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joint (non-contact constraint) solver iterations is now working on GPU, but overall slower because of data copy.

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Will move joint setup to GPU, and then some benefit should be visible.
Don't use 64 alignment, it causes data structures size mismatch between cpu and gpu
This commit is contained in:
erwin coumans
2013-07-06 14:11:32 -07:00
parent 3ca4d68f3e
commit b8d5cecfe3
5 changed files with 96 additions and 35 deletions
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10
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
View File

@@ -1,4 +1,5 @@
typedef float4 Quaternion;
typedef struct
@@ -38,6 +39,8 @@ typedef struct
void* m_originalBody;
int m_originalBodyIndex;
};
int padding[3];
} b3SolverBody;
@@ -131,11 +134,8 @@ void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3
c->m_appliedImpulse.x = sum;
}
if (body1->m_invMass.x)
internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);
if (body2->m_invMass.x)
internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);
internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);
internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);
}

10
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
View File

@@ -1,6 +1,7 @@
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* solveConstraintRowsCL= \
"\n"
"\n"
"typedef float4 Quaternion;\n"
"\n"
"typedef struct\n"
@@ -40,6 +41,8 @@ static const char* solveConstraintRowsCL= \
" void* m_originalBody;\n"
" int m_originalBodyIndex;\n"
" };\n"
" int padding[3];\n"
"\n"
"} b3SolverBody;\n"
"\n"
"\n"
@@ -133,11 +136,8 @@ static const char* solveConstraintRowsCL= \
" c->m_appliedImpulse.x = sum;\n"
" }\n"
"\n"
" if (body1->m_invMass.x)\n"
" internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
" \n"
" if (body2->m_invMass.x)\n"
" internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
" internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
" internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
"\n"
"}\n"
"\n"