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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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28
opencl/gpu_rigidbody/host/b3GpuBatchingPgsSolver.cpp
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@@ -2,7 +2,7 @@
#include "b3GpuBatchingPgsSolver.h"
#include "../../parallel_primitives/host/btRadixSort32CL.h"
#include "BulletCommon/btQuickprof.h"
#include "BulletCommon/b3Quickprof.h"
#include "../../parallel_primitives/host/btLauncherCL.h"
#include "../../parallel_primitives/host/btBoundSearchCL.h"
#include "../../parallel_primitives/host/btPrefixScanCL.h"
@@ -76,9 +76,9 @@ struct btGpuBatchingPgsSolverInternalData
btOpenCLArray<b3Contact4>* m_pBufContactOutGPU;
btAlignedObjectArray<unsigned int> m_idxBuffer;
btAlignedObjectArray<btSortData> m_sortData;
btAlignedObjectArray<b3Contact4> m_old;
b3AlignedObjectArray<unsigned int> m_idxBuffer;
b3AlignedObjectArray<btSortData> m_sortData;
b3AlignedObjectArray<b3Contact4> m_old;
};
@@ -519,7 +519,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
btOpenCLArray<btSortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
this->m_data->m_solverGPU->m_sort32->execute(keyValuesInOut);
/*btAlignedObjectArray<btSortData> hostValues;
/*b3AlignedObjectArray<btSortData> hostValues;
keyValuesInOut.copyToHost(hostValues);
printf("hostValues.size=%d\n",hostValues.size());
*/
@@ -596,15 +596,15 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
} else
{
BT_PROFILE("cpu batchContacts");
btAlignedObjectArray<b3Contact4> cpuContacts;
b3AlignedObjectArray<b3Contact4> cpuContacts;
btOpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
contactsIn->copyToHost(cpuContacts);
btOpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
btOpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
btAlignedObjectArray<unsigned int> nNativeHost;
btAlignedObjectArray<unsigned int> offsetsNativeHost;
b3AlignedObjectArray<unsigned int> nNativeHost;
b3AlignedObjectArray<unsigned int> offsetsNativeHost;
{
BT_PROFILE("countsNative/offsetsNative copyToHost");
@@ -641,7 +641,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
{
BT_PROFILE("m_contactBuffer->copyFromHost");
m_data->m_solverGPU->m_contactBuffer2->copyFromHost((btAlignedObjectArray<b3Contact4>&)cpuContacts);
m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts);
}
}
@@ -724,19 +724,19 @@ static bool sortfnc(const btSortData& a,const btSortData& b)
btAlignedObjectArray<int> bodyUsed;
b3AlignedObjectArray<int> bodyUsed;
btAlignedObjectArray<unsigned int> idxBuffer;
btAlignedObjectArray<btSortData> sortData;
btAlignedObjectArray<b3Contact4> old;
b3AlignedObjectArray<unsigned int> idxBuffer;
b3AlignedObjectArray<btSortData> sortData;
b3AlignedObjectArray<b3Contact4> old;
inline int b3GpuBatchingPgsSolver::sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies)
{
btAlignedObjectArray<int> bodyUsed;
b3AlignedObjectArray<int> bodyUsed;
bodyUsed.resize(numBodies);
for (int q=0;q<numBodies;q++)
bodyUsed[q]=0;