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only do gl2cl once

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add contact stats option
re-enable a few more demos
This commit is contained in:
erwin coumans
2013-04-19 18:30:05 -07:00
parent b883283460
commit d086090c77
9 changed files with 106 additions and 65 deletions
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91
opencl/gpu_rigidbody/host/b3GpuBatchingPgsSolver.cpp
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@@ -591,7 +591,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
if (gpuBatchContacts)
{
BT_PROFILE("gpu batchContacts");
maxNumBatches = 25;//250;
maxNumBatches = 50;//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 );
} else
{
@@ -629,10 +629,17 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
int simdWidth =64;//-1;//32;
//int numBatches = sortConstraintByBatch( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
int numBatches = sortConstraintByBatch3( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies); // on GPU
maxNumBatches = btMax(numBatches,maxNumBatches);
static int globalMaxBatch = 0;
if (maxNumBatches>globalMaxBatch )
{
globalMaxBatch = maxNumBatches;
printf("maxNumBatches = %d\n",maxNumBatches);
}
clFinish(m_data->m_queue);
@@ -724,7 +731,7 @@ static bool sortfnc(const btSortData& a,const btSortData& b)
b3AlignedObjectArray<int> bodyUsed;
@@ -736,11 +743,7 @@ b3AlignedObjectArray<b3Contact4> old;
inline int b3GpuBatchingPgsSolver::sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies)
{
b3AlignedObjectArray<int> bodyUsed;
bodyUsed.resize(numBodies);
for (int q=0;q<numBodies;q++)
bodyUsed[q]=0;
BT_PROFILE("sortConstraintByBatch");
int numIter = 0;
@@ -759,7 +762,8 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch( b3Contact4* cs, int n,
for(int i=0; i<n; i++)
cs[i].getBatchIdx() = -1;
#endif
for(int i=0; i<n; i++) idxSrc[i] = i;
for(int i=0; i<n; i++)
idxSrc[i] = i;
nIdxSrc = n;
int batchIdx = 0;
@@ -803,7 +807,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch( b3Contact4* cs, int n,
if( aUnavailable==0 && bUnavailable==0 ) // ok
{
if (!!aIsStatic)
if (!aIsStatic)
flg[ aIdx/32 ] |= (1<<(aIdx&31));
if (!bIsStatic)
flg[ bIdx/32 ] |= (1<<(bIdx&31));
@@ -861,17 +865,19 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch( b3Contact4* cs, int n,
}
b3AlignedObjectArray<int> bodyUsed2;
inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies)
{
BT_PROFILE("sortConstraintByBatch");
BT_PROFILE("sortConstraintByBatch2");
bodyUsed.resize(2*simdWidth);
bodyUsed2.resize(2*simdWidth);
for (int q=0;q<2*simdWidth;q++)
bodyUsed[q]=0;
bodyUsed2[q]=0;
int curBodyUsed = 0;
@@ -905,7 +911,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int n
int nCurrentBatch = 0;
// clear flag
for(int i=0; i<curBodyUsed; i++)
bodyUsed[i] = 0;
bodyUsed2[i] = 0;
curBodyUsed = 0;
for(int i=numValidConstraints; i<numConstraints; i++)
@@ -925,7 +931,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int n
{
for (int j=0;j<curBodyUsed;j++)
{
if (bodyA == bodyUsed[j])
if (bodyA == bodyUsed2[j])
{
aUnavailable=1;
break;
@@ -937,7 +943,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int n
{
for (int j=0;j<curBodyUsed;j++)
{
if (bodyB == bodyUsed[j])
if (bodyB == bodyUsed2[j])
{
bUnavailable=1;
break;
@@ -949,11 +955,11 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int n
{
if (!aIsStatic)
{
bodyUsed[curBodyUsed++] = bodyA;
bodyUsed2[curBodyUsed++] = bodyA;
}
if (!bIsStatic)
{
bodyUsed[curBodyUsed++] = bodyB;
bodyUsed2[curBodyUsed++] = bodyB;
}
cs[idx].getBatchIdx() = batchIdx;
@@ -972,7 +978,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int n
{
nCurrentBatch = 0;
for(int i=0; i<curBodyUsed; i++)
bodyUsed[i] = 0;
bodyUsed2[i] = 0;
curBodyUsed = 0;
@@ -1016,26 +1022,34 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch2( b3Contact4* cs, int n
}
b3AlignedObjectArray<int> bodyUsed;
b3AlignedObjectArray<int> curUsed;
inline int b3GpuBatchingPgsSolver::sortConstraintByBatch3( b3Contact4* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies)
{
BT_PROFILE("sortConstraintByBatch");
BT_PROFILE("sortConstraintByBatch3");
static int maxSwaps = 0;
int numSwaps = 0;
curUsed.resize(2*simdWidth);
static int maxNumConstraints = 0;
if (maxNumConstraints<numConstraints)
{
maxNumConstraints = numConstraints;
printf("maxNumConstraints = %d\n",maxNumConstraints );
//printf("maxNumConstraints = %d\n",maxNumConstraints );
}
bodyUsed.resize(2*simdWidth);
int numUsedArray = numBodies/32+1;
bodyUsed.resize(numUsedArray);
for (int q=0;q<2*simdWidth;q++)
for (int q=0;q<numUsedArray;q++)
bodyUsed[q]=0;
int curBodyUsed = 0;
int numIter = 0;
@@ -1065,7 +1079,8 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch3( b3Contact4* cs, int n
int nCurrentBatch = 0;
// clear flag
for(int i=0; i<curBodyUsed; i++)
bodyUsed[i] = 0;
bodyUsed[curUsed[i]/32] = 0;
curBodyUsed = 0;
for(int i=numValidConstraints; i<numConstraints; i++)
@@ -1083,37 +1098,25 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch3( b3Contact4* cs, int n
int bUnavailable = 0;
if (!aIsStatic)
{
for (int j=0;j<curBodyUsed;j++)
{
if (bodyA == bodyUsed[j])
{
aUnavailable=1;
break;
}
}
aUnavailable = bodyUsed[ bodyA/32 ] & (1<<(bodyA&31));
}
if (!aUnavailable)
if (!bIsStatic)
{
for (int j=0;j<curBodyUsed;j++)
{
if (bodyB == bodyUsed[j])
{
bUnavailable=1;
break;
}
}
bUnavailable = bodyUsed[ bodyB/32 ] & (1<<(bodyB&31));
}
if( aUnavailable==0 && bUnavailable==0 ) // ok
{
if (!aIsStatic)
{
bodyUsed[curBodyUsed++] = bodyA;
bodyUsed[ bodyA/32 ] |= (1<<(bodyA&31));
curUsed[curBodyUsed++]=bodyA;
}
if (!bIsStatic)
{
bodyUsed[curBodyUsed++] = bodyB;
bodyUsed[ bodyB/32 ] |= (1<<(bodyB&31));
curUsed[curBodyUsed++]=bodyB;
}
cs[idx].getBatchIdx() = batchIdx;
@@ -1131,7 +1134,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch3( b3Contact4* cs, int n
{
nCurrentBatch = 0;
for(int i=0; i<curBodyUsed; i++)
bodyUsed[i] = 0;
bodyUsed[curUsed[i]/32] = 0;
curBodyUsed = 0;
}
}
@@ -1152,7 +1155,7 @@ inline int b3GpuBatchingPgsSolver::sortConstraintByBatch3( b3Contact4* cs, int n
if (maxSwaps<numSwaps)
{
maxSwaps = numSwaps;
printf("maxSwaps = %d\n", maxSwaps);
//printf("maxSwaps = %d\n", maxSwaps);
}
return batchIdx;