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fix many warnings

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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
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2
src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
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@@ -55,7 +55,7 @@ void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo
info->m_J1linearAxis[2*info->rowskip+2] = 1;
b3Vector3 a1 = trA.getBasis()*constraint->getPivotInA();
b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA());
//b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA());
{
b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);

4
src/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
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@@ -576,7 +576,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
for( i=0; i<numManifolds; i++)
{
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
//float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
b3RigidBodyData& bodyA = bodies[aIdx];
@@ -650,7 +650,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
}
for (int iter = 0;iter<maxIter;iter++)
{
int i=0;
//int i=0;
//solve friction

4
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -445,7 +445,7 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
for (int i=0;i<childShapes->size();i++)
{
int childColIndex = childShapes->at(i).m_shapeIndex;
b3Collidable& childCol = getCollidableCpu(childColIndex);
//b3Collidable& childCol = getCollidableCpu(childColIndex);
b3SapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
b3Vector3 childLocalAabbMin=b3MakeVector3(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
@@ -832,7 +832,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
//swap buffer
m_data->m_currentContactBuffer=1-m_data->m_currentContactBuffer;
int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
//int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
int numTriConvexPairsOut=0;

18
src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
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@@ -84,7 +84,7 @@ struct b3GpuPgsJacobiSolverInternalData
};
/*
static b3Transform getWorldTransform(b3RigidBodyData* rb)
{
b3Transform newTrans;
@@ -98,7 +98,7 @@ static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaData* inertia)
return inertia->m_invInertiaWorld;
}
*/
static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
{
@@ -254,7 +254,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
}
}
int totalBodies = 0;
// int totalBodies = 0;
int totalNumRows = 0;
//b3RigidBody* rb0=0,*rb1=0;
//if (1)
@@ -604,9 +604,9 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
// b3ContactSolverInfo info = infoGlobal;
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
// int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
// int numConstraintPool = m_tmpSolverContactConstraintPool.size();
// int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
return 0.f;
@@ -858,7 +858,7 @@ static b3AlignedObjectArray<int> curUsed;
inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3( b3BatchConstraint* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies)
{
int sz = sizeof(b3BatchConstraint);
//int sz = sizeof(b3BatchConstraint);
B3_PROFILE("sortConstraintByBatch3");
@@ -892,7 +892,7 @@ inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3( b3BatchConstraint*
#endif
int numValidConstraints = 0;
int unprocessedConstraintIndex = 0;
// int unprocessedConstraintIndex = 0;
int batchIdx = 0;
@@ -1032,7 +1032,7 @@ void b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidB
b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
{
B3_PROFILE("solveGroupCacheFriendlyFinish");
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
// int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
// int i,j;

67
src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
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@@ -138,7 +138,7 @@ b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx,cl_device_id device,
m_data->m_offsets = new b3OpenCLArray<unsigned int>( ctx,m_data->m_queue,B3_SOLVER_N_CELLS);
m_data->m_offsets->resize(B3_SOLVER_N_CELLS);
const char* additionalMacros = "";
const char* srcFileNameForCaching="";
//const char* srcFileNameForCaching="";
@@ -556,26 +556,8 @@ static bool b3ContactCmp(const b3Contact4& p, const b3Contact4& q)
static const int gridTable4x4[] =
{
0,1,17,16,
1,2,18,19,
17,18,32,3,
16,19,3,34
};
static const int gridTable8x8[] =
{
0, 2, 3, 16, 17, 18, 19, 1,
66, 64, 80, 67, 82, 81, 65, 83,
131,144,128,130,147,129,145,146,
208,195,194,192,193,211,210,209,
21, 22, 23, 5, 4, 6, 7, 20,
86, 85, 69, 87, 70, 68, 84, 71,
151,133,149,150,135,148,132,134,
197,27,214,213,212,199,198,196
};
@@ -583,6 +565,30 @@ static const int gridTable8x8[] =
#define USE_SPATIAL_BATCHING 1
#define USE_4x4_GRID 1
#ifndef USE_SPATIAL_BATCHING
static const int gridTable4x4[] =
{
0,1,17,16,
1,2,18,19,
17,18,32,3,
16,19,3,34
};
static const int gridTable8x8[] =
{
0, 2, 3, 16, 17, 18, 19, 1,
66, 64, 80, 67, 82, 81, 65, 83,
131,144,128,130,147,129,145,146,
208,195,194,192,193,211,210,209,
21, 22, 23, 5, 4, 6, 7, 20,
86, 85, 69, 87, 70, 68, 84, 71,
151,133,149,150,135,148,132,134,
197,27,214,213,212,199,198,196
};
#endif
void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts,float scale,const b3Int4& nSplit,int staticIdx)
{
@@ -597,7 +603,6 @@ void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData*
int bIdx = abs(bPtrAndSignBit);
bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);
bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
#if USE_SPATIAL_BATCHING
int idx = (aStatic)? bIdx: aIdx;
@@ -609,6 +614,8 @@ void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData*
int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);
#else//USE_SPATIAL_BATCHING
bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
#if USE_4x4_GRID
int aa = aIdx&3;
int bb = bIdx&3;
@@ -797,7 +804,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
//const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
{
@@ -1033,7 +1040,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
bool compareGPU = false;
// bool compareGPU = false;
if (nContacts)
{
if (!gCpuBatchContacts)
@@ -1070,7 +1077,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
{
m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
int totalNumConstraints = cpuContacts.size();
int simdWidth =numBodies+1;//-1;//64;//-1;//32;
//int simdWidth =numBodies+1;//-1;//64;//-1;//32;
int numBatches = sortConstraintByBatch3( &cpuContacts[0], totalNumConstraints, totalNumConstraints+1,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[0]); // on GPU
maxNumBatches = b3Max(numBatches,maxNumBatches);
static int globalMaxBatch = 0;
@@ -1138,17 +1145,17 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
B3_PROFILE("copyToHost");
m_data->m_pBufContactOutGPU->copyToHost(cpuContacts);
}
b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
// b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
// b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
int numNonzeroGrid=0;
// int numNonzeroGrid=0;
{
m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
int totalNumConstraints = cpuContacts.size();
int simdWidth =numBodies+1;//-1;//64;//-1;//32;
// int simdWidth =numBodies+1;//-1;//64;//-1;//32;
int numBatches = sortConstraintByBatch3( &cpuContacts[0], totalNumConstraints, totalNumConstraints+1,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[0]); // on GPU
maxNumBatches = b3Max(numBatches,maxNumBatches);
static int globalMaxBatch = 0;
@@ -1420,7 +1427,7 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch2( b3Contact4* cs, int nu
idxSrc[i] = i;
int numValidConstraints = 0;
int unprocessedConstraintIndex = 0;
// int unprocessedConstraintIndex = 0;
int batchIdx = 0;
@@ -1588,7 +1595,7 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch3( b3Contact4* cs, int nu
#endif
int numValidConstraints = 0;
int unprocessedConstraintIndex = 0;
// int unprocessedConstraintIndex = 0;
int batchIdx = 0;

49
src/Bullet3OpenCL/RigidBody/b3Solver.cpp
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@@ -87,11 +87,12 @@ public:
b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
:m_nIterations(4),
:
m_context(ctx),
m_device(device),
m_queue(queue),
m_batchSizes(ctx,queue)
m_batchSizes(ctx,queue),
m_nIterations(4)
{
m_sort32 = new b3RadixSort32CL(ctx,device,queue);
m_scan = new b3PrefixScanCL(ctx,device,queue,B3_SOLVER_N_CELLS);
@@ -108,7 +109,7 @@ b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue,
m_offsets = new b3OpenCLArray<unsigned int>( ctx,queue,B3_SOLVER_N_CELLS);
m_offsets->resize(B3_SOLVER_N_CELLS);
const char* additionalMacros = "";
const char* srcFileNameForCaching="";
// const char* srcFileNameForCaching="";
@@ -356,17 +357,32 @@ void solveContact(b3GpuConstraint4& cs,
}
}
/*
b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
b3AlignedObjectArray<b3InertiaData>& m_shapes;
b3AlignedObjectArray<b3GpuConstraint4>& m_constraints;
b3AlignedObjectArray<int>* m_batchSizes;
int m_cellIndex;
int m_curWgidx;
int m_start;
int m_nConstraints;
bool m_solveFriction;
int m_maxNumBatches;
*/
struct SolveTask// : public ThreadPool::Task
{
SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies, b3AlignedObjectArray<b3InertiaData>& shapes, b3AlignedObjectArray<b3GpuConstraint4>& constraints,
int start, int nConstraints,int maxNumBatches,b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx, b3AlignedObjectArray<int>* batchSizes, int cellIndex)
: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), m_start( start ), m_nConstraints( nConstraints ),
m_solveFriction( true ),m_maxNumBatches(maxNumBatches),
m_curWgidx(curWgidx),
: m_bodies( bodies ), m_shapes( shapes ),
m_constraints( constraints ),
m_batchSizes(batchSizes),
m_cellIndex(cellIndex)
m_cellIndex(cellIndex),
m_curWgidx(curWgidx),
m_start( start ),
m_nConstraints( nConstraints ),
m_solveFriction( true ),
m_maxNumBatches(maxNumBatches)
{}
unsigned short int getType(){ return 0; }
@@ -388,7 +404,7 @@ struct SolveTask// : public ThreadPool::Task
float frictionCoeff = m_constraints[i].getFrictionCoeff();
int aIdx = (int)m_constraints[i].m_bodyA;
int bIdx = (int)m_constraints[i].m_bodyB;
int localBatch = m_constraints[i].m_batchIdx;
// int localBatch = m_constraints[i].m_batchIdx;
b3RigidBodyData& bodyA = m_bodies[aIdx];
b3RigidBodyData& bodyB = m_bodies[bIdx];
@@ -604,7 +620,7 @@ void b3Solver::solveContactConstraintHost( b3OpenCLArray<b3RigidBodyData>* body
}
const int start = offsetsHost[cellIdx];
int numConstraintsInCell = numConstraintsHost[cellIdx];
const int end = start + numConstraintsInCell;
// const int end = start + numConstraintsInCell;
SolveTask task( bodyNative, shapeNative, constraintNative, start, numConstraintsInCell ,maxNumBatches,usedBodies,wgIdx,batchSizes,cellIdx);
task.m_solveFriction = false;
@@ -640,7 +656,7 @@ void b3Solver::solveContactConstraintHost( b3OpenCLArray<b3RigidBodyData>* body
const int start = offsetsHost[cellIdx];
int numConstraintsInCell = numConstraintsHost[cellIdx];
const int end = start + numConstraintsInCell;
// const int end = start + numConstraintsInCell;
SolveTask task( bodyNative, shapeNative, constraintNative, start, numConstraintsInCell,maxNumBatches, 0,0,batchSizes,cellIdx);
task.m_solveFriction = true;
@@ -688,7 +704,7 @@ void checkConstraintBatch(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
int cellBatch = batchId;
const int nn = B3_SOLVER_N_CELLS;
int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
// int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
b3AlignedObjectArray<unsigned int> gN;
m_numConstraints->copyToHost(gN);
@@ -697,7 +713,7 @@ void checkConstraintBatch(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
int nSplitX = B3_SOLVER_N_SPLIT_X;
int nSplitY = B3_SOLVER_N_SPLIT_Y;
int bIdx = batchId;
// int bIdx = batchId;
b3AlignedObjectArray<b3GpuConstraint4> cpuConstraints;
constraint->copyToHost(cpuConstraints);
@@ -932,7 +948,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyB
b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
int nContacts, const ConstraintCfg& cfg )
{
b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
// b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
contactCOut->resize(nContacts);
struct CB
{
@@ -1099,7 +1115,6 @@ void b3Solver::sortContacts( const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
}
*/
void b3Solver::batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* nNative, b3OpenCLArray<unsigned int>* offsetsNative, int staticIdx )
{
@@ -1122,7 +1137,7 @@ void b3Solver::batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContact
#if 0
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( contacts->getBufferCL() ),
b3BufferInfoCL( m_contactBuffer2->getBufferCL()),
@@ -1132,7 +1147,7 @@ void b3Solver::batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContact
, b3BufferInfoCL(&gpuDebugInfo)
#endif
};
#endif