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added a variation of the constraint solver, that works on CPU OpenCL (oneBigBatch), one stage (batching) happens on CPU for this mode

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erwin coumans
2013-11-20 22:54:04 -08:00
committed by erwincoumans
parent 1d5c651753
commit 8a7ad65177
9 changed files with 352 additions and 141 deletions
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22
src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
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@@ -78,7 +78,7 @@ struct b3GpuPgsJacobiSolverInternalData
b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
b3AlignedObjectArray<int> m_batchSizes;
};
@@ -194,11 +194,11 @@ struct b3BatchConstraint
};
static b3AlignedObjectArray<b3BatchConstraint> batchConstraints;
static b3AlignedObjectArray<int> batches;
void b3GpuPgsConstraintSolver::recomputeBatches()
{
batches.clear();
m_gpuData->m_batchSizes.clear();
}
@@ -288,7 +288,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
clFinish(m_gpuData->m_queue);
}
if (batches.size()==0)
if (m_gpuData->m_batchSizes.size()==0)
{
B3_PROFILE("initBatchConstraintsKernel");
@@ -366,7 +366,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
launcher.launch1D(numConstraints);
clFinish(m_gpuData->m_queue);
if (batches.size()==0)
if (m_gpuData->m_batchSizes.size()==0)
m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
//m_gpuData->m_gpuConstraintRows->copyToHost(verify);
//m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
@@ -574,7 +574,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
m_gpuData->m_gpuConstraintRows->copyFromHost(m_tmpSolverNonContactConstraintPool);
m_gpuData->m_gpuConstraintInfo1->copyFromHost(m_tmpConstraintSizesPool);
if (batches.size()==0)
if (m_gpuData->m_batchSizes.size()==0)
m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
else
m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
@@ -685,13 +685,13 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
//@todo: incrementally update batches when constraints are added/activated and/or removed/deactivated
B3_PROFILE("GpuSolveGroupCacheFriendlyIterations");
bool createBatches = batches.size()==0;
bool createBatches = m_gpuData->m_batchSizes.size()==0;
{
if (createBatches)
{
batches.resize(0);
m_gpuData->m_batchSizes.resize(0);
{
m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
@@ -738,10 +738,10 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
int batchOffset = 0;
int constraintOffset=0;
int numBatches = batches.size();
int numBatches = m_gpuData->m_batchSizes.size();
for (int bb=0;bb<numBatches;bb++)
{
int numConstraintsInBatch = batches[bb];
int numConstraintsInBatch = m_gpuData->m_batchSizes[bb];
if (useGpuSolveJointConstraintRows)
@@ -967,7 +967,7 @@ inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3( b3BatchConstraint*
}
}
}
batches.push_back(nCurrentBatch);
m_gpuData->m_batchSizes.push_back(nCurrentBatch);
batchIdx ++;
}
}