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add preparation for btGpuJacobiSolver

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erwin coumans
2013-03-25 17:13:53 -07:00
parent 68062bdfbd
commit 9c0ca25cf6
9 changed files with 563 additions and 34 deletions
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47
opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
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@@ -14,6 +14,7 @@
#include "../../gpu_sat/host/btContact4.h"
#include "btGpuBatchingPgsSolver.h"
#include "Solver.h"
#include "btGpuJacobiSolver.h"
#include "btConfig.h"
@@ -24,7 +25,10 @@ btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_device = device;
m_data->m_queue = q;
m_data->m_solver = new btPgsJacobiSolver();
m_data->m_solver2 = new btGpuBatchingPgsSolver(ctx,device,q,256*1024);
btConfig config;
m_data->m_solver2 = new btGpuBatchingPgsSolver(ctx,device,q,config.m_maxBroadphasePairs);
m_data->m_solver3 = new btGpuJacobiSolver(ctx,device,q,config.m_maxBroadphasePairs);
m_data->m_broadphaseSap = broadphaseSap;
@@ -56,6 +60,7 @@ btGpuRigidBodyPipeline::~btGpuRigidBodyPipeline()
delete m_data->m_solver;
delete m_data->m_solver2;
delete m_data->m_solver3;
delete m_data;
}
@@ -106,19 +111,37 @@ void btGpuRigidBodyPipeline::stepSimulation(float deltaTime)
btOpenCLArray<btContact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
bool useJacobi = false;
bool useJacobi = false;//true;
if (useJacobi)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
}
gpuBodies.copyFromHost(hostBodies);
bool useGpu = true;
if (useGpu)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
btJacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroup(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),0,0,solverInfo);
}
gpuBodies.copyFromHost(hostBodies);
} else
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
}
gpuBodies.copyFromHost(hostBodies);
}
} else
{
btConfig config;