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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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21
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
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@@ -120,7 +120,7 @@ u32 tryWrite(__local u32* buff, int idx)
// batching on the GPU
__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,
__global const u32* gN, __global const u32* gStart,
__global const u32* gN, __global const u32* gStart, __global int* batchSizes,
int m_staticIdx )
{
__local u32 ldsStackIdx[STACK_SIZE];
@@ -147,9 +147,13 @@ __kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints,
ldsDstEnd = m_start;
}
// while(1)
//was 250
for(int ie=0; ie<50; ie++)
int ie=0;
int maxBatch = 0;
for(ie=0; ie<50; ie++)
{
ldsFixedBuffer[lIdx] = 0;
@@ -297,7 +301,12 @@ __kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints,
int idx = m_start + ldsRingElem[i].m_idx;
int dstIdx; AtomInc1( ldsDstEnd, dstIdx );
gConstraintsOut[ dstIdx ] = gConstraints[ idx ];
gConstraintsOut[ dstIdx ].m_batchIdx = 100+i;
int curBatch = 100+i;
if (maxBatch < curBatch)
maxBatch = curBatch;
gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;
}
GROUP_LDS_BARRIER;
if( lIdx == 0 ) ldsRingEnd = 0;
@@ -312,6 +321,12 @@ __kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints,
break;
}
if( lIdx == 0 )
{
if (maxBatch < ie)
maxBatch=ie;
batchSizes[wgIdx]=maxBatch;
}
}