68062bdfbd
added alternative batching kernel (slow) tweaked controls a bit added command-line options --selected_demo=<int> and --new_batching started looking into parallel 3d sap
41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
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#ifndef BT_GPU_BATCHING_PGS_SOLVER_H
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#define BT_GPU_BATCHING_PGS_SOLVER_H
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#include "../../basic_initialize/btOpenCLInclude.h"
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#include "../../parallel_primitives/host/btOpenCLArray.h"
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#include "../../gpu_sat/host/btRigidBodyCL.h"
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#include "../../gpu_sat/host/btContact4.h"
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#include "btGpuConstraint4.h"
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class btGpuBatchingPgsSolver
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{
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protected:
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struct btGpuBatchingPgsSolverInternalData* m_data;
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void batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* n, btOpenCLArray<unsigned int>* offsets, int staticIdx );
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inline int sortConstraintByBatch( btContact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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inline int sortConstraintByBatch2( btContact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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inline int sortConstraintByBatch3( btContact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
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void solveContactConstraint( const btOpenCLArray<btRigidBodyCL>* bodyBuf, const btOpenCLArray<btInertiaCL>* shapeBuf,
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btOpenCLArray<btGpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations);
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public:
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btGpuBatchingPgsSolver(cl_context ctx,cl_device_id device, cl_command_queue q,int pairCapacity);
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virtual ~btGpuBatchingPgsSolver();
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void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct btConfig& config);
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};
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#endif //BT_GPU_BATCHING_PGS_SOLVER_H
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