Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
(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
Download Patch File Download Diff File Expand all files Collapse all files

30
src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
View File

@@ -62,7 +62,7 @@ bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL*
}
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const btAabbCL* sortedAabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const btAabbCL* sortedAabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)
{
int i = get_global_id(0);
if (i>=numUnsortedAabbs)
@@ -74,10 +74,19 @@ __kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAa
if (TestAabbAgainstAabb2GlobalGlobal(&unsortedAabbs[i],&sortedAabbs[j]))
{
int2 myPair;
int4 myPair;
myPair.x = unsortedAabbs[i].m_minIndices[3];
myPair.y = sortedAabbs[j].m_minIndices[3];
int xIndex = unsortedAabbs[i].m_minIndices[3];
int yIndex = sortedAabbs[j].m_minIndices[3];
if (xIndex>yIndex)
{
int tmp = xIndex;
xIndex=yIndex;
yIndex=tmp;
}
myPair.x = xIndex;
myPair.y = yIndex;
int curPair = atomic_inc (pairCount);
if (curPair<maxPairs)
@@ -87,7 +96,7 @@ __kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAa
}
}
__kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
__kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
{
int i = get_global_id(0);
if (i>=numObjects)
@@ -100,9 +109,10 @@ __kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, vola
}
if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
{
int2 myPair;
int4 myPair;
myPair.x = aabbs[i].m_minIndices[3];
myPair.y = aabbs[j].m_minIndices[3];
int curPair = atomic_inc (pairCount);
if (curPair<maxPairs)
{
@@ -115,7 +125,7 @@ __kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, vola
__kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
__kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
{
int i = get_global_id(0);
int localId = get_local_id(0);
@@ -163,7 +173,7 @@ __kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volat
{
if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
{
int2 myPair;
int4 myPair;
myPair.x = aabbs[i].m_minIndices[3];
myPair.y = aabbs[j].m_minIndices[3];
int curPair = atomic_inc (pairCount);
@@ -179,7 +189,7 @@ __kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volat
}
__kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
__kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
{
int i = get_global_id(0);
int localId = get_local_id(0);
@@ -238,7 +248,7 @@ __kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aa
{
if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))
{
int2 myPair;
int4 myPair;
myPair.x = myAabb.m_minIndices[3];
myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
int curPair = atomic_inc (pairCount);