,
int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);
int dstIdx;
AppendInc( nGlobalContactsOut, dstIdx );
int mprContactIndex = pairs[pairIndex].z;
int dstIdx = mprContactIndex;
if (dstIdx<0)
{
AppendInc( nGlobalContactsOut, dstIdx );
}
if (dstIdx<contactCapacity)
{
pairs[pairIndex].z = dstIdx;
@@ -977,7 +984,11 @@ __kernel void clipHullHullKernel( __global int4* pairs,
for (int i=0;i<nReducedContacts;i++)
{
c->m_worldPosB[i] = pointsIn[contactIdx[i]];
//this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact
if (i>0||(mprContactIndex<0))
{
c->m_worldPosB[i] = pointsIn[contactIdx[i]];
}
}
GET_NPOINTS(*c) = nReducedContacts;
}

15
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
View File

@@ -1245,8 +1245,13 @@ static const char* satClipKernelsCL= \
" \n"
" int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
" \n"
" int dstIdx;\n"
" AppendInc( nGlobalContactsOut, dstIdx );\n"
" \n"
" int mprContactIndex = pairs[pairIndex].z;\n"
" int dstIdx = mprContactIndex;\n"
" if (dstIdx<0)\n"
" {\n"
" AppendInc( nGlobalContactsOut, dstIdx );\n"
" }\n"
" if (dstIdx<contactCapacity)\n"
" {\n"
" pairs[pairIndex].z = dstIdx;\n"
@@ -1262,7 +1267,11 @@ static const char* satClipKernelsCL= \
" c->m_childIndexB = -1;\n"
" for (int i=0;i<nReducedContacts;i++)\n"
" {\n"
" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
" //this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n"
" if (i>0||(mprContactIndex<0))\n"
" {\n"
" c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
" }\n"
" }\n"
" GET_NPOINTS(*c) = nReducedContacts;\n"
" }\n"