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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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9
src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
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@@ -20,12 +20,15 @@ protected:
inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies, int* batchSizes);
void solveContactConstraintBatchSizes( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
void solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations);
void solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
public: