Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more work towards gpu split jacobi solver

Browse Source
This commit is contained in:
erwin coumans
2013-03-26 13:38:04 -07:00
parent 9c0ca25cf6
commit b8c32a99cb
9 changed files with 2101 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
View File

@@ -15,7 +15,7 @@
#include "btGpuBatchingPgsSolver.h"
#include "Solver.h"
#include "btGpuJacobiSolver.h"
#include "BulletCommon/btQuickprof.h"
#include "btConfig.h"
btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class btGpuNarrowPhase* narrowphase, class btGpuSapBroadphase* broadphaseSap )
@@ -111,23 +111,39 @@ 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;//true;
bool useJacobi = true;
if (useJacobi)
{
bool useGpu = true;
if (useGpu)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
bool forceHost = false;
if (forceHost)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
btAlignedObjectArray<btInertiaCL> hostInertias;
btAlignedObjectArray<btContact4> hostContacts;
{
BT_PROFILE("copyToHost");
gpuBodies.copyToHost(hostBodies);
gpuInertias.copyToHost(hostInertias);
gpuContacts.copyToHost(hostContacts);
}
{
btJacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),0,0,solverInfo);
}
{
BT_PROFILE("copyFromHost");
gpuBodies.copyFromHost(hostBodies);
}
} else
{
btJacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroup(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),0,0,solverInfo);
m_data->m_solver3->solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo);
}
gpuBodies.copyFromHost(hostBodies);
} else
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;