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added Samurai Monastry wavefront .obj

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added alternative batching kernel (slow)
tweaked controls a bit
added command-line options --selected_demo=<int> and --new_batching
started looking into parallel 3d sap
This commit is contained in:
erwin coumans
2013-03-23 23:00:50 -07:00
parent 11d934b63a
commit 68062bdfbd
18 changed files with 333195 additions and 76 deletions
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42
opencl/gpu_rigidbody/host/Solver.cpp
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@@ -16,6 +16,8 @@ subject to the following restrictions:
#include "Solver.h"
///useNewBatchingKernel is a rewritten kernel using just a single thread of the warp, for experiments
bool useNewBatchingKernel = false;
#define SOLVER_SETUP_KERNEL_PATH "opencl/gpu_rigidbody/kernels/solverSetup.cl"
#define SOLVER_SETUP2_KERNEL_PATH "opencl/gpu_rigidbody/kernels/solverSetup2.cl"
@@ -24,6 +26,7 @@ subject to the following restrictions:
#define SOLVER_FRICTION_KERNEL_PATH "opencl/gpu_rigidbody/kernels/solveFriction.cl"
#define BATCHING_PATH "opencl/gpu_rigidbody/kernels/batchingKernels.cl"
#define BATCHING_NEW_PATH "opencl/gpu_rigidbody/kernels/batchingKernelsNew.cl"
#include "../kernels/solverSetup.h"
@@ -33,6 +36,9 @@ subject to the following restrictions:
#include "../kernels/solveFriction.h"
#include "../kernels/batchingKernels.h"
#include "../kernels/batchingKernelsNew.h"
#include "BulletCommon/btQuickprof.h"
#include "../../parallel_primitives/host/btLauncherCL.h"
#include "BulletCommon/btVector3.h"
@@ -94,7 +100,7 @@ Solver::Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int
const int sortSize = BTNEXTMULTIPLEOF( pairCapacity, 512 );
m_sortDataBuffer = new btOpenCLArray<btSortData>(ctx,queue,sortSize);
m_contactBuffer = new btOpenCLArray<btContact4>(ctx,queue);
m_contactBuffer2 = new btOpenCLArray<btContact4>(ctx,queue);
m_numConstraints = new btOpenCLArray<unsigned int>(ctx,queue,N_SPLIT*N_SPLIT );
m_numConstraints->resize(N_SPLIT*N_SPLIT);
@@ -108,6 +114,8 @@ Solver::Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int
cl_int pErrNum;
const char* batchKernelSource = batchingKernelsCL;
const char* batchKernelNewSource = batchingKernelsNewCL;
const char* solverSetupSource = solverSetupCL;
const char* solverSetup2Source = solverSetup2CL;
const char* solveContactSource = solveContactCL;
@@ -159,13 +167,20 @@ Solver::Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int
m_batchingKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg,additionalMacros );
btAssert(m_batchingKernel);
}
{
cl_program batchingNewProg = btOpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelNewSource, &pErrNum,additionalMacros, BATCHING_NEW_PATH);
btAssert(batchingNewProg);
m_batchingKernelNew = btOpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg,additionalMacros );
//m_batchingKernelNew = btOpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelNewSource, "CreateBatchesBruteForce", &pErrNum, batchingNewProg,additionalMacros );
btAssert(m_batchingKernelNew);
}
}
Solver::~Solver()
{
delete m_sortDataBuffer;
delete m_contactBuffer;
delete m_contactBuffer2;
delete m_sort32;
delete m_scan;
@@ -173,6 +188,7 @@ Solver::~Solver()
clReleaseKernel(m_batchingKernel);
clReleaseKernel(m_batchingKernelNew);
clReleaseKernel( m_solveContactKernel);
clReleaseKernel( m_solveFrictionKernel);
@@ -843,7 +859,7 @@ void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts,
btBufferInfoCL bInfo[] = {
btBufferInfoCL( contacts->getBufferCL() ),
btBufferInfoCL( m_contactBuffer->getBufferCL() ),
btBufferInfoCL( m_contactBuffer2->getBufferCL()),
btBufferInfoCL( nNative->getBufferCL() ),
btBufferInfoCL( offsetsNative->getBufferCL() ),
#ifdef BATCH_DEBUG
@@ -852,10 +868,22 @@ void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts,
};
{
BT_PROFILE("batchingKernel");
btLauncherCL launcher( m_queue, m_batchingKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(btBufferInfoCL) );
//btLauncherCL launcher( m_queue, m_batchingKernel);
cl_kernel k = useNewBatchingKernel ? m_batchingKernelNew : m_batchingKernel;
btLauncherCL launcher( m_queue, k);
if (!useNewBatchingKernel )
{
launcher.setBuffer( contacts->getBufferCL() );
}
launcher.setBuffer( m_contactBuffer2->getBufferCL() );
launcher.setBuffer( nNative->getBufferCL());
launcher.setBuffer( offsetsNative->getBufferCL());
//launcher.setConst( cdata );
launcher.setConst(staticIdx);
@@ -899,7 +927,7 @@ void Solver::batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts,
}
// copy buffer to buffer
btAssert(m_contactBuffer->size()==nContacts);
//btAssert(m_contactBuffer->size()==nContacts);
//contacts->copyFromOpenCLArray( *m_contactBuffer);
//clFinish(m_queue);//needed?