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use int4 for broadphase pair, it allows to store persistent information in the future

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(contact cache, applied impulse/warm starting info etc)
This commit is contained in:
erwincoumans
2013-07-31 09:58:15 -07:00
parent 338118b3c6
commit 7992ff816b
19 changed files with 127 additions and 94 deletions
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45
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -192,29 +192,29 @@ void b3GpuSapBroadphase::init3dSap()
}
static bool b3PairCmp(const b3Int2& p, const b3Int2& q)
static bool b3PairCmp(const b3Int4& p, const b3Int4& q)
{
return ((p.x<q.x) || ((p.x==q.x) && (p.y<q.y)));
}
static bool operator==(const b3Int2& a,const b3Int2& b)
static bool operator==(const b3Int4& a,const b3Int4& b)
{
return a.x == b.x && a.y == b.y;
};
static bool operator<(const b3Int2& a,const b3Int2& b)
static bool operator<(const b3Int4& a,const b3Int4& b)
{
return a.x < b.x || (a.x == b.x && a.y < b.y);
};
static bool operator>(const b3Int2& a,const b3Int2& b)
static bool operator>(const b3Int4& a,const b3Int4& b)
{
return a.x > b.x || (a.x == b.x && a.y > b.y);
};
b3AlignedObjectArray<b3Int2> addedHostPairs;
b3AlignedObjectArray<b3Int2> removedHostPairs;
b3AlignedObjectArray<b3Int4> addedHostPairs;
b3AlignedObjectArray<b3Int4> removedHostPairs;
b3AlignedObjectArray<b3SapAabb> preAabbs;
@@ -247,7 +247,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
}
b3AlignedObjectArray<b3Int2> allPairs;
b3AlignedObjectArray<b3Int4> allPairs;
{
B3_PROFILE("m_overlappingPairs.copyToHost");
m_overlappingPairs.copyToHost(allPairs);
@@ -268,7 +268,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
{
b3Int2 newPair;
b3Int4 newPair;
newPair.x = 40;
newPair.y = 53;
int index = allPairs.findBinarySearch(newPair);
@@ -587,7 +587,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
if (overlap && !prevOverlap)
{
//add a pair
b3Int2 newPair;
b3Int4 newPair;
if (i<=otherIndex)
{
newPair.x = i;
@@ -606,7 +606,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
{
//remove a pair
b3Int2 removedPair;
b3Int4 removedPair;
if (i<=otherIndex)
{
removedPair.x = i;
@@ -664,7 +664,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
if (overlap && !prevOverlap)
{
//add a pair
b3Int2 newPair;
b3Int4 newPair;
if (i<=otherIndex)
{
newPair.x = i;
@@ -684,7 +684,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
{
//if (otherIndex2&1==0) -> min?
//remove a pair
b3Int2 removedPair;
b3Int4 removedPair;
if (i<=otherIndex)
{
removedPair.x = i;
@@ -727,7 +727,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
}
b3Int2 prevPair;
b3Int4 prevPair;
prevPair.x = -1;
prevPair.y = -1;
@@ -739,7 +739,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
B3_PROFILE("actual removing");
for (int i=0;i<removedHostPairs.size();i++)
{
b3Int2 removedPair = removedHostPairs[i];
b3Int4 removedPair = removedHostPairs[i];
if ((removedPair.x != prevPair.x) || (removedPair.y != prevPair.y))
{
@@ -785,13 +785,13 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
prevPair.y = -1;
int uniqueAddedPairs=0;
b3AlignedObjectArray<b3Int2> actualAddedPairs;
b3AlignedObjectArray<b3Int4> actualAddedPairs;
{
B3_PROFILE("actual adding");
for (int i=0;i<addedHostPairs.size();i++)
{
b3Int2 newPair = addedHostPairs[i];
b3Int4 newPair = addedHostPairs[i];
if ((newPair.x != prevPair.x) || (newPair.y != prevPair.y))
{
//#ifdef _DEBUG
@@ -828,9 +828,6 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
// printf("uniqueAddedPairs=%d\n", uniqueAddedPairs);
//b3AlignedObjectArray<b3Int2> addedHostPairs;
//b3AlignedObjectArray<b3Int2> removedHostPairs;
{
B3_PROFILE("m_overlappingPairs.copyFromHost");
m_overlappingPairs.copyFromHost(allPairs);
@@ -905,7 +902,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
}
}
b3AlignedObjectArray<b3Int2> hostPairs;
b3AlignedObjectArray<b3Int4> hostPairs;
{
int numSmallAabbs = m_smallAabbsCPU.size();
@@ -918,7 +915,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
if (TestAabbAgainstAabb2((b3Vector3&)m_smallAabbsCPU[i].m_min, (b3Vector3&)m_smallAabbsCPU[i].m_max,
(b3Vector3&)m_smallAabbsCPU[j].m_min,(b3Vector3&)m_smallAabbsCPU[j].m_max))
{
b3Int2 pair;
b3Int4 pair;
int a = m_smallAabbsCPU[i].m_minIndices[3];
int b = m_smallAabbsCPU[j].m_minIndices[3];
if (a<=b)
@@ -949,7 +946,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
if (TestAabbAgainstAabb2((b3Vector3&)m_smallAabbsCPU[i].m_min, (b3Vector3&)m_smallAabbsCPU[i].m_max,
(b3Vector3&)m_largeAabbsCPU[j].m_min,(b3Vector3&)m_largeAabbsCPU[j].m_max))
{
b3Int2 pair;
b3Int4 pair;
int a = m_largeAabbsCPU[j].m_minIndices[3];
int b = m_smallAabbsCPU[i].m_minIndices[3];
if (a<=b)
@@ -1276,8 +1273,8 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(),numElements);
numPairs = pairCount.at(0);
//printf("overlapping pairs = %d\n",numPairs);
b3AlignedObjectArray<b3Int2> hostOoverlappingPairs;
b3OpenCLArray<b3Int2> tmpGpuPairs(m_context,m_queue);
b3AlignedObjectArray<b3Int4> hostOoverlappingPairs;
b3OpenCLArray<b3Int4> tmpGpuPairs(m_context,m_queue);
tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(),numPairs );
tmpGpuPairs.copyToHost(hostOoverlappingPairs);