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batching reports the size of the batches, and solver uses this as termination condition, giving a good speedup

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erwincoumans
2014-02-07 06:28:15 -08:00
parent 3768a30bb2
commit bd5c2ff5ec
12 changed files with 74 additions and 14 deletions
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4
src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
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@@ -411,6 +411,7 @@ void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3Rigid
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setBuffer( m_data->m_solverGPU->m_batchSizes.getBufferCL());
//launcher.setConst( cdata.x );
launcher.setConst( cdata.y );
launcher.setConst( cdata.z );
@@ -500,6 +501,7 @@ void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3Rigid
};
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel" );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setBuffer( m_data->m_solverGPU->m_batchSizes.getBufferCL());
//launcher.setConst( cdata.x );
launcher.setConst( cdata.y );
launcher.setConst( cdata.z );
@@ -1037,7 +1039,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (!gCpuBatchContacts)
{
B3_PROFILE("gpu batchContacts");
maxNumBatches = 150;//250;
maxNumBatches = 250;//250;
m_data->m_solverGPU->batchContacts( m_data->m_pBufContactOutGPU, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx );
clFinish(m_data->m_queue);
} else