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share more code between OpenCL kernels and C++ by moving kernel data structures/code to the 'shared' folders

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This commit is contained in:
erwin coumans
2013-11-06 19:57:36 -08:00
parent 82a6855f9e
commit a9a758dd54
21 changed files with 549 additions and 364 deletions
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99
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
//#define TEST_OTHER_GPU_SOLVER
@@ -36,6 +36,8 @@ subject to the following restrictions:
bool useDbvt = false;//true;
bool useBullet2CpuSolver = true;
bool dumpContactStats = false;
bool calcWorldSpaceAabbOnCpu = false;//true;
bool useCalculateOverlappingPairsHost = false;
#ifdef TEST_OTHER_GPU_SOLVER
#include "b3GpuJacobiSolver.h"
@@ -240,15 +242,19 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
} else
{
m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
//m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs);
if (useCalculateOverlappingPairsHost)
{
m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs);
} else
{
m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
}
numPairs = m_data->m_broadphaseSap->getNumOverlap();
}
}
//compute contact points
// printf("numPairs=%d\n",numPairs);
int numContacts = 0;
@@ -434,6 +440,7 @@ void b3GpuRigidBodyPipeline::integrate(float timeStep)
void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
{
cl_int ciErrNum=0;
@@ -442,27 +449,75 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
if (!numBodies)
return;
//__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel);
launcher.setConst(numBodies);
cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
launcher.setBuffer(bodies);
cl_mem collidables = m_data->m_narrowphase->getCollidablesGpu();
launcher.setBuffer(collidables);
cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu();
launcher.setBuffer(localAabbs);
cl_mem worldAabbs =0;
if (useDbvt)
if (calcWorldSpaceAabbOnCpu)
{
worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
if (numBodies)
{
if (useDbvt)
{
m_data->m_allAabbsCPU.resize(numBodies);
m_data->m_narrowphase->readbackAllBodiesToCpu();
for (int i=0;i<numBodies;i++)
{
b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_allAabbsCPU[0]);
}
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
} else
{
m_data->m_broadphaseSap->m_allAabbsCPU.resize(numBodies);
m_data->m_narrowphase->readbackAllBodiesToCpu();
for (int i=0;i<numBodies;i++)
{
b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_broadphaseSap->m_allAabbsCPU[0]);
}
m_data->m_broadphaseSap->m_allAabbsGPU.copyFromHost(m_data->m_broadphaseSap->m_allAabbsCPU);
}
}
} else
{
worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
//__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel);
launcher.setConst(numBodies);
cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
launcher.setBuffer(bodies);
cl_mem collidables = m_data->m_narrowphase->getCollidablesGpu();
launcher.setBuffer(collidables);
cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu();
launcher.setBuffer(localAabbs);
cl_mem worldAabbs =0;
if (useDbvt)
{
worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
} else
{
worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
}
launcher.setBuffer(worldAabbs);
launcher.launch1D(numBodies);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
launcher.setBuffer(worldAabbs);
launcher.launch1D(numBodies);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
/*
b3AlignedObjectArray<b3SapAabb> aabbs;
m_data->m_broadphaseSap->m_allAabbsGPU.copyToHost(aabbs);
printf("numAabbs = %d\n", aabbs.size());
for (int i=0;i<aabbs.size();i++)
{
printf("aabb[%d].m_min=%f,%f,%f,%d\n",i,aabbs[i].m_minVec[0],aabbs[i].m_minVec[1],aabbs[i].m_minVec[2],aabbs[i].m_minIndices[3]);
printf("aabb[%d].m_max=%f,%f,%f,%d\n",i,aabbs[i].m_maxVec[0],aabbs[i].m_maxVec[1],aabbs[i].m_maxVec[2],aabbs[i].m_signedMaxIndices[3]);
};
*/
}