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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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4
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -1681,7 +1681,7 @@ void computeContactConvexConvex(
}
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int2>* pairs, int nPairs,
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int4>* pairs, int nPairs,
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,
@@ -1719,7 +1719,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
#ifdef CHECK_ON_HOST
b3AlignedObjectArray<b3YetAnotherAabb> hostAabbs;
clAabbsWS.copyToHost(hostAabbs);
b3AlignedObjectArray<b3Int2> hostPairs;
b3AlignedObjectArray<b3Int4> hostPairs;
pairs->copyToHost(hostPairs);
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;

2
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
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@@ -75,7 +75,7 @@ struct GpuSatCollision
virtual ~GpuSatCollision();
void computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int2>* pairs, int nPairs,
void computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3Int4>* pairs, int nPairs,
const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
int maxContactCapacity,

2
src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl
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@@ -192,7 +192,7 @@ void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhA
// work-in-progress
__kernel void bvhTraversalKernel( __global const int2* pairs,
__kernel void bvhTraversalKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global btAabbCL* aabbs,

2
src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
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@@ -194,7 +194,7 @@ static const char* bvhTraversalKernelCL= \
"\n"
"\n"
"// work-in-progress\n"
"__kernel void bvhTraversalKernel( __global const int2* pairs, \n"
"__kernel void bvhTraversalKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global btAabbCL* aabbs,\n"

2
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl
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@@ -802,7 +802,7 @@ void computeContactPlaneSphere(int pairIndex,
}
__kernel void primitiveContactsKernel( __global const int2* pairs,
__kernel void primitiveContactsKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,

2
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
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@@ -804,7 +804,7 @@ static const char* primitiveContactsKernelsCL= \
"}\n"
"\n"
"\n"
"__kernel void primitiveContactsKernel( __global const int2* pairs, \n"
"__kernel void primitiveContactsKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"

4
src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl
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@@ -756,7 +756,7 @@ __kernel void processCompoundPairsKernel( __global const int4* gpuCompoundPair
}
// work-in-progress
__kernel void findCompoundPairsKernel( __global const int2* pairs,
__kernel void findCompoundPairsKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,
@@ -938,7 +938,7 @@ __kernel void findCompoundPairsKernel( __global const int2* pairs,
}
// work-in-progress
__kernel void findSeparatingAxisKernel( __global const int2* pairs,
__kernel void findSeparatingAxisKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,

12
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl
View File

@@ -885,7 +885,7 @@ int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, i
__kernel void extractManifoldAndAddContactKernel(__global const int2* pairs,
__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs,
__global const BodyData* rigidBodies,
__global const float4* closestPointsWorld,
__global const float4* separatingNormalsWorld,
@@ -960,7 +960,7 @@ void trMul(float4 translationA, Quaternion orientationA,
__kernel void clipHullHullKernel( __global const int2* pairs,
__kernel void clipHullHullKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,
@@ -1192,7 +1192,7 @@ __kernel void clipCompoundsHullHullKernel( __global const int4* gpuCompoundPai
__kernel void sphereSphereCollisionKernel( __global const int2* pairs,
__kernel void sphereSphereCollisionKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const float4* separatingNormals,
@@ -1677,7 +1677,7 @@ int clipFaces(__global float4* worldVertsA1,
__kernel void findClippingFacesKernel( __global const int2* pairs,
__kernel void findClippingFacesKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global const ConvexPolyhedronCL* convexShapes,
@@ -1740,7 +1740,7 @@ __kernel void findClippingFacesKernel( __global const int2* pairs,
__kernel void clipFacesAndContactReductionKernel( __global const int2* pairs,
__kernel void clipFacesAndContactReductionKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const float4* separatingNormals,
__global const int* hasSeparatingAxis,
@@ -1853,7 +1853,7 @@ __kernel void clipFacesAndContactReductionKernel( __global const int2* pairs,
__kernel void newContactReductionKernel( __global const int2* pairs,
__kernel void newContactReductionKernel( __global const int4* pairs,
__global const BodyData* rigidBodies,
__global const float4* separatingNormals,
__global const int* hasSeparatingAxis,

12
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
View File

@@ -887,7 +887,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void extractManifoldAndAddContactKernel(__global const int2* pairs, \n"
"__kernel void extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const float4* closestPointsWorld,\n"
" __global const float4* separatingNormalsWorld,\n"
@@ -962,7 +962,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void clipHullHullKernel( __global const int2* pairs, \n"
"__kernel void clipHullHullKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"
@@ -1194,7 +1194,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void sphereSphereCollisionKernel( __global const int2* pairs, \n"
"__kernel void sphereSphereCollisionKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const float4* separatingNormals,\n"
@@ -1679,7 +1679,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void findClippingFacesKernel( __global const int2* pairs,\n"
"__kernel void findClippingFacesKernel( __global const int4* pairs,\n"
" __global const BodyData* rigidBodies,\n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes,\n"
@@ -1742,7 +1742,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void clipFacesAndContactReductionKernel( __global const int2* pairs,\n"
"__kernel void clipFacesAndContactReductionKernel( __global const int4* pairs,\n"
" __global const BodyData* rigidBodies,\n"
" __global const float4* separatingNormals,\n"
" __global const int* hasSeparatingAxis,\n"
@@ -1855,7 +1855,7 @@ static const char* satClipKernelsCL= \
"\n"
"\n"
"\n"
"__kernel void newContactReductionKernel( __global const int2* pairs,\n"
"__kernel void newContactReductionKernel( __global const int4* pairs,\n"
" __global const BodyData* rigidBodies,\n"
" __global const float4* separatingNormals,\n"
" __global const int* hasSeparatingAxis,\n"

4
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
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@@ -758,7 +758,7 @@ static const char* satKernelsCL= \
"}\n"
"\n"
"// work-in-progress\n"
"__kernel void findCompoundPairsKernel( __global const int2* pairs, \n"
"__kernel void findCompoundPairsKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"
@@ -940,7 +940,7 @@ static const char* satKernelsCL= \
"}\n"
"\n"
"// work-in-progress\n"
"__kernel void findSeparatingAxisKernel( __global const int2* pairs, \n"
"__kernel void findSeparatingAxisKernel( __global const int4* pairs, \n"
" __global const BodyData* rigidBodies, \n"
" __global const btCollidableGpu* collidables,\n"
" __global const ConvexPolyhedronCL* convexShapes, \n"