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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
erwin coumans
2013-07-12 20:46:49 -07:00
parent 061f7173b8 0fcdd290f5
commit 4b293130bd
7 changed files with 87 additions and 65 deletions
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15
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -20,6 +20,7 @@ m_queue(q),
m_allAabbsGPU(ctx,q), m_allAabbsGPU(ctx,q),
m_smallAabbsGPU(ctx,q), m_smallAabbsGPU(ctx,q),
m_largeAabbsGPU(ctx,q), m_largeAabbsGPU(ctx,q),
m_pairCount(ctx,q),
m_overlappingPairs(ctx,q), m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q), m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q), m_gpuSmallSortedAabbs(ctx,q),
@@ -300,7 +301,7 @@ void b3GpuSapBroadphase::reset()
m_smallAabbsGPU.resize(0); m_smallAabbsGPU.resize(0);
m_smallAabbsCPU.resize(0); m_smallAabbsCPU.resize(0);
m_pairCount.resize(0);
m_largeAabbsGPU.resize(0); m_largeAabbsGPU.resize(0);
m_largeAabbsCPU.resize(0); m_largeAabbsCPU.resize(0);
} }
@@ -480,8 +481,8 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
m_overlappingPairs.resize(maxPairs); m_overlappingPairs.resize(maxPairs);
b3OpenCLArray<int> pairCount(m_context, m_queue); m_pairCount.resize(0);
pairCount.push_back(0); m_pairCount.push_back(0);
int numPairs=0; int numPairs=0;
{ {
@@ -489,7 +490,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
if (numLargeAabbs && numSmallAabbs) if (numLargeAabbs && numSmallAabbs)
{ {
B3_PROFILE("sap2Kernel"); B3_PROFILE("sap2Kernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(pairCount.getBufferCL())}; b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
b3LauncherCL launcher(m_queue, m_sap2Kernel); b3LauncherCL launcher(m_queue, m_sap2Kernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) ); launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numLargeAabbs ); launcher.setConst( numLargeAabbs );
@@ -499,7 +500,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
//@todo: use actual maximum work item sizes of the device instead of hardcoded values //@todo: use actual maximum work item sizes of the device instead of hardcoded values
launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64); launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
numPairs = pairCount.at(0); numPairs = m_pairCount.at(0);
if (numPairs >maxPairs) if (numPairs >maxPairs)
{ {
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
@@ -510,7 +511,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
if (m_gpuSmallSortedAabbs.size()) if (m_gpuSmallSortedAabbs.size())
{ {
B3_PROFILE("sapKernel"); B3_PROFILE("sapKernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(pairCount.getBufferCL())}; b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
b3LauncherCL launcher(m_queue, m_sapKernel); b3LauncherCL launcher(m_queue, m_sapKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) ); launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numSmallAabbs ); launcher.setConst( numSmallAabbs );
@@ -545,7 +546,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
numPairs = pairCount.at(0); numPairs = m_pairCount.at(0);
if (numPairs>maxPairs) if (numPairs>maxPairs)
{ {
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);

2
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
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@@ -31,6 +31,8 @@ class b3GpuSapBroadphase
public: public:
b3OpenCLArray<int> m_pairCount;
b3OpenCLArray<b3SapAabb> m_allAabbsGPU; b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU; b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;

100
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -56,7 +56,15 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
m_device(device), m_device(device),
m_queue(q), m_queue(q),
m_findSeparatingAxisKernel(0), m_findSeparatingAxisKernel(0),
m_totalContactsOut(m_context, m_queue) m_totalContactsOut(m_context, m_queue),
m_sepNormals(m_context, m_queue),
m_hasSeparatingNormals(m_context, m_queue),
m_concaveSepNormals(m_context, m_queue),
m_numConcavePairsOut(m_context, m_queue),
m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue)
{ {
m_totalContactsOut.push_back(0); m_totalContactsOut.push_back(0);
@@ -1866,31 +1874,25 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("computeConvexConvexContactsGPUSAT"); B3_PROFILE("computeConvexConvexContactsGPUSAT");
// printf("nContacts = %d\n",nContacts); // printf("nContacts = %d\n",nContacts);
b3OpenCLArray<b3Vector3> sepNormals(m_context,m_queue);
sepNormals.resize(nPairs); m_sepNormals.resize(nPairs);
b3OpenCLArray<int> hasSeparatingNormals(m_context,m_queue); m_hasSeparatingNormals.resize(nPairs);
hasSeparatingNormals.resize(nPairs);
int concaveCapacity=maxTriConvexPairCapacity; int concaveCapacity=maxTriConvexPairCapacity;
b3OpenCLArray<b3Vector3> concaveSepNormals(m_context,m_queue); m_concaveSepNormals.resize(concaveCapacity);
concaveSepNormals.resize(concaveCapacity);
b3OpenCLArray<int> numConcavePairsOut(m_context,m_queue); m_numConcavePairsOut.push_back(0);
numConcavePairsOut.push_back(0);
int compoundPairCapacity=65536*10; int compoundPairCapacity=65536*10;
b3OpenCLArray<b3CompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue); m_gpuCompoundPairs.resize(compoundPairCapacity);
gpuCompoundPairs.resize(compoundPairCapacity);
b3OpenCLArray<b3Vector3> gpuCompoundSepNormals(m_context,m_queue); m_gpuCompoundSepNormals.resize(compoundPairCapacity);
gpuCompoundSepNormals.resize(compoundPairCapacity);
b3OpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue); m_gpuHasCompoundSepNormals.resize(compoundPairCapacity);
gpuHasCompoundSepNormals.resize(compoundPairCapacity);
b3OpenCLArray<int> numCompoundPairsOut(m_context,m_queue); m_numCompoundPairsOut.resize(0);
numCompoundPairsOut.push_back(0); m_numCompoundPairsOut.push_back(0);
int numCompoundPairs = 0; int numCompoundPairs = 0;
@@ -1914,8 +1916,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true), b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()) b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel); b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
@@ -1937,14 +1939,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
if (treeNodesGPU->size() && treeNodesGPU->size()) if (treeNodesGPU->size() && treeNodesGPU->size())
{ {
B3_PROFILE("m_bvhTraversalKernel"); B3_PROFILE("m_bvhTraversalKernel");
numConcavePairs = numConcavePairsOut.at(0); numConcavePairs = m_numConcavePairsOut.at(0);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel); b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL()); launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL()); launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL()); launcher.setBuffer( gpuCollidables.getBufferCL());
launcher.setBuffer( clAabbsWS.getBufferCL()); launcher.setBuffer( clAabbsWS.getBufferCL());
launcher.setBuffer( triangleConvexPairsOut.getBufferCL()); launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
launcher.setBuffer( numConcavePairsOut.getBufferCL()); launcher.setBuffer( m_numConcavePairsOut.getBufferCL());
launcher.setBuffer( subTreesGPU->getBufferCL()); launcher.setBuffer( subTreesGPU->getBufferCL());
launcher.setBuffer( treeNodesGPU->getBufferCL()); launcher.setBuffer( treeNodesGPU->getBufferCL());
launcher.setBuffer( bvhInfo->getBufferCL()); launcher.setBuffer( bvhInfo->getBufferCL());
@@ -1954,7 +1956,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
int num = nPairs; int num = nPairs;
launcher.launch1D( num); launcher.launch1D( num);
clFinish(m_queue); clFinish(m_queue);
numConcavePairs = numConcavePairsOut.at(0); numConcavePairs = m_numConcavePairsOut.at(0);
if (numConcavePairs > maxTriConvexPairCapacity) if (numConcavePairs > maxTriConvexPairCapacity)
{ {
@@ -1979,7 +1981,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true), b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true), b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL()) b3BufferInfoCL( m_concaveSepNormals.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel); b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
@@ -1992,7 +1994,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
clFinish(m_queue); clFinish(m_queue);
// b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals; // b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
// concaveSepNormals.copyToHost(cpuCompoundSepNormals); // m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// b3AlignedObjectArray<b3Int4> cpuConcavePairs; // b3AlignedObjectArray<b3Int4> cpuConcavePairs;
// triangleConvexPairsOut.copyToHost(cpuConcavePairs); // triangleConvexPairsOut.copyToHost(cpuConcavePairs);
@@ -2002,7 +2004,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
} }
} }
numCompoundPairs = numCompoundPairsOut.at(0); numCompoundPairs = m_numCompoundPairsOut.at(0);
if (1) if (1)
{ {
@@ -2019,8 +2021,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true), b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true), b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundPairs.getBufferCL()), b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( numCompoundPairsOut.getBufferCL()) b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel); b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
@@ -2034,14 +2036,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
} }
numCompoundPairs = numCompoundPairsOut.at(0); numCompoundPairs = m_numCompoundPairsOut.at(0);
//printf("numCompoundPairs =%d\n",numCompoundPairs ); //printf("numCompoundPairs =%d\n",numCompoundPairs );
if (numCompoundPairs > compoundPairCapacity) if (numCompoundPairs > compoundPairCapacity)
numCompoundPairs = compoundPairCapacity; numCompoundPairs = compoundPairCapacity;
gpuCompoundPairs.resize(numCompoundPairs); m_gpuCompoundPairs.resize(numCompoundPairs);
gpuHasCompoundSepNormals.resize(numCompoundPairs); m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
gpuCompoundSepNormals.resize(numCompoundPairs); m_gpuCompoundSepNormals.resize(numCompoundPairs);
if (numCompoundPairs) if (numCompoundPairs)
@@ -2050,7 +2052,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("processCompoundPairsPrimitivesKernel"); B3_PROFILE("processCompoundPairsPrimitivesKernel");
b3BufferInfoCL bInfo[] = b3BufferInfoCL bInfo[] =
{ {
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ), b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true), b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true), b3BufferInfoCL( convexData.getBufferCL(),true),
@@ -2083,7 +2085,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("processCompoundPairsKernel"); B3_PROFILE("processCompoundPairsKernel");
b3BufferInfoCL bInfo[] = b3BufferInfoCL bInfo[] =
{ {
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ), b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true), b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true), b3BufferInfoCL( convexData.getBufferCL(),true),
@@ -2093,8 +2095,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true), b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true), b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL()), b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL()),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL()) b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
}; };
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel); b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel);
@@ -2192,7 +2194,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true), b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL()), b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL()) b3BufferInfoCL( m_totalContactsOut.getBufferCL())
}; };
@@ -2256,8 +2258,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true), b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()), b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()), b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
@@ -2283,13 +2285,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
{ {
B3_PROFILE("clipFacesAndContactReductionKernel"); B3_PROFILE("clipFacesAndContactReductionKernel");
//nContacts = m_totalContactsOut.at(0); //nContacts = m_totalContactsOut.at(0);
//int h = hasSeparatingNormals.at(0); //int h = m_hasSeparatingNormals.at(0);
//int4 p = clippingFacesOutGPU.at(0); //int4 p = clippingFacesOutGPU.at(0);
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ), b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()), b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
@@ -2334,8 +2336,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
{ {
b3BufferInfoCL( pairs->getBufferCL(), true ), b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()), b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()), b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
@@ -2373,8 +2375,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true), b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()), b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()), b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL()) b3BufferInfoCL( m_totalContactsOut.getBufferCL())
}; };
@@ -2389,12 +2391,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
contactOut->resize(nContacts); contactOut->resize(nContacts);
} }
int nCompoundsPairs = gpuCompoundPairs.size(); int nCompoundsPairs = m_gpuCompoundPairs.size();
if (nCompoundsPairs) if (nCompoundsPairs)
{ {
b3BufferInfoCL bInfo[] = { b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ), b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true), b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true), b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true), b3BufferInfoCL( convexData.getBufferCL(),true),
@@ -2403,8 +2405,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true), b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true), b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true), b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL(),true), b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL(),true), b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()), b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL()) b3BufferInfoCL( m_totalContactsOut.getBufferCL())
}; };

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

@@ -61,6 +61,16 @@ struct GpuSatCollision
b3OpenCLArray<int> m_totalContactsOut; b3OpenCLArray<int> m_totalContactsOut;
b3OpenCLArray<b3Vector3> m_sepNormals;
b3OpenCLArray<int> m_hasSeparatingNormals;
b3OpenCLArray<b3Vector3> m_concaveSepNormals;
b3OpenCLArray<int> m_numConcavePairsOut;
b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
b3OpenCLArray<int> m_numCompoundPairsOut;
GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q ); GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q );
virtual ~GpuSatCollision(); virtual ~GpuSatCollision();

6
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -33,6 +33,8 @@ m_queue(queue)
m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue); m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>; m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>;
m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs); m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context,m_queue, config.m_maxTriConvexPairCapacity);
//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false); //m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false); //m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
@@ -110,6 +112,7 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
{ {
delete m_data->m_gpuSatCollision; delete m_data->m_gpuSatCollision;
delete m_data->m_pBufPairsCPU; delete m_data->m_pBufPairsCPU;
delete m_data->m_triangleConvexPairs;
//delete m_data->m_convexPairsOutGPU; //delete m_data->m_convexPairsOutGPU;
//delete m_data->m_planePairs; //delete m_data->m_planePairs;
delete m_data->m_pBufContactOutCPU; delete m_data->m_pBufContactOutCPU;
@@ -722,7 +725,6 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
int nContactOut = 0; int nContactOut = 0;
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity; int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
b3OpenCLArray<b3Int4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
int numTriConvexPairsOut=0; int numTriConvexPairsOut=0;
b3OpenCLArray<b3Int2> broadphasePairsGPU(m_context,m_queue); b3OpenCLArray<b3Int2> broadphasePairsGPU(m_context,m_queue);
@@ -755,7 +757,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_bvhInfoGPU, m_data->m_bvhInfoGPU,
numObjects, numObjects,
maxTriConvexPairCapacity, maxTriConvexPairCapacity,
triangleConvexPairs, *m_data->m_triangleConvexPairs,
numTriConvexPairsOut numTriConvexPairsOut
); );

1
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
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@@ -51,6 +51,7 @@ struct b3GpuNarrowPhaseInternalData
struct GpuSatCollision* m_gpuSatCollision; struct GpuSatCollision* m_gpuSatCollision;
b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU; b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU;
b3OpenCLArray<b3Int4>* m_triangleConvexPairs;
//b3OpenCLArray<b3Int2>* m_convexPairsOutGPU; //b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
//b3OpenCLArray<b3Int2>* m_planePairs; //b3OpenCLArray<b3Int2>* m_planePairs;

14
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
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@@ -56,6 +56,8 @@ struct b3GpuPgsJacobiSolverInternalData
cl_kernel m_getInfo2Kernel; cl_kernel m_getInfo2Kernel;
cl_kernel m_writeBackVelocitiesKernel; cl_kernel m_writeBackVelocitiesKernel;
b3OpenCLArray<unsigned int>* m_dst;
b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies; b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies;
b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints; b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints;
b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows; b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows;
@@ -123,6 +125,8 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx,device,queue); m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx,device,queue);
m_gpuData->m_dst = new b3OpenCLArray<unsigned int>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context,m_gpuData->m_queue); m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context,m_gpuData->m_queue); m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue); m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
@@ -130,7 +134,7 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
cl_int errNum=0; cl_int errNum=0;
{ {
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH); cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH,true);
b3Assert(errNum==CL_SUCCESS); b3Assert(errNum==CL_SUCCESS);
m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog); m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog);
b3Assert(errNum==CL_SUCCESS); b3Assert(errNum==CL_SUCCESS);
@@ -164,6 +168,7 @@ b3GpuPgsJacobiSolver::~b3GpuPgsJacobiSolver ()
clReleaseKernel(m_gpuData->m_writeBackVelocitiesKernel); clReleaseKernel(m_gpuData->m_writeBackVelocitiesKernel);
delete m_gpuData->m_prefixScan; delete m_gpuData->m_prefixScan;
delete m_gpuData->m_dst;
delete m_gpuData->m_gpuSolverBodies; delete m_gpuData->m_gpuSolverBodies;
delete m_gpuData->m_gpuBatchConstraints; delete m_gpuData->m_gpuBatchConstraints;
delete m_gpuData->m_gpuConstraintRows; delete m_gpuData->m_gpuConstraintRows;
@@ -292,10 +297,9 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
if (1) if (1)
{ {
//m_gpuData->m_gpuConstraintInfo1->copyToHost(m_tmpConstraintSizesPool); //m_gpuData->m_gpuConstraintInfo1->copyToHost(m_tmpConstraintSizesPool);
b3OpenCLArray<unsigned int> dst(m_gpuData->m_context,m_gpuData->m_queue); m_gpuData->m_dst->resize(numConstraints);
dst.resize(numConstraints);
unsigned int total=0; unsigned int total=0;
m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,dst,numConstraints,&total); m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,*m_gpuData->m_dst,numConstraints,&total);
unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints-1); unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints-1);
//b3AlignedObjectArray<unsigned int> dstHost; //b3AlignedObjectArray<unsigned int> dstHost;
//dst.copyToHost(dstHost); //dst.copyToHost(dstHost);
@@ -304,7 +308,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
{ {
B3_PROFILE("init batch constraints"); B3_PROFILE("init batch constraints");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel); b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel);
launcher.setBuffer(dst.getBufferCL()); launcher.setBuffer(m_gpuData->m_dst->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL()); launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
launcher.setConst(numConstraints); launcher.setConst(numConstraints);
launcher.launch1D(numConstraints); launcher.launch1D(numConstraints);