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add Takahiro's batching pgs solver

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This commit is contained in:
erwin coumans
2013-03-17 01:19:27 -07:00
parent 74a422dfa9
commit d3c80fe160
23 changed files with 7020 additions and 29 deletions
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49
opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
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@@ -12,7 +12,10 @@
#include "btPgsJacobiSolver.h"
#include "../../gpu_sat/host/btRigidBodyCL.h"
#include "../../gpu_sat/host/btContact4.h"
#include "btGpuBatchingPgsSolver.h"
#include "../Stubs/Solver.h"
#include "btConfig.h"
btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class btGpuNarrowPhase* narrowphase, class btGpuSapBroadphase* broadphaseSap )
{
@@ -21,7 +24,9 @@ btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_device = device;
m_data->m_queue = q;
m_data->m_solver = new btPgsJacobiSolver();
m_data->m_solver2 = new btGpuBatchingPgsSolver(ctx,device,q,256*1024);
m_data->m_broadphaseSap = broadphaseSap;
m_data->m_narrowphase = narrowphase;
@@ -48,7 +53,9 @@ btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
btGpuRigidBodyPipeline::~btGpuRigidBodyPipeline()
{
clReleaseKernel(m_data->m_integrateTransformsKernel);
delete m_data->m_solver;
delete m_data->m_solver2;
delete m_data;
}
@@ -66,11 +73,13 @@ void btGpuRigidBodyPipeline::stepSimulation(float deltaTime)
int numPairs = m_data->m_broadphaseSap->getNumOverlap();
int numContacts = 0;
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
if (numPairs)
{
cl_mem pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
cl_mem aabbs = m_data->m_broadphaseSap->getAabbBuffer();
int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbs,numBodies);
numContacts = m_data->m_narrowphase->getNumContactsGpu();
@@ -85,27 +94,41 @@ void btGpuRigidBodyPipeline::stepSimulation(float deltaTime)
if (numContacts)
{
// m_data->m_solver->solveGroup(bodies, inertias,numBodies,contacts,numContacts,0,0,infoGlobal);
btAlignedObjectArray<btRigidBodyCL> hostBodies;
btOpenCLArray<btRigidBodyCL> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumBodiesGpu());
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
btOpenCLArray<btInertiaCL> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumBodiesGpu());
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
btOpenCLArray<btContact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
gpuContacts.copyToHost(hostContacts);
bool useJacobi = false;
if (useJacobi)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
{
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
}
gpuBodies.copyFromHost(hostBodies);
} else
{
btConfig config;
m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),config);
//m_data->m_solver4->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(), gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL());
/*m_data->m_solver3->solveContactConstraintHost(
(btOpenCLArray<RigidBodyBase::Body>*)&gpuBodies,
(btOpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias,
(btOpenCLArray<Constraint4>*) &gpuContacts,
0,numContacts,256);
*/
}
}
integrate(deltaTime);