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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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6
Demos3/GpuDemos/broadphase/PairBench.cpp
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@@ -31,7 +31,7 @@ __kernel void moveObjectsKernel(__global float4* posOrnColors, int numObjects)
colors[iGID] = (float4)(0,0,1,1);
}
__kernel void colorPairsKernel(__global float4* posOrnColors, int numObjects, __global const int2* pairs, int numPairs)
__kernel void colorPairsKernel(__global float4* posOrnColors, int numObjects, __global const int4* pairs, int numPairs)
{
int iPairId = get_global_id(0);
if (iPairId>=numPairs)
@@ -48,8 +48,8 @@ __kernel void
sineWaveKernel( __global float4* posOrnColors, __global float* pBodyTimes,const int numNodes)
{
int nodeID = get_global_id(0);
float timeStepPos = 0.00166666;
float mAmplitude = 36.f;
float timeStepPos = 0.000166666;
float mAmplitude = 86.f;
if( nodeID < numNodes )
{
pBodyTimes[nodeID] += timeStepPos;

4
src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
View File

@@ -16,10 +16,10 @@ subject to the following restrictions:
#ifndef B3_OVERLAPPING_PAIR_H
#define B3_OVERLAPPING_PAIR_H
#include "Bullet3Common/b3Int2.h"
#include "Bullet3Common/b3Int4.h"
//typedef b3Int2 b3BroadphasePair;
struct b3BroadphasePair : public b3Int2
struct b3BroadphasePair : public b3Int4
{
explicit b3BroadphasePair(){}
b3BroadphasePair(int xx,int yy)

45
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
View File

@@ -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);

6
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
View File

@@ -44,8 +44,8 @@ class b3GpuSapBroadphase
b3OpenCLArray<b3SortData> m_sortedAxisGPU2prev;
b3OpenCLArray<b3Int2> m_addedHostPairsGPU;
b3OpenCLArray<b3Int2> m_removedHostPairsGPU;
b3OpenCLArray<b3Int4> m_addedHostPairsGPU;
b3OpenCLArray<b3Int4> m_removedHostPairsGPU;
b3OpenCLArray<int> m_addedCountGPU;
b3OpenCLArray<int> m_removedCountGPU;
@@ -68,7 +68,7 @@ class b3GpuSapBroadphase
b3OpenCLArray<b3SapAabb> m_largeAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_largeAabbsCPU;
b3OpenCLArray<b3Int2> m_overlappingPairs;
b3OpenCLArray<b3Int4> m_overlappingPairs;
//temporary gpu work memory
b3OpenCLArray<b3SortData> m_gpuSmallSortData;

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);

26
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl
View File

@@ -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;

26
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFastKernels.h
View File

@@ -76,8 +76,8 @@ static const char* sapFastCL= \
" __global const b3SortData* sortedAxisGPU0prev,\n"
" __global const b3SortData* sortedAxisGPU1prev,\n"
" __global const b3SortData* sortedAxisGPU2prev,\n"
" __global int2* addedHostPairsGPU,\n"
" __global int2* removedHostPairsGPU,\n"
" __global int4* addedHostPairsGPU,\n"
" __global int4* removedHostPairsGPU,\n"
" volatile __global int* addedHostPairsCount,\n"
" volatile __global int* removedHostPairsCount,\n"
" int maxCapacity,\n"
@@ -164,7 +164,7 @@ static const char* sapFastCL= \
" if (overlap && !prevOverlap)\n"
" {\n"
" //add a pair\n"
" int2 newPair;\n"
" int4 newPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" newPair.x = i;\n"
@@ -193,7 +193,7 @@ static const char* sapFastCL= \
" {\n"
" \n"
" //remove a pair\n"
" int2 removedPair;\n"
" int4 removedPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" removedPair.x = i;\n"
@@ -258,7 +258,7 @@ static const char* sapFastCL= \
" if (overlap && !prevOverlap)\n"
" {\n"
" //add a pair\n"
" int2 newPair;\n"
" int4 newPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" newPair.x = i;\n"
@@ -286,7 +286,7 @@ static const char* sapFastCL= \
" {\n"
" //if (otherIndex2&1==0) -> min?\n"
" //remove a pair\n"
" int2 removedPair;\n"
" int4 removedPair;\n"
" if (i<=otherIndex)\n"
" {\n"
" removedPair.x = i;\n"
@@ -320,7 +320,7 @@ static const char* sapFastCL= \
"}\n"
"\n"
"//computePairsKernelBatchWrite\n"
"__kernel void computePairsKernel( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
"__kernel void computePairsKernel( __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"
@@ -395,7 +395,11 @@ static const char* sapFastCL= \
" {\n"
" for (int p=0;p<curNumPairs;p++)\n"
" {\n"
" pairsOut[curPair+p] = myPairs[p]; //flush to main memory\n"
" int4 tmpPair;\n"
" tmpPair.x = myPairs[p].x;\n"
" tmpPair.y = myPairs[p].y;\n"
" \n"
" pairsOut[curPair+p] = tmpPair; //flush to main memory\n"
" }\n"
" }\n"
" curNumPairs = 0;\n"
@@ -425,7 +429,11 @@ static const char* sapFastCL= \
" {\n"
" for (int p=0;p<curNumPairs;p++)\n"
" {\n"
" pairsOut[curPair+p] = myPairs[p]; //flush to main memory\n"
" int4 tmpPair;\n"
" tmpPair.x = myPairs[p].x;\n"
" tmpPair.y = myPairs[p].y;\n"
" \n"
" pairsOut[curPair+p] = tmpPair; //flush to main memory\n"
" }\n"
" }\n"
" curNumPairs = 0;\n"

30
src/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
View File

@@ -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"

4
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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"

2
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
View File

@@ -727,7 +727,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
int numTriConvexPairsOut=0;
b3OpenCLArray<b3Int2> broadphasePairsGPU(m_context,m_queue);
b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context,m_queue);
broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
b3OpenCLArray<b3YetAnotherAabb> clAabbArray(this->m_context,this->m_queue);
clAabbArray.setFromOpenCLBuffer(aabbsWS,numObjects);