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fix bug in assignment of contact constraints to solver grid (always use dynamic body to determine constraint assignment, otherwise write conflicts can occur)

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implement CPU version of narrowphase convex collision, for comparison/debug purposes
start towards cpu/gpu sync, for adding/removing bodies (work in progress)
This commit is contained in:
erwin coumans
2013-05-02 09:49:16 -07:00
parent de17d6044c
commit 6ee9eb9bb5
15 changed files with 966 additions and 59 deletions
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36
src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
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@@ -1,4 +1,7 @@
bool b3GpuBatchContacts = true;
bool b3GpuSolveConstraint = true;
#include "b3GpuBatchingPgsSolver.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
@@ -37,8 +40,6 @@ enum
};
bool b3GpuBatchContacts = true;//true;
bool b3GpuSolveConstraint = true;//true;
struct b3GpuBatchingPgsSolverInternalData
@@ -401,10 +402,14 @@ void b3GpuBatchingPgsSolver::solveContactConstraint( const b3OpenCLArray<b3Rigi
static bool sortfnc(const b3SortData& a,const b3SortData& b)
{
return (a.m_key<b.m_key);
}
void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const b3Config& config)
void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const b3Config& config, int static0Index)
{
m_data->m_bodyBufferGPU->setFromOpenCLBuffer(bodyBuf,numBodies);
m_data->m_inertiaBufferGPU->setFromOpenCLBuffer(inertiaBuf,numBodies);
@@ -420,7 +425,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3ConstraintCfg csCfg( dt );
csCfg.m_enableParallelSolve = true;
csCfg.m_averageExtent = .2f;//@TODO m_averageObjExtent;
csCfg.m_staticIdx = 0;//m_static0Index;//m_planeBodyIndex;
csCfg.m_staticIdx = static0Index;
b3OpenCLArray<b3RigidBodyCL>* bodyBuf = m_data->m_bodyBufferGPU;
@@ -500,6 +505,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
launcher.setConst( cdata.m_nContacts );
launcher.setConst( cdata.m_scale );
launcher.setConst(cdata.m_nSplit);
launcher.setConst(cdata.m_staticIdx);
launcher.launch1D( sortSize, 64 );
@@ -519,12 +525,16 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
this->m_data->m_solverGPU->m_sort32->execute(keyValuesInOut);
/*b3AlignedObjectArray<b3SortData> hostValues;
keyValuesInOut.copyToHost(hostValues);
printf("hostValues.size=%d\n",hostValues.size());
*/
}
} else
{
b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
b3AlignedObjectArray<b3SortData> hostValues;
keyValuesInOut.copyToHost(hostValues);
hostValues.quickSort(sortfnc);
keyValuesInOut.copyFromHost(hostValues);
}
{
// 4. find entries
@@ -630,7 +640,9 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
int simdWidth =64;//-1;//32;
//int numBatches = sortConstraintByBatch( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
int numBatches = sortConstraintByBatch3( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
int numBatches = sortConstraintByBatch2( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
//int numBatches = sortConstraintByBatch3( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
maxNumBatches = b3Max(numBatches,maxNumBatches);
@@ -724,10 +736,6 @@ void b3GpuBatchingPgsSolver::batchContacts( b3OpenCLArray<b3Contact4>* contacts,
static bool sortfnc(const b3SortData& a,const b3SortData& b)
{
return (a.m_key<b.m_key);
}