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New version of btCudaBroadphase compatible with Bullet and better performance

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This commit is contained in:
rponom
2008-11-15 00:21:09 +00:00
parent 8abddb2400
commit afec653726
17 changed files with 2739 additions and 2412 deletions
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114
Extras/CUDA/particleSystem.cu
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@@ -41,7 +41,7 @@
#include <cuda_gl_interop.h>
#include "particles_kernel.cu"
#include "radixsort.cu"
//#include "radixsort.cu"
//! Check for CUDA error
# define CUT_CHECK_ERROR(errorMessage) do { \
@@ -77,9 +77,9 @@
} } while (0)
extern "C"
{
void mm_exit(int val)
{
exit(val);
@@ -87,7 +87,7 @@ void mm_exit(int val)
void cudaInit(int argc, char **argv)
{
//CUT_DEVICE_INIT(argc, argv);
// CUT_DEVICE_INIT(argc, argv);
}
void allocateArray(void **devPtr, size_t size)
@@ -117,26 +117,6 @@ void copyArrayFromDevice(void* host, const void* device, unsigned int vbo, int s
void copyArrayToDevice(void* device, const void* host, int offset, int size)
{
MY_CUDA_SAFE_CALL(cudaMemcpy((char *) device + offset, host, size, cudaMemcpyHostToDevice));
/*
cudaError_t err = cudaMemcpy((char *) device + offset, host, size, cudaMemcpyHostToDevice);
switch(err)
{
case cudaSuccess :
return;
case cudaErrorInvalidValue :
printf("\ncudaErrorInvalidValue : %d\n", err);
return;
case cudaErrorInvalidDevicePointer :
printf("\ncudaErrorInvalidDevicePointer : %d\n", err);
return;
case cudaErrorInvalidMemcpyDirection :
printf("\ncudaErrorInvalidMemcpyDirection : %d\n", err);
return;
default :
printf("\nX3 : %d\n", err);
return;
}
*/
}
void registerGLBufferObject(uint vbo)
@@ -280,27 +260,6 @@ reorderDataAndFindCellStart(uint* particleHash,
MY_CUDA_SAFE_CALL(cudaGLUnmapBufferObject(vboOldPos));
}
#if 1
void
findCellStart( uint* particleHash,
uint* cellStart,
uint numBodies,
uint numCells)
{
int numThreads, numBlocks;
computeGridSize(numBodies, 256, numBlocks, numThreads);
MY_CUDA_SAFE_CALL(cudaMemset(cellStart, 0xffffffff, numCells*sizeof(uint)));
findCellStartD<<< numBlocks, numThreads >>>(
(uint2 *) particleHash,
(uint *) cellStart);
CUT_CHECK_ERROR("Kernel execution failed: findCellStartD");
}
#endif
void
collide(uint vboOldPos, uint vboNewPos,
float* sortedPos, float* sortedVel,
@@ -374,71 +333,4 @@ collide(uint vboOldPos, uint vboNewPos,
#endif
}
void
btCudaFindOverlappingPairs( float* pAABB,
uint* pParticleHash,
uint* pCellStart,
uint* pPairBuff,
uint* pPairBuffStartCurr,
uint numParticles)
{
// cudaError err = cudaMemset(pPairBuff, 0x00, numParticles*32*4);
// if(err != cudaSuccess)
// {
// printf("\nAAAAA\n");
// }
MY_CUDA_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numParticles*2*sizeof(float4)));
int numThreads, numBlocks;
// computeGridSize(numParticles, 256, numBlocks, numThreads);
computeGridSize(numParticles, 64, numBlocks, numThreads);
// numThreads = 1;
// numBlocks = 1;
btCudaFindOverlappingPairsD<<< numBlocks, numThreads >>>(
(float4 *)pAABB,
(uint2*)pParticleHash,
(uint*)pCellStart,
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
numParticles
);
CUT_CHECK_ERROR("Kernel execution failed: btCudaFindOverlappingPairsD");
MY_CUDA_SAFE_CALL(cudaUnbindTexture(pAABBTex));
} // btCudaFindOverlappingPairs()
void
btCudaComputePairCacheChanges(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint numParticles)
{
int numThreads, numBlocks;
computeGridSize(numParticles, 256, numBlocks, numThreads);
btCudaComputePairCacheChangesD<<< numBlocks, numThreads >>>(
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
(uint*)pPairScan
);
CUT_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
} // btCudaFindOverlappingPairs()
void
btCudaSqueezeOverlappingPairBuff(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, uint numParticles)
{
int numThreads, numBlocks;
computeGridSize(numParticles, 256, numBlocks, numThreads);
btCudaSqueezeOverlappingPairBuffD<<< numBlocks, numThreads >>>(
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
(uint*)pPairScan,
pPairOut
);
CUT_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
}
} // extern "C"