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add support for BVH acceleration for concave trianglemesh collision against convex hulls

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bugfix/improvement in batching
This commit is contained in:
erwin coumans
2013-03-20 23:37:34 -07:00
parent 9a693fb850
commit b4f9416cdf
20 changed files with 760 additions and 690 deletions
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126
opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.cpp
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@@ -202,7 +202,7 @@ btGpuBatchingPgsSolver::~btGpuBatchingPgsSolver()
struct btConstraintCfg
{
btConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(-1) {}
btConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(0) {}
float m_positionDrift;
float m_positionConstraintCoeff;
@@ -403,8 +403,8 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
float dt=1./60.;
btConstraintCfg csCfg( dt );
csCfg.m_enableParallelSolve = true;
csCfg.m_averageExtent = 0.2f;//@TODO m_averageObjExtent;
csCfg.m_staticIdx = -1;//m_static0Index;//m_planeBodyIndex;
csCfg.m_averageExtent = .2f;//@TODO m_averageObjExtent;
csCfg.m_staticIdx = 0;//m_static0Index;//m_planeBodyIndex;
btOpenCLArray<btContact4>* contactsIn = m_data->m_pBufContactOutGPU;
btOpenCLArray<btRigidBodyCL>* bodyBuf = m_data->m_bodyBufferGPU;
@@ -572,64 +572,65 @@ void btGpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
bool compareGPU = false;
if (nContacts)
{
if (gpuBatchContacts)
{
maxNumBatches=250;//for now
BT_PROFILE("gpu batchContacts");
m_data->m_solverGPU->batchContacts( (btOpenCLArray<btContact4>*)contactNative, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx );
} else
{
BT_PROFILE("cpu batchContacts");
btAlignedObjectArray<btContact4> cpuContacts;
btOpenCLArray<btContact4>* contactsIn = m_data->m_pBufContactOutGPU;
contactsIn->copyToHost(cpuContacts);
if (gpuBatchContacts)
{
BT_PROFILE("gpu batchContacts");
maxNumBatches = 50;
m_data->m_solverGPU->batchContacts( (btOpenCLArray<btContact4>*)contactNative, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx );
} else
{
BT_PROFILE("cpu batchContacts");
btAlignedObjectArray<btContact4> cpuContacts;
btOpenCLArray<btContact4>* contactsIn = m_data->m_pBufContactOutGPU;
contactsIn->copyToHost(cpuContacts);
btOpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
btOpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
btOpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
btOpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
btAlignedObjectArray<unsigned int> nNativeHost;
btAlignedObjectArray<unsigned int> offsetsNativeHost;
btAlignedObjectArray<unsigned int> nNativeHost;
btAlignedObjectArray<unsigned int> offsetsNativeHost;
{
BT_PROFILE("countsNative/offsetsNative copyToHost");
countsNative->copyToHost(nNativeHost);
offsetsNative->copyToHost(offsetsNativeHost);
}
{
BT_PROFILE("countsNative/offsetsNative copyToHost");
countsNative->copyToHost(nNativeHost);
offsetsNative->copyToHost(offsetsNativeHost);
}
int numNonzeroGrid=0;
int numNonzeroGrid=0;
{
BT_PROFILE("batch grid");
for(int i=0; i<BT_SOLVER_N_SPLIT*BT_SOLVER_N_SPLIT; i++)
{
int n = (nNativeHost)[i];
int offset = (offsetsNativeHost)[i];
{
BT_PROFILE("batch grid");
for(int i=0; i<BT_SOLVER_N_SPLIT*BT_SOLVER_N_SPLIT; i++)
{
int n = (nNativeHost)[i];
int offset = (offsetsNativeHost)[i];
if( n )
{
numNonzeroGrid++;
//printf("cpu batch\n");
if( n )
{
numNonzeroGrid++;
//printf("cpu batch\n");
int simdWidth = -1;
int numBatches = sortConstraintByBatch( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ); // on GPU
maxNumBatches = btMax(numBatches,maxNumBatches);
int simdWidth = -1;
int numBatches = sortConstraintByBatch( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
maxNumBatches = btMax(numBatches,maxNumBatches);
clFinish(m_data->m_queue);
clFinish(m_data->m_queue);
}
}
}
{
BT_PROFILE("m_contactBuffer->copyFromHost");
m_data->m_solverGPU->m_contactBuffer->copyFromHost((btAlignedObjectArray<btContact4>&)cpuContacts);
}
// printf("maxNumBatches = %d\n", maxNumBatches);
}
}
}
}
{
BT_PROFILE("m_contactBuffer->copyFromHost");
m_data->m_solverGPU->m_contactBuffer->copyFromHost((btAlignedObjectArray<btContact4>&)cpuContacts);
}
}
}
//printf("maxNumBatches = %d\n", maxNumBatches);
if (nContacts)
{
@@ -704,8 +705,14 @@ btAlignedObjectArray<btSortData> sortData;
btAlignedObjectArray<btContact4> old;
inline int btGpuBatchingPgsSolver::sortConstraintByBatch( btContact4* cs, int n, int simdWidth , int staticIdx)
inline int btGpuBatchingPgsSolver::sortConstraintByBatch( btContact4* cs, int n, int simdWidth , int staticIdx, int numBodies)
{
btAlignedObjectArray<int> bodyUsed;
bodyUsed.resize(numBodies);
for (int q=0;q<numBodies;q++)
bodyUsed[q]=0;
BT_PROFILE("sortConstraintByBatch");
int numIter = 0;
sortData.resize(n);
@@ -747,12 +754,7 @@ inline int btGpuBatchingPgsSolver::sortConstraintByBatch( btContact4* cs, int n,
int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
/*if (bodyAS<0)
printf("A static\n");
if (bodyBS<0)
printf("B static\n");
*/
int bodyA = abs(bodyAS);
int bodyB = abs(bodyBS);
@@ -763,14 +765,20 @@ inline int btGpuBatchingPgsSolver::sortConstraintByBatch( btContact4* cs, int n,
unsigned int aUnavailable = flg[ aIdx/32 ] & (1<<(aIdx&31));
unsigned int bUnavailable = flg[ bIdx/32 ] & (1<<(bIdx&31));
bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;
bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;
//use inv_mass!
aUnavailable = (bodyAS>=0)&&bodyAS!=staticIdx? aUnavailable:0;//
bUnavailable = (bodyBS>=0)&&bodyBS!=staticIdx? bUnavailable:0;
aUnavailable = !aIsStatic? aUnavailable:0;//
bUnavailable = !bIsStatic? bUnavailable:0;
if( aUnavailable==0 && bUnavailable==0 ) // ok
{
flg[ aIdx/32 ] |= (1<<(aIdx&31));
flg[ bIdx/32 ] |= (1<<(bIdx&31));
if (!!aIsStatic)
flg[ aIdx/32 ] |= (1<<(aIdx&31));
if (!bIsStatic)
flg[ bIdx/32 ] |= (1<<(bIdx&31));
cs[idx].getBatchIdx() = batchIdx;
sortData[idx].m_key = batchIdx;
sortData[idx].m_value = idx;