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share more data structures and code between OpenCL and C/C++ on CPU:

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move the setConstraint4/b3ConvertConstraint4 to shared code.
This commit is contained in:
erwin coumans
2013-11-07 12:46:01 -08:00
parent a9a758dd54
commit e20cb22832
16 changed files with 1249 additions and 908 deletions
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183
src/Bullet3OpenCL/RigidBody/b3Solver.cpp
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@@ -18,6 +18,7 @@ subject to the following restrictions:
///useNewBatchingKernel is a rewritten kernel using just a single thread of the warp, for experiments
bool useNewBatchingKernel = false;
bool convertConstraintOnCpu = false;//true;
#define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl"
#define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl"
@@ -26,6 +27,7 @@ bool useNewBatchingKernel = false;
#define B3_BATCHING_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl"
#define B3_BATCHING_NEW_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl"
#include "Bullet3Dynamics/shared/b3ConvertConstraint4.h"
#include "kernels/solverSetup.h"
#include "kernels/solverSetup2.h"
@@ -203,103 +205,6 @@ b3Solver::~b3Solver()
/*void b3Solver::reorderConvertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
int nContacts, const b3Solver::ConstraintCfg& cfg )
{
if( m_contactBuffer )
{
m_contactBuffer->resize(nContacts);
}
if( m_contactBuffer == 0 )
{
B3_PROFILE("new m_contactBuffer;");
m_contactBuffer = new b3OpenCLArray<b3Contact4>(m_context,m_queue,nContacts );
m_contactBuffer->resize(nContacts);
}
//DeviceUtils::Config dhCfg;
//Device* deviceHost = DeviceUtils::allocate( TYPE_HOST, dhCfg );
if( cfg.m_enableParallelSolve )
{
clFinish(m_queue);
// contactsIn -> m_contactBuffer
{
B3_PROFILE("sortContacts");
sortContacts( bodyBuf, contactsIn, additionalData, nContacts, cfg );
clFinish(m_queue);
}
{
B3_PROFILE("m_copyConstraintKernel");
b3Int4 cdata; cdata.x = nContacts;
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_contactBuffer->getBufferCL() ), b3BufferInfoCL( contactsIn->getBufferCL() ) };
// b3LauncherCL launcher( m_queue, data->m_device->getKernel( PATH, "CopyConstraintKernel", "-I ..\\..\\ -Wf,--c++", 0 ) );
b3LauncherCL launcher( m_queue, m_copyConstraintKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
launcher.launch1D( nContacts, 64 );
clFinish(m_queue);
}
{
B3_PROFILE("batchContacts");
b3Solver::batchContacts( contactsIn, nContacts, m_numConstraints, m_offsets, cfg.m_staticIdx );
}
}
{
B3_PROFILE("waitForCompletion (batchContacts)");
clFinish(m_queue);
}
//================
{
B3_PROFILE("convertToConstraints");
b3Solver::convertToConstraints( bodyBuf, shapeBuf, contactsIn, contactCOut, additionalData, nContacts, cfg );
}
{
B3_PROFILE("convertToConstraints waitForCompletion");
clFinish(m_queue);
}
}
*/
static
inline
float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
{
return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
}
static
inline
void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
{
linear = -n;
angular0 = -b3Cross(r0, n);
angular1 = b3Cross(r1, n);
}
template<bool JACOBI>
static
__inline
@@ -323,7 +228,7 @@ void solveContact(b3GpuConstraint4& cs,
b3Vector3 angular0, angular1, linear;
b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
setLinearAndAngular( (const b3Vector3 &)-cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, linear, angular0, angular1 );
setLinearAndAngular( (const b3Vector3 &)cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, &linear, &angular0, &angular1 );
float rambdaDt = calcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB ) + cs.m_b[ic];
@@ -407,7 +312,7 @@ void solveContact(b3GpuConstraint4& cs,
b3Vector3 r1 = center - posB;
for(int i=0; i<2; i++)
{
setLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 );
setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );
float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB );
rambdaDt *= cs.m_fJacCoeffInv[i];
@@ -1066,28 +971,78 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
};
{
B3_PROFILE("m_contactToConstraintKernel");
CB cdata;
cdata.m_nContacts = nContacts;
cdata.m_dt = cfg.m_dt;
cdata.m_positionDrift = cfg.m_positionDrift;
cdata.m_positionConstraintCoeff = cfg.m_positionConstraintCoeff;
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( shapeBuf->getBufferCL()),
b3BufferInfoCL( contactCOut->getBufferCL() )};
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata );
launcher.setConst(cdata.m_nContacts);
launcher.setConst(cdata.m_dt);
launcher.setConst(cdata.m_positionDrift);
launcher.setConst(cdata.m_positionConstraintCoeff);
launcher.launch1D( nContacts, 64 );
clFinish(m_queue);
b3AlignedObjectArray<b3RigidBodyCL> gBodies;
bodyBuf->copyToHost(gBodies);
b3AlignedObjectArray<b3Contact4> gContact;
contactsIn->copyToHost(gContact);
b3AlignedObjectArray<b3InertiaCL> gShapes;
shapeBuf->copyToHost(gShapes);
b3AlignedObjectArray<b3GpuConstraint4> gConstraintOut;
gConstraintOut.resize(nContacts);
if (convertConstraintOnCpu)
{
B3_PROFILE("cpu contactToConstraintKernel");
for (int gIdx=0;gIdx<nContacts;gIdx++)
{
int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
b3Float4 posA = gBodies[aIdx].m_pos;
b3Float4 linVelA = gBodies[aIdx].m_linVel;
b3Float4 angVelA = gBodies[aIdx].m_angVel;
float invMassA = gBodies[aIdx].m_invMass;
b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;
b3Float4 posB = gBodies[bIdx].m_pos;
b3Float4 linVelB = gBodies[bIdx].m_linVel;
b3Float4 angVelB = gBodies[bIdx].m_angVel;
float invMassB = gBodies[bIdx].m_invMass;
b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;
b3ContactConstraint4_t cs;
setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
&gContact[gIdx], cdata.m_dt, cdata.m_positionDrift, cdata.m_positionConstraintCoeff,
&cs );
cs.m_batchIdx = gContact[gIdx].m_batchIdx;
gConstraintOut[gIdx] = (b3GpuConstraint4&)cs;
}
contactCOut->copyFromHost(gConstraintOut);
} else
{
B3_PROFILE("gpu m_contactToConstraintKernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( shapeBuf->getBufferCL()),
b3BufferInfoCL( contactCOut->getBufferCL() )};
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata );
launcher.setConst(cdata.m_nContacts);
launcher.setConst(cdata.m_dt);
launcher.setConst(cdata.m_positionDrift);
launcher.setConst(cdata.m_positionConstraintCoeff);
launcher.launch1D( nContacts, 64 );
clFinish(m_queue);
}
}