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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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30
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
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@@ -64,7 +64,7 @@ static const char* sapCL= \
"}\n"
"\n"
"\n"
"__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)\n"
"__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)\n"
"{\n"
" int i = get_global_id(0);\n"
" if (i>=numUnsortedAabbs)\n"
@@ -76,10 +76,19 @@ static const char* sapCL= \
"\n"
" if (TestAabbAgainstAabb2GlobalGlobal(&unsortedAabbs[i],&sortedAabbs[j]))\n"
" {\n"
" int2 myPair;\n"
" int4 myPair;\n"
" \n"
" myPair.x = unsortedAabbs[i].m_minIndices[3];\n"
" myPair.y = sortedAabbs[j].m_minIndices[3];\n"
" int xIndex = unsortedAabbs[i].m_minIndices[3];\n"
" int yIndex = sortedAabbs[j].m_minIndices[3];\n"
" if (xIndex>yIndex)\n"
" {\n"
" int tmp = xIndex;\n"
" xIndex=yIndex;\n"
" yIndex=tmp;\n"
" }\n"
" \n"
" myPair.x = xIndex;\n"
" myPair.y = yIndex;\n"
"\n"
" int curPair = atomic_inc (pairCount);\n"
" if (curPair<maxPairs)\n"
@@ -89,7 +98,7 @@ static const char* sapCL= \
" }\n"
"}\n"
"\n"
"__kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"__kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"{\n"
" int i = get_global_id(0);\n"
" if (i>=numObjects)\n"
@@ -102,9 +111,10 @@ static const char* sapCL= \
" }\n"
" if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
" {\n"
" int2 myPair;\n"
" int4 myPair;\n"
" myPair.x = aabbs[i].m_minIndices[3];\n"
" myPair.y = aabbs[j].m_minIndices[3];\n"
" \n"
" int curPair = atomic_inc (pairCount);\n"
" if (curPair<maxPairs)\n"
" {\n"
@@ -117,7 +127,7 @@ static const char* sapCL= \
"\n"
"\n"
"\n"
"__kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"__kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"{\n"
" int i = get_global_id(0);\n"
" int localId = get_local_id(0);\n"
@@ -165,7 +175,7 @@ static const char* sapCL= \
" {\n"
" if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
" {\n"
" int2 myPair;\n"
" int4 myPair;\n"
" myPair.x = aabbs[i].m_minIndices[3];\n"
" myPair.y = aabbs[j].m_minIndices[3];\n"
" int curPair = atomic_inc (pairCount);\n"
@@ -181,7 +191,7 @@ static const char* sapCL= \
"}\n"
"\n"
"\n"
"__kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"__kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"{\n"
" int i = get_global_id(0);\n"
" int localId = get_local_id(0);\n"
@@ -240,7 +250,7 @@ static const char* sapCL= \
" {\n"
" if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))\n"
" {\n"
" int2 myPair;\n"
" int4 myPair;\n"
" myPair.x = myAabb.m_minIndices[3];\n"
" myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];\n"
" int curPair = atomic_inc (pairCount);\n"