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add option for btDbvtBroadphase (comparison)

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This commit is contained in:
erwin coumans
2013-04-20 23:59:00 -07:00
parent a00af9d898
commit dc1984713a
25 changed files with 5042 additions and 45 deletions
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119
opencl/gpu_rigidbody/host/b3GpuRigidBodyPipeline.cpp
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@@ -11,12 +11,16 @@
#include "parallel_primitives/host/btLauncherCL.h"
#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h"
#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
//#define TEST_OTHER_GPU_SOLVER
bool useDbvt = true;
bool useBullet2CpuSolver = false;
bool dumpContactStats = false;
#ifdef TEST_OTHER_GPU_SOLVER
#include "btGpuJacobiSolver.h"
#include "b3PgsJacobiSolver.h"
#endif //TEST_OTHER_GPU_SOLVER
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
@@ -27,9 +31,9 @@
#include "Bullet3Common/b3Quickprof.h"
#include "b3Config.h"
bool dumpContactStats = false;
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap )
b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuSapBroadphase* broadphaseSap , class b3DynamicBvhBroadphase* broadphaseDbvt)
{
m_data = new b3GpuRigidBodyPipelineInternalData;
m_data->m_context = ctx;
@@ -37,16 +41,18 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_queue = q;
m_data->m_solver = new b3PgsJacobiSolver();
b3Config config;
m_data->m_allAabbsGPU = new btOpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
m_data->m_overlappingPairsGPU = new btOpenCLArray<btBroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
#ifdef TEST_OTHER_GPU_SOLVER
m_data->m_solver3 = new btGpuJacobiSolver(ctx,device,q,config.m_maxBroadphasePairs);
#endif // TEST_OTHER_GPU_SOLVER
b3Config config;
m_data->m_solver2 = new b3GpuBatchingPgsSolver(ctx,device,q,config.m_maxBroadphasePairs);
m_data->m_broadphaseDbvt = broadphaseDbvt;
m_data->m_broadphaseSap = broadphaseSap;
m_data->m_narrowphase = narrowphase;
@@ -75,6 +81,8 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
clReleaseKernel(m_data->m_integrateTransformsKernel);
delete m_data->m_solver;
delete m_data->m_allAabbsGPU;
delete m_data->m_overlappingPairsGPU;
#ifdef TEST_OTHER_GPU_SOLVER
delete m_data->m_solver3;
@@ -94,15 +102,40 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
setupGpuAabbsFull();
}
int numPairs =0;
//compute overlapping pairs
{
//m_data->m_broadphaseSap->calculateOverlappingPairsHost();
m_data->m_broadphaseSap->calculateOverlappingPairs();
if (useDbvt)
{
{
BT_PROFILE("setAabb");
m_data->m_allAabbsGPU->copyToHost(m_data->m_allAabbsCPU);
for (int i=0;i<m_data->m_allAabbsCPU.size();i++)
{
btBroadphaseProxy* proxy = &m_data->m_broadphaseDbvt->m_proxies[i];
b3Vector3 aabbMin(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
b3Vector3 aabbMax(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
m_data->m_broadphaseDbvt->setAabb(proxy,aabbMin,aabbMax,0);
}
}
{
BT_PROFILE("calculateOverlappingPairs");
m_data->m_broadphaseDbvt->calculateOverlappingPairs();
}
numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
} else
{
m_data->m_broadphaseSap->calculateOverlappingPairs();
numPairs = m_data->m_broadphaseSap->getNumOverlap();
}
}
//compute contact points
int numPairs = m_data->m_broadphaseSap->getNumOverlap();
int numContacts = 0;
@@ -110,8 +143,19 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
if (numPairs)
{
cl_mem pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
cl_mem aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS();
cl_mem pairs =0;
cl_mem aabbsWS =0;
if (useDbvt)
{
BT_PROFILE("m_overlappingPairsGPU->copyFromHost");
m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
pairs = m_data->m_overlappingPairsGPU->getBufferCL();
aabbsWS = m_data->m_allAabbsGPU->getBufferCL();
} else
{
pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS();
}
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
@@ -149,7 +193,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
btOpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
bool useBullet2CpuSolver = false;
if (useBullet2CpuSolver)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
@@ -271,7 +315,15 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
launcher.setBuffer(collidables);
cl_mem localAabbs = m_data->m_narrowphase->getAabbBufferGpu();
launcher.setBuffer(localAabbs);
cl_mem worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
cl_mem worldAabbs =0;
if (useDbvt)
{
worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
} else
{
worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
}
launcher.setBuffer(worldAabbs);
launcher.launch1D(numBodies);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
@@ -290,12 +342,19 @@ int b3GpuRigidBodyPipeline::getNumBodies() const
}
void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
{
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
}
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex)
int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
{
b3Vector3 aabbMin(0,0,0),aabbMax(0,0,0);
int bodyIndex = m_data->m_narrowphase->getNumRigidBodies();
if (collidableIndex>=0)
{
b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
@@ -308,21 +367,39 @@ int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
t.setOrigin(b3Vector3(position[0],position[1],position[2]));
t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
btTransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
if (mass)
if (useDbvt)
{
m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
m_data->m_broadphaseDbvt->createProxy(aabbMin,aabbMax,bodyIndex,0,1,1);
b3SapAabb aabb;
for (int i=0;i<3;i++)
{
aabb.m_min[i] = aabbMin[i];
aabb.m_max[i] = aabbMax[i];
aabb.m_minIndices[3] = bodyIndex;
}
m_data->m_allAabbsCPU.push_back(aabb);
if (writeInstanceToGpu)
{
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
}
} else
{
m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
if (mass)
{
m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
} else
{
m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
}
}
}
bool writeToGpu = false;
int bodyIndex = -1;
bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu);
/*
if (mass>0.f)
m_numDynamicPhysicsInstances++;