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implement 'new contact reduction' kernel on CPU , for debugging

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This commit is contained in:
erwin coumans
2013-12-14 10:54:25 -08:00
parent d24b1eaae9
commit 9ebef9552b
7 changed files with 340 additions and 63 deletions
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170
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -17,8 +17,8 @@ bool findSeparatingAxisOnGpu = true;
bool bvhTraversalKernelGPU = true;
bool findConcaveSeparatingAxisKernelGPU = true;
bool clipFacesAndFindContactsCPU = false;
bool clipFacesAndFindContactsCPU = false;//true;
bool reduceContactsOnGPU = true;//false;
///This file was written by Erwin Coumans
@@ -75,6 +75,7 @@ typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h"
@@ -156,8 +157,8 @@ m_numCompoundPairsOut(m_context, m_queue)
m_clipHullHullConcaveConvexKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
b3Assert(errNum==CL_SUCCESS);
m_extractManifoldAndAddContactKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
b3Assert(errNum==CL_SUCCESS);
// m_extractManifoldAndAddContactKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
// b3Assert(errNum==CL_SUCCESS);
m_newContactReductionKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
"newContactReductionKernel",&errNum,satClipContactsProg);
@@ -171,7 +172,7 @@ m_numCompoundPairsOut(m_context, m_queue)
m_newContactReductionKernel=0;
m_clipFacesAndFindContacts = 0;
m_clipHullHullConcaveConvexKernel = 0;
m_extractManifoldAndAddContactKernel = 0;
// m_extractManifoldAndAddContactKernel = 0;
}
if (1)
@@ -244,8 +245,8 @@ GpuSatCollision::~GpuSatCollision()
if (m_clipHullHullConcaveConvexKernel)
clReleaseKernel(m_clipHullHullConcaveConvexKernel);
if (m_extractManifoldAndAddContactKernel)
clReleaseKernel(m_extractManifoldAndAddContactKernel);
// if (m_extractManifoldAndAddContactKernel)
// clReleaseKernel(m_extractManifoldAndAddContactKernel);
if (m_bvhTraversalKernel)
clReleaseKernel(m_bvhTraversalKernel);
@@ -2776,8 +2777,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
if (!nPairs)
return;
#ifdef CHECK_ON_HOST
@@ -2937,7 +2936,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
hostContacts.resize(nContacts);
if (nContacts)
{
@@ -2948,6 +2946,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
//printf("(HOST) nContacts = %d\n",nContacts);
#else
@@ -3018,7 +3017,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
clFinish(m_queue);
if (findSeparatingAxisOnGpu)
{
#ifndef CHECK_ON_HOST
{
B3_PROFILE("findSeparatingAxisKernel");
b3BufferInfoCL bInfo[] = {
@@ -3043,12 +3041,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
launcher.launch1D( num);
clFinish(m_queue);
}
#endif
numCompoundPairs = m_numCompoundPairsOut.at(0);
bool useGpuFindCompoundPairs=true;
#ifndef CHECK_ON_HOST
if (useGpuFindCompoundPairs)
{
B3_PROFILE("findCompoundPairsKernel");
@@ -3163,7 +3159,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
if (numCompoundPairsOut)
{
printf("numCompoundPairsOut=%d\n",numCompoundPairsOut);
// printf("numCompoundPairsOut=%d\n",numCompoundPairsOut);
}
}
@@ -3172,7 +3168,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
numCompoundPairs = compoundPairCapacity;
}
#endif //CHECK_ON_HOST
@@ -3183,7 +3178,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
if (numCompoundPairs)
{
#ifndef CHECK_ON_HOST
B3_PROFILE("processCompoundPairsPrimitivesKernel");
b3BufferInfoCL bInfo[] =
{
@@ -3210,19 +3204,18 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
//printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
if (nContacts>maxContactCapacity)
{
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
nContacts = maxContactCapacity;
}
#endif
}
if (numCompoundPairs)
{
#ifndef CHECK_ON_HOST
B3_PROFILE("processCompoundPairsKernel");
b3BufferInfoCL bInfo[] =
{
@@ -3247,7 +3240,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
int num = numCompoundPairs;
launcher.launch1D( num);
clFinish(m_queue);
#endif
}
@@ -3516,6 +3508,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
{
B3_PROFILE("findConcaveSphereContactsKernel");
nContacts = m_totalContactsOut.at(0);
// printf("nContacts1 = %d\n",nContacts);
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
@@ -3540,6 +3533,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
//printf("nContacts (after findConcaveSphereContactsKernel) = %d\n",nContacts);
//printf("nContacts2 = %d\n",nContacts);
if (nContacts >= maxContactCapacity)
{
b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
@@ -3560,6 +3557,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
if (contactClippingOnGpu)
{
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
// printf("nContacts3 = %d\n",nContacts);
//B3_PROFILE("clipHullHullKernel");
@@ -3663,32 +3662,96 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
//contactReduction
{
contactOut->reserve(nContacts+numConcavePairs);
int newContactCapacity=nContacts+numConcavePairs;
contactOut->reserve(newContactCapacity);
if (reduceContactsOnGPU)
{
B3_PROFILE("newContactReductionKernel");
b3BufferInfoCL bInfo[] =
// printf("newReservation = %d\n",newReservation);
{
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
B3_PROFILE("newContactReductionKernel");
b3BufferInfoCL bInfo[] =
{
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
launcher.setConst( numConcavePairs );
int num = numConcavePairs;
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
launcher.setConst(newContactCapacity);
launcher.setConst( numConcavePairs );
int num = numConcavePairs;
launcher.launch1D( num);
launcher.launch1D( num);
}
nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts);
//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
}else
{
volatile int nGlobalContactsOut = nContacts;
b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
b3AlignedObjectArray<b3RigidBodyCL> hostBodyBuf;
bodyBuf->copyToHost(hostBodyBuf);
b3AlignedObjectArray<int>concaveHasSeparatingNormalsCPU;
m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU);
b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
b3AlignedObjectArray<b3Contact4> hostContacts;
if (nContacts)
{
contactOut->copyToHost(hostContacts);
}
hostContacts.resize(newContactCapacity);
b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
worldVertsB2GPU.copyToHost(worldVertsB2CPU);
for (int i=0;i<numConcavePairs;i++)
{
b3NewContactReductionKernel( &triangleConvexPairsOutHost.at(0),
&hostBodyBuf.at(0),
&concaveSepNormalsHost.at(0),
&concaveHasSeparatingNormalsCPU.at(0),
&hostContacts.at(0),
&clippingFacesOutCPU.at(0),
&worldVertsB2CPU.at(0),
&nGlobalContactsOut,
vertexFaceCapacity,
newContactCapacity,
numConcavePairs,
i
);
}
nContacts = nGlobalContactsOut;
m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
// nContacts = m_totalContactsOut.at(0);
//contactOut->resize(nContacts);
hostContacts.resize(nContacts);
//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
contactOut->copyFromHost(hostContacts);
}
nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts);
}
//re-use?
@@ -3698,6 +3761,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
{
B3_PROFILE("clipHullHullConcaveConvexKernel");
nContacts = m_totalContactsOut.at(0);
int newContactCapacity = contactOut->capacity();
//printf("contactOut5 = %d\n",nContacts);
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
@@ -3714,12 +3780,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
};
b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel,"m_clipHullHullConcaveConvexKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(newContactCapacity);
launcher.setConst( numConcavePairs );
int num = numConcavePairs;
launcher.launch1D( num);
clFinish(m_queue);
nContacts = m_totalContactsOut.at(0);
contactOut->resize(nContacts);
//printf("contactOut6 = %d\n",nContacts);
b3AlignedObjectArray<b3Contact4> cpuContacts;
contactOut->copyToHost(cpuContacts);
}
@@ -3736,8 +3804,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
breakupKernel = true;
#endif
#ifndef CHECK_ON_HOST
#ifdef CHECK_ON_HOST
bool computeConvexConvex = false;
#else
bool computeConvexConvex = true;
#endif//CHECK_ON_HOST
if (computeConvexConvex)
{
if (breakupKernel)
{
@@ -3815,7 +3888,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
// nContacts = m_totalContactsOut.at(0);
// printf("nContacts = %d\n",nContacts);
contactOut->reserve(nContacts+nPairs);
int newContactCapacity = nContacts+nPairs;
contactOut->reserve(newContactCapacity);
{
B3_PROFILE("newContactReductionKernel");
@@ -3834,6 +3908,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(vertexFaceCapacity);
launcher.setConst(newContactCapacity);
launcher.setConst( nPairs );
int num = nPairs;
@@ -3885,9 +3960,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
contactOut->resize(nContacts);
}
}
#endif //#endif //CHECK_ON_HOST
#ifndef CHECK_ON_HOST
int nCompoundsPairs = m_gpuCompoundPairs.size();
@@ -3926,7 +3999,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
}
contactOut->resize(nContacts);
}//if nCompoundsPairs
#endif //CHECK_ON_HOST
}
}//contactClippingOnGpu
//printf("nContacts end = %d\n",nContacts);
//printf("frameCount = %d\n",frameCount++);
}