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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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26
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl
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@@ -74,8 +74,8 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
__global const b3SortData* sortedAxisGPU0prev,
__global const b3SortData* sortedAxisGPU1prev,
__global const b3SortData* sortedAxisGPU2prev,
__global int2* addedHostPairsGPU,
__global int2* removedHostPairsGPU,
__global int4* addedHostPairsGPU,
__global int4* removedHostPairsGPU,
volatile __global int* addedHostPairsCount,
volatile __global int* removedHostPairsCount,
int maxCapacity,
@@ -162,7 +162,7 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
if (overlap && !prevOverlap)
{
//add a pair
int2 newPair;
int4 newPair;
if (i<=otherIndex)
{
newPair.x = i;
@@ -191,7 +191,7 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
{
//remove a pair
int2 removedPair;
int4 removedPair;
if (i<=otherIndex)
{
removedPair.x = i;
@@ -256,7 +256,7 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
if (overlap && !prevOverlap)
{
//add a pair
int2 newPair;
int4 newPair;
if (i<=otherIndex)
{
newPair.x = i;
@@ -284,7 +284,7 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
{
//if (otherIndex2&1==0) -> min?
//remove a pair
int2 removedPair;
int4 removedPair;
if (i<=otherIndex)
{
removedPair.x = i;
@@ -318,7 +318,7 @@ __kernel void computePairsIncremental3dSapKernel( __global const uint2* object
}
//computePairsKernelBatchWrite
__kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
__kernel void computePairsKernel( __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);
@@ -393,7 +393,11 @@ __kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __g
{
for (int p=0;p<curNumPairs;p++)
{
pairsOut[curPair+p] = myPairs[p]; //flush to main memory
int4 tmpPair;
tmpPair.x = myPairs[p].x;
tmpPair.y = myPairs[p].y;
pairsOut[curPair+p] = tmpPair; //flush to main memory
}
}
curNumPairs = 0;
@@ -423,7 +427,11 @@ __kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __g
{
for (int p=0;p<curNumPairs;p++)
{
pairsOut[curPair+p] = myPairs[p]; //flush to main memory
int4 tmpPair;
tmpPair.x = myPairs[p].x;
tmpPair.y = myPairs[p].y;
pairsOut[curPair+p] = tmpPair; //flush to main memory
}
}
curNumPairs = 0;