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Code Issues Releases Wiki Activity

remove dynamic OpenCL allocations at run-time

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This commit is contained in:
erwin coumans 2013-07-12 16:00:25 -07:00
parent 74aa499ab6
commit 0fcdd290f5
7 changed files with 87 additions and 65 deletions
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15
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@ -18,6 +18,7 @@ m_queue(q),
m_allAabbsGPU(ctx,q),
m_smallAabbsGPU(ctx,q),
m_largeAabbsGPU(ctx,q),
m_pairCount(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q),
@ -260,7 +261,7 @@ void b3GpuSapBroadphase::reset()
m_smallAabbsGPU.resize(0);
m_smallAabbsCPU.resize(0);
m_pairCount.resize(0);
m_largeAabbsGPU.resize(0);
m_largeAabbsCPU.resize(0);
}
@ -404,8 +405,8 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
m_overlappingPairs.resize(maxPairs);
b3OpenCLArray<int> pairCount(m_context, m_queue);
pairCount.push_back(0);
m_pairCount.resize(0);
m_pairCount.push_back(0);
int numPairs=0;
{
@ -413,7 +414,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
if (numLargeAabbs && numSmallAabbs)
{
B3_PROFILE("sap2Kernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(pairCount.getBufferCL())};
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
b3LauncherCL launcher(m_queue, m_sap2Kernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numLargeAabbs );
@ -423,7 +424,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
//@todo: use actual maximum work item sizes of the device instead of hardcoded values
launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
numPairs = pairCount.at(0);
numPairs = m_pairCount.at(0);
if (numPairs >maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
@ -434,7 +435,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
if (m_gpuSmallSortedAabbs.size())
{
B3_PROFILE("sapKernel");
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(pairCount.getBufferCL())};
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
b3LauncherCL launcher(m_queue, m_sapKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numSmallAabbs );
@ -469,7 +470,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
launcher.launch1D( num);
clFinish(m_queue);
numPairs = pairCount.at(0);
numPairs = m_pairCount.at(0);
if (numPairs>maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
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@ -29,7 +29,9 @@ class b3GpuSapBroadphase
int m_currentBuffer;
public:
b3OpenCLArray<int> m_pairCount;
b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;

100
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@ -56,7 +56,15 @@ GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_
m_device(device),
m_queue(q),
m_findSeparatingAxisKernel(0),
m_totalContactsOut(m_context, m_queue)
m_totalContactsOut(m_context, m_queue),
m_sepNormals(m_context, m_queue),
m_hasSeparatingNormals(m_context, m_queue),
m_concaveSepNormals(m_context, m_queue),
m_numConcavePairsOut(m_context, m_queue),
m_gpuCompoundPairs(m_context, m_queue),
m_gpuCompoundSepNormals(m_context, m_queue),
m_gpuHasCompoundSepNormals(m_context, m_queue),
m_numCompoundPairsOut(m_context, m_queue)
{
m_totalContactsOut.push_back(0);
@ -1866,31 +1874,25 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("computeConvexConvexContactsGPUSAT");
// printf("nContacts = %d\n",nContacts);
b3OpenCLArray<b3Vector3> sepNormals(m_context,m_queue);
sepNormals.resize(nPairs);
b3OpenCLArray<int> hasSeparatingNormals(m_context,m_queue);
hasSeparatingNormals.resize(nPairs);
m_sepNormals.resize(nPairs);
m_hasSeparatingNormals.resize(nPairs);
int concaveCapacity=maxTriConvexPairCapacity;
b3OpenCLArray<b3Vector3> concaveSepNormals(m_context,m_queue);
concaveSepNormals.resize(concaveCapacity);
m_concaveSepNormals.resize(concaveCapacity);
b3OpenCLArray<int> numConcavePairsOut(m_context,m_queue);
numConcavePairsOut.push_back(0);
m_numConcavePairsOut.push_back(0);
int compoundPairCapacity=65536*10;
b3OpenCLArray<b3CompoundOverlappingPair> gpuCompoundPairs(m_context,m_queue);
gpuCompoundPairs.resize(compoundPairCapacity);
m_gpuCompoundPairs.resize(compoundPairCapacity);
b3OpenCLArray<b3Vector3> gpuCompoundSepNormals(m_context,m_queue);
gpuCompoundSepNormals.resize(compoundPairCapacity);
m_gpuCompoundSepNormals.resize(compoundPairCapacity);
b3OpenCLArray<int> gpuHasCompoundSepNormals(m_context,m_queue);
gpuHasCompoundSepNormals.resize(compoundPairCapacity);
m_gpuHasCompoundSepNormals.resize(compoundPairCapacity);
b3OpenCLArray<int> numCompoundPairsOut(m_context,m_queue);
numCompoundPairsOut.push_back(0);
m_numCompoundPairsOut.resize(0);
m_numCompoundPairsOut.push_back(0);
int numCompoundPairs = 0;
@ -1914,8 +1916,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL())
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
@ -1937,14 +1939,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
if (treeNodesGPU->size() && treeNodesGPU->size())
{
B3_PROFILE("m_bvhTraversalKernel");
numConcavePairs = numConcavePairsOut.at(0);
numConcavePairs = m_numConcavePairsOut.at(0);
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL());
launcher.setBuffer( clAabbsWS.getBufferCL());
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setBuffer( m_numConcavePairsOut.getBufferCL());
launcher.setBuffer( subTreesGPU->getBufferCL());
launcher.setBuffer( treeNodesGPU->getBufferCL());
launcher.setBuffer( bvhInfo->getBufferCL());
@ -1954,7 +1956,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
numConcavePairs = numConcavePairsOut.at(0);
numConcavePairs = m_numConcavePairsOut.at(0);
if (numConcavePairs > maxTriConvexPairCapacity)
{
@ -1979,7 +1981,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL())
b3BufferInfoCL( m_concaveSepNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
@ -1992,7 +1994,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
clFinish(m_queue);
// b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
// concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
// b3AlignedObjectArray<b3Int4> cpuConcavePairs;
// triangleConvexPairsOut.copyToHost(cpuConcavePairs);
@ -2002,7 +2004,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
}
}
numCompoundPairs = numCompoundPairsOut.at(0);
numCompoundPairs = m_numCompoundPairsOut.at(0);
if (1)
{
@ -2019,8 +2021,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( numCompoundPairsOut.getBufferCL())
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
@ -2034,14 +2036,14 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
}
numCompoundPairs = numCompoundPairsOut.at(0);
numCompoundPairs = m_numCompoundPairsOut.at(0);
//printf("numCompoundPairs =%d\n",numCompoundPairs );
if (numCompoundPairs > compoundPairCapacity)
numCompoundPairs = compoundPairCapacity;
gpuCompoundPairs.resize(numCompoundPairs);
gpuHasCompoundSepNormals.resize(numCompoundPairs);
gpuCompoundSepNormals.resize(numCompoundPairs);
m_gpuCompoundPairs.resize(numCompoundPairs);
m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
m_gpuCompoundSepNormals.resize(numCompoundPairs);
if (numCompoundPairs)
@ -2050,7 +2052,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("processCompoundPairsPrimitivesKernel");
b3BufferInfoCL bInfo[] =
{
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
@ -2083,7 +2085,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
B3_PROFILE("processCompoundPairsKernel");
b3BufferInfoCL bInfo[] =
{
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
@ -2093,8 +2095,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( clAabbsWS.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())
b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL()),
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
};
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel);
@ -2192,7 +2194,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( concaveSepNormals.getBufferCL()),
b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
@ -2256,8 +2258,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
@ -2283,13 +2285,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
{
B3_PROFILE("clipFacesAndContactReductionKernel");
//nContacts = m_totalContactsOut.at(0);
//int h = hasSeparatingNormals.at(0);
//int h = m_hasSeparatingNormals.at(0);
//int4 p = clippingFacesOutGPU.at(0);
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
@ -2334,8 +2336,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
{
b3BufferInfoCL( pairs->getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
@ -2373,8 +2375,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( sepNormals.getBufferCL()),
b3BufferInfoCL( hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( m_sepNormals.getBufferCL()),
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};
@ -2389,12 +2391,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
contactOut->resize(nContacts);
}
int nCompoundsPairs = gpuCompoundPairs.size();
int nCompoundsPairs = m_gpuCompoundPairs.size();
if (nCompoundsPairs)
{
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ),
b3BufferInfoCL( bodyBuf->getBufferCL(),true),
b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
b3BufferInfoCL( convexData.getBufferCL(),true),
@ -2403,8 +2405,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const b3OpenCLArray<b3I
b3BufferInfoCL( gpuFaces.getBufferCL(),true),
b3BufferInfoCL( gpuIndices.getBufferCL(),true),
b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
b3BufferInfoCL( gpuCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( gpuHasCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL(),true),
b3BufferInfoCL( contactOut->getBufferCL()),
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
};

10
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
View File

@ -61,6 +61,16 @@ struct GpuSatCollision
b3OpenCLArray<int> m_totalContactsOut;
b3OpenCLArray<b3Vector3> m_sepNormals;
b3OpenCLArray<int> m_hasSeparatingNormals;
b3OpenCLArray<b3Vector3> m_concaveSepNormals;
b3OpenCLArray<int> m_numConcavePairsOut;
b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
b3OpenCLArray<int> m_numCompoundPairsOut;
GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q );
virtual ~GpuSatCollision();

8
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
View File

@ -33,7 +33,9 @@ m_queue(queue)
m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>;
m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context,m_queue, config.m_maxTriConvexPairCapacity);
//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
@ -110,6 +112,7 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
{
delete m_data->m_gpuSatCollision;
delete m_data->m_pBufPairsCPU;
delete m_data->m_triangleConvexPairs;
//delete m_data->m_convexPairsOutGPU;
//delete m_data->m_planePairs;
delete m_data->m_pBufContactOutCPU;
@ -722,7 +725,6 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
int nContactOut = 0;
int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
b3OpenCLArray<b3Int4> triangleConvexPairs(m_context,m_queue, maxTriConvexPairCapacity);
int numTriConvexPairsOut=0;
b3OpenCLArray<b3Int2> broadphasePairsGPU(m_context,m_queue);
@ -755,7 +757,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
m_data->m_bvhInfoGPU,
numObjects,
maxTriConvexPairCapacity,
triangleConvexPairs,
*m_data->m_triangleConvexPairs,
numTriConvexPairsOut
);

1
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
View File

@ -51,6 +51,7 @@ struct b3GpuNarrowPhaseInternalData
struct GpuSatCollision* m_gpuSatCollision;
b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU;
b3OpenCLArray<b3Int4>* m_triangleConvexPairs;
//b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
//b3OpenCLArray<b3Int2>* m_planePairs;

14
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
View File

@ -56,6 +56,8 @@ struct b3GpuPgsJacobiSolverInternalData
cl_kernel m_getInfo2Kernel;
cl_kernel m_writeBackVelocitiesKernel;
b3OpenCLArray<unsigned int>* m_dst;
b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies;
b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints;
b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows;
@ -123,6 +125,8 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx,device,queue);
m_gpuData->m_dst = new b3OpenCLArray<unsigned int>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
@ -130,7 +134,7 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
cl_int errNum=0;
{
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH);
cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH,true);
b3Assert(errNum==CL_SUCCESS);
m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog);
b3Assert(errNum==CL_SUCCESS);
@ -164,6 +168,7 @@ b3GpuPgsJacobiSolver::~b3GpuPgsJacobiSolver ()
clReleaseKernel(m_gpuData->m_writeBackVelocitiesKernel);
delete m_gpuData->m_prefixScan;
delete m_gpuData->m_dst;
delete m_gpuData->m_gpuSolverBodies;
delete m_gpuData->m_gpuBatchConstraints;
delete m_gpuData->m_gpuConstraintRows;
@ -292,10 +297,9 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
if (1)
{
//m_gpuData->m_gpuConstraintInfo1->copyToHost(m_tmpConstraintSizesPool);
b3OpenCLArray<unsigned int> dst(m_gpuData->m_context,m_gpuData->m_queue);
dst.resize(numConstraints);
m_gpuData->m_dst->resize(numConstraints);
unsigned int total=0;
m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,dst,numConstraints,&total);
m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,*m_gpuData->m_dst,numConstraints,&total);
unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints-1);
//b3AlignedObjectArray<unsigned int> dstHost;
//dst.copyToHost(dstHost);
@ -304,7 +308,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
{
B3_PROFILE("init batch constraints");
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel);
launcher.setBuffer(dst.getBufferCL());
launcher.setBuffer(m_gpuData->m_dst->getBufferCL());
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
launcher.setConst(numConstraints);
launcher.launch1D(numConstraints);