mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
add some command-line options
--use_jacobi --allow_opencl_cpu b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel b3SetCustomErrorMessageFunc, printf error and exit(0)
This commit is contained in:
parent
54909160a7
commit
26dfaa441e
@ -5,6 +5,8 @@
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#include "OpenGLWindow/ShapeData.h"
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#include "OpenGLWindow/GLInstancingRenderer.h"
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bool gAllowCpuOpenCL = false;
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GpuDemo::GpuDemo()
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:m_clData(0)
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{
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@ -32,6 +34,8 @@ void GpuDemo::exitCL()
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}
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void GpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
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{
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void* glCtx=0;
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@ -40,11 +44,10 @@ void GpuDemo::initCL(int preferredDeviceIndex, int preferredPlatformIndex)
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int ciErrNum = 0;
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//#ifdef CL_PLATFORM_INTEL
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//cl_device_type deviceType = CL_DEVICE_TYPE_ALL;
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//#else
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cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
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//#endif
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if (gAllowCpuOpenCL)
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deviceType = CL_DEVICE_TYPE_ALL;
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@ -363,7 +363,7 @@ void ParticleDemo::clientMoveAndDisplay()
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b3BufferInfoCL( m_data->m_clPositionBuffer)
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};
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel );
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel,"m_updatePositionsKernel" );
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numParticles);
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@ -382,7 +382,7 @@ void ParticleDemo::clientMoveAndDisplay()
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b3BufferInfoCL( m_data->m_simParamGPU->getBufferCL(),true)
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};
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel2 );
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel2 ,"m_updatePositionsKernel2");
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launcher.setConst( numParticles);
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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@ -401,7 +401,7 @@ void ParticleDemo::clientMoveAndDisplay()
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b3BufferInfoCL( m_data->m_broadphaseGPU->getAabbBufferWS()),
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};
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbsKernel );
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbsKernel,"m_updateAabbsKernel" );
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( m_data->m_simParamCPU[0].m_particleRad);
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launcher.setConst( numParticles);
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@ -428,7 +428,7 @@ void ParticleDemo::clientMoveAndDisplay()
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b3BufferInfoCL( m_data->m_broadphaseGPU->getOverlappingPairBuffer(),true),
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};
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_collideParticlesKernel);
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_collideParticlesKernel,"m_collideParticlesKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numPairsGPU);
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launcher.launch1D( numPairsGPU);
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@ -431,7 +431,7 @@ void PairBench::clientMoveAndDisplay()
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if (1)
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{
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_sineWaveKernel);
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_sineWaveKernel,"m_sineWaveKernel");
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setBuffer(m_data->m_bodyTimes->getBufferCL() );
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launcher.setConst( numObjects);
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@ -441,7 +441,7 @@ void PairBench::clientMoveAndDisplay()
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else
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{
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_moveObjectsKernel);
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_moveObjectsKernel,"m_moveObjectsKernel");
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setConst( numObjects);
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launcher.launch1D( numObjects);
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@ -455,7 +455,7 @@ void PairBench::clientMoveAndDisplay()
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if (updateOnGpu)
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{
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B3_PROFILE("updateOnGpu");
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple,"m_updateAabbSimple");
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setConst( numObjects);
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launcher.setBuffer(m_data->m_broadphaseGPU->getAabbBufferWS());
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@ -542,7 +542,7 @@ void PairBench::clientMoveAndDisplay()
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int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
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cl_mem pairBuf = m_data->m_broadphaseGPU->getOverlappingPairBuffer();
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_colorPairsKernel);
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_colorPairsKernel,"m_colorPairsKernel");
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setConst( numObjects);
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launcher.setBuffer( pairBuf);
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@ -57,14 +57,23 @@ extern char OpenSansData[];
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extern char* gPairBenchFileName;
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extern float shadowMapWidth;
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extern float shadowMapHeight;
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extern bool gDebugLauncherCL;
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extern bool gAllowCpuOpenCL;
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extern bool gDebugForceLoadingFromSource;
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extern bool gDebugSkipLoadingBinary;
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extern bool useShadowMap;
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extern float shadowMapWorldSize;
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extern bool useJacobi;
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extern bool gUseJacobi;
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extern bool useUniformGrid;
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extern bool gUseDbvt;
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extern bool gDumpContactStats;
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extern bool gCalcWorldSpaceAabbOnCpu;
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extern bool gUseCalculateOverlappingPairsHost;
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extern bool gIntegrateOnCpu;
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extern bool gConvertConstraintOnCpu;
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static void MyResizeCallback( float width, float height)
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{
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g_OpenGLWidth = width;
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@ -91,7 +100,7 @@ enum
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};
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b3AlignedObjectArray<const char*> demoNames;
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int selectedDemo = 0;
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int selectedDemo = 1;
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GpuDemo::CreateFunc* allDemos[]=
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{
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//ConcaveCompound2Scene::MyCreateFunc,
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@ -554,6 +563,11 @@ void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName
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#include "Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
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void MyErrorFunc(const char* msg)
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{
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printf("Error: %s\n",msg);
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exit(0);
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}
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int main(int argc, char* argv[])
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{
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@ -566,6 +580,7 @@ int main(int argc, char* argv[])
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int sz6 = sizeof(b3Transform);
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//b3OpenCLUtils::setCachePath("/Users/erwincoumans/develop/mycache");
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b3SetCustomErrorMessageFunc(MyErrorFunc);
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b3SetCustomEnterProfileZoneFunc(b3ProfileManager::Start_Profile);
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b3SetCustomLeaveProfileZoneFunc(b3ProfileManager::Stop_Profile);
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@ -608,9 +623,8 @@ int main(int argc, char* argv[])
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}
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args.GetCmdLineArgument("pair_benchmark_file",gPairBenchFileName);
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useJacobi = args.CheckCmdLineFlag("use_jacobi");
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useUniformGrid = args.CheckCmdLineFlag("use_uniform_grid");
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gDebugLauncherCL = args.CheckCmdLineFlag("debug_kernel_launch");
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dump_timings=args.CheckCmdLineFlag("dump_timings");
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ci.useOpenCL = !args.CheckCmdLineFlag("disable_opencl");
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@ -622,6 +636,21 @@ int main(int argc, char* argv[])
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ci.m_useInstancedCollisionShapes = !args.CheckCmdLineFlag("no_instanced_collision_shapes");
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args.GetCmdLineArgument("cl_device", ci.preferredOpenCLDeviceIndex);
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args.GetCmdLineArgument("cl_platform", ci.preferredOpenCLPlatformIndex);
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gAllowCpuOpenCL = args.CheckCmdLineFlag("allow_opencl_cpu");
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gUseJacobi = args.CheckCmdLineFlag("use_jacobi");
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gUseDbvt = args.CheckCmdLineFlag("use_dbvt");
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gDumpContactStats = args.CheckCmdLineFlag("dump_contact_stats");
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gCalcWorldSpaceAabbOnCpu = args.CheckCmdLineFlag("calc_aabb_cpu");
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gUseCalculateOverlappingPairsHost = args.CheckCmdLineFlag("calc_pairs_cpu");
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gIntegrateOnCpu = args.CheckCmdLineFlag("integrate_cpu");
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gConvertConstraintOnCpu = args.CheckCmdLineFlag("convert_constraints_cpu");
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useUniformGrid = args.CheckCmdLineFlag("use_uniform_grid");
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args.GetCmdLineArgument("x_dim", ci.arraySizeX);
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args.GetCmdLineArgument("y_dim", ci.arraySizeY);
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args.GetCmdLineArgument("z_dim", ci.arraySizeZ);
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@ -251,7 +251,7 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
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B3_PROFILE("cl2gl_convert");
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int ciErrNum = 0;
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cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
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b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
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b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel,"m_copyTransformsToVBOKernel");
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launch.setBuffer(bodies);
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launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
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launch.setConst(numObjects);
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@ -255,7 +255,7 @@ void GpuSoftBodyDemo::clientMoveAndDisplay()
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B3_PROFILE("cl2gl_convert");
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int ciErrNum = 0;
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cl_mem bodies = m_data->m_rigidBodyPipeline->getBodyBuffer();
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b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel);
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b3LauncherCL launch(m_clData->m_clQueue,m_data->m_copyTransformsToVBOKernel,"m_copyTransformsToVBOKernel");
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launch.setBuffer(bodies);
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launch.setBuffer(m_data->m_instancePosOrnColor->getBufferCL());
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launch.setConst(numObjects);
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@ -163,7 +163,8 @@ public:
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cl_device_type deviceType = CL_DEVICE_TYPE_ALL;
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cl_int errNum;
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cl_context context = b3OpenCLUtils::createContextFromPlatform(platform,deviceType,&errNum);
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if (context)
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{
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Gwen::UnicodeString strIn = Gwen::Utility::StringToUnicode(platformInfo.m_platformName);
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Gwen::UnicodeString txt = Gwen::Utility::Format( L"Platform %d (",i)+strIn + Gwen::Utility::Format(L")");
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@ -305,7 +306,7 @@ public:
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}
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}
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}
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}
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/*
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@ -165,7 +165,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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b3BufferInfoCL( m_smallAabbsGPU.getBufferCL()),
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};
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel );
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel,"m_copyAabbsKernel" );
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs );
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int num = numSmallAabbs;
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@ -185,7 +185,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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b3BufferInfoCL( m_largeAabbsGPU.getBufferCL()),
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};
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel );
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel ,"m_copyAabbsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numLargeAabbs );
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int num = numLargeAabbs;
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@ -212,7 +212,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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b3BufferInfoCL( m_smallAabbsGPU.getBufferCL() ),
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b3BufferInfoCL( m_gpuPairs.getBufferCL() ),
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b3BufferInfoCL(pairCount.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_sap2Kernel);
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b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numLargeAabbs );
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launcher.setConst( numSmallAabbs);
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@ -239,7 +239,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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m_hashGpu.resize(numSmallAabbs);
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{
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B3_PROFILE("kCalcHashAABB");
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b3LauncherCL launch(m_queue,kCalcHashAABB);
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b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
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launch.setConst(numSmallAabbs);
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launch.setBuffer(m_smallAabbsGPU.getBufferCL());
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launch.setBuffer(m_hashGpu.getBufferCL());
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@ -256,7 +256,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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B3_PROFILE("kClearCellStart");
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b3LauncherCL launch(m_queue,kClearCellStart);
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b3LauncherCL launch(m_queue,kClearCellStart,"kClearCellStart");
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launch.setConst(numCells);
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.launch1D(numCells);
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@ -268,7 +268,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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B3_PROFILE("kFindCellStart");
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b3LauncherCL launch(m_queue,kFindCellStart);
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b3LauncherCL launch(m_queue,kFindCellStart,"kFindCellStart");
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launch.setConst(numSmallAabbs);
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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@ -303,7 +303,7 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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pairStartCurGpu.copyFromHost(pairStartCpu);
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b3LauncherCL launch(m_queue,kFindOverlappingPairs);
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b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs");
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launch.setConst(numSmallAabbs);
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launch.setBuffer(m_smallAabbsGPU.getBufferCL());
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launch.setBuffer(m_hashGpu.getBufferCL());
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@ -461,7 +461,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
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{
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B3_PROFILE("launch1D");
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b3LauncherCL launcher(m_queue, m_computePairsIncremental3dSapKernel);
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b3LauncherCL launcher(m_queue, m_computePairsIncremental3dSapKernel,"m_computePairsIncremental3dSapKernel");
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launcher.setBuffer(m_objectMinMaxIndexGPUaxis0.getBufferCL());
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launcher.setBuffer(m_objectMinMaxIndexGPUaxis1.getBufferCL());
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launcher.setBuffer(m_objectMinMaxIndexGPUaxis2.getBufferCL());
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@ -1040,7 +1040,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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b3BufferInfoCL( m_smallAabbsGPU.getBufferCL()),
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};
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel );
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel ,"m_copyAabbsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs );
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int num = numSmallAabbs;
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@ -1063,7 +1063,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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m_sum2.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
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}
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b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel );
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b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel ,"m_prepareSumVarianceKernel");
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launcher.setBuffer(m_smallAabbsGPU.getBufferCL());
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launcher.setBuffer(m_sum.getBufferCL());
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launcher.setBuffer(m_sum2.getBufferCL());
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@ -1117,7 +1117,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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b3BufferInfoCL( m_largeAabbsGPU.getBufferCL()),
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};
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel );
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel ,"m_copyAabbsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numLargeAabbs );
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int num = numLargeAabbs;
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@ -1140,7 +1140,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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B3_PROFILE("flipFloatKernel");
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b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_smallAabbsGPU.getBufferCL(), true ), b3BufferInfoCL( m_gpuSmallSortData.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_flipFloatKernel );
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b3LauncherCL launcher(m_queue, m_flipFloatKernel ,"m_flipFloatKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs );
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launcher.setConst( axis );
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@ -1162,7 +1162,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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B3_PROFILE("scatterKernel");
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b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_smallAabbsGPU.getBufferCL(), true ), b3BufferInfoCL( m_gpuSmallSortData.getBufferCL(),true),b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_scatterKernel );
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b3LauncherCL launcher(m_queue, m_scatterKernel ,"m_scatterKernel ");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs);
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int num = numSmallAabbs;
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@ -1184,7 +1184,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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B3_PROFILE("sap2Kernel");
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b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_sap2Kernel);
|
||||
b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numLargeAabbs );
|
||||
launcher.setConst( numSmallAabbs);
|
||||
@ -1205,7 +1205,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
|
||||
{
|
||||
B3_PROFILE("sapKernel");
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
|
||||
b3LauncherCL launcher(m_queue, m_sapKernel);
|
||||
b3LauncherCL launcher(m_queue, m_sapKernel,"m_sapKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numSmallAabbs );
|
||||
launcher.setConst( axis );
|
||||
|
@ -2898,11 +2898,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
|
||||
{
|
||||
//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
|
||||
//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
|
||||
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
|
||||
int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
|
||||
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
|
||||
oldHostContacts);
|
||||
int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
|
||||
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
|
||||
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
|
||||
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
|
||||
// oldHostContacts);
|
||||
|
||||
|
||||
if (contactIndex>=0)
|
||||
@ -2954,7 +2954,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_primitiveContactsKernel);
|
||||
b3LauncherCL launcher(m_queue, m_primitiveContactsKernel,"m_primitiveContactsKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nPairs );
|
||||
launcher.setConst(maxContactCapacity);
|
||||
@ -3020,7 +3020,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel);
|
||||
b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel,"m_findSeparatingAxisKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nPairs );
|
||||
|
||||
@ -3043,7 +3043,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
|
||||
numConcavePairs = m_numConcavePairsOut.at(0);
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel);
|
||||
b3LauncherCL launcher(m_queue, m_bvhTraversalKernel,"m_bvhTraversalKernel");
|
||||
launcher.setBuffer( pairs->getBufferCL());
|
||||
launcher.setBuffer( bodyBuf->getBufferCL());
|
||||
launcher.setBuffer( gpuCollidables.getBufferCL());
|
||||
@ -3088,7 +3088,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_concaveSepNormals.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel);
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
|
||||
launcher.setConst( numConcavePairs );
|
||||
@ -3132,7 +3132,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL(bvhInfo->getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel);
|
||||
b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel,"m_findCompoundPairsKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nPairs );
|
||||
launcher.setConst( compoundPairCapacity);
|
||||
@ -3263,7 +3263,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel);
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel,"m_processCompoundPairsPrimitivesKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numCompoundPairs );
|
||||
launcher.setConst(maxContactCapacity);
|
||||
@ -3302,7 +3302,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel);
|
||||
b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel,"m_processCompoundPairsKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numCompoundPairs );
|
||||
|
||||
@ -3348,7 +3348,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel);
|
||||
b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel,"m_findConcaveSphereContactsKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
|
||||
launcher.setConst( numConcavePairs );
|
||||
@ -3406,7 +3406,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( contactOut->getBufferCL()),
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel);
|
||||
b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel,"m_clipHullHullConcaveConvexKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( numConcavePairs );
|
||||
int num = numConcavePairs;
|
||||
@ -3474,7 +3474,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( worldVertsB1GPU.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findClippingFacesKernel);
|
||||
b3LauncherCL launcher(m_queue, m_findClippingFacesKernel,"m_findClippingFacesKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( vertexFaceCapacity);
|
||||
launcher.setConst( nPairs );
|
||||
@ -3509,7 +3509,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel);
|
||||
b3LauncherCL launcher(m_queue, m_clipFacesAndContactReductionKernel,"m_clipFacesAndContactReductionKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(vertexFaceCapacity);
|
||||
|
||||
@ -3552,7 +3552,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_newContactReductionKernel);
|
||||
b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(vertexFaceCapacity);
|
||||
launcher.setConst( nPairs );
|
||||
@ -3588,7 +3588,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( contactOut->getBufferCL()),
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
b3LauncherCL launcher(m_queue, m_clipHullHullKernel);
|
||||
b3LauncherCL launcher(m_queue, m_clipHullHullKernel,"m_clipHullHullKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nPairs );
|
||||
launcher.setConst(maxContactCapacity);
|
||||
@ -3625,7 +3625,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
|
||||
b3BufferInfoCL( contactOut->getBufferCL()),
|
||||
b3BufferInfoCL( m_totalContactsOut.getBufferCL())
|
||||
};
|
||||
b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel);
|
||||
b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel,"m_clipCompoundsHullHullKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nCompoundsPairs );
|
||||
launcher.setConst(maxContactCapacity);
|
||||
|
@ -87,7 +87,7 @@ void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCL
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL()) };
|
||||
|
||||
b3LauncherCL launcher( m_queue, m_lowerSortDataKernel );
|
||||
b3LauncherCL launcher( m_queue, m_lowerSortDataKernel,"m_lowerSortDataKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nSrc );
|
||||
launcher.setConst( nDst );
|
||||
@ -98,7 +98,7 @@ void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCL
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_upperSortDataKernel );
|
||||
b3LauncherCL launcher(m_queue, m_upperSortDataKernel,"m_upperSortDataKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nSrc );
|
||||
launcher.setConst( nDst );
|
||||
@ -122,7 +122,7 @@ void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCL
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_upper->getBufferCL(), true ), b3BufferInfoCL( m_lower->getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher( m_queue, m_subtractKernel );
|
||||
b3LauncherCL launcher( m_queue, m_subtractKernel ,"m_subtractKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( nSrc );
|
||||
launcher.setConst( nDst );
|
||||
|
@ -47,7 +47,7 @@ void b3FillCL::execute(b3OpenCLArray<float>& src, const float value, int n, int
|
||||
b3Assert( n>0 );
|
||||
|
||||
{
|
||||
b3LauncherCL launcher( m_commandQueue, m_fillFloatKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_fillFloatKernel,"m_fillFloatKernel" );
|
||||
launcher.setBuffer( src.getBufferCL());
|
||||
launcher.setConst( n );
|
||||
launcher.setConst( value );
|
||||
@ -63,7 +63,7 @@ void b3FillCL::execute(b3OpenCLArray<int>& src, const int value, int n, int offs
|
||||
|
||||
|
||||
{
|
||||
b3LauncherCL launcher( m_commandQueue, m_fillIntKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_fillIntKernel ,"m_fillIntKernel");
|
||||
launcher.setBuffer(src.getBufferCL());
|
||||
launcher.setConst( n);
|
||||
launcher.setConst( value);
|
||||
@ -80,7 +80,7 @@ void b3FillCL::execute(b3OpenCLArray<unsigned int>& src, const unsigned int valu
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher( m_commandQueue, m_fillUnsignedIntKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_fillUnsignedIntKernel,"m_fillUnsignedIntKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( n );
|
||||
launcher.setConst(value);
|
||||
@ -114,7 +114,7 @@ void b3FillCL::execute(b3OpenCLArray<b3Int2> &src, const b3Int2 &value, int n, i
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher(m_commandQueue, m_fillKernelInt2);
|
||||
b3LauncherCL launcher(m_commandQueue, m_fillKernelInt2,"m_fillKernelInt2");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst(n);
|
||||
launcher.setConst(value);
|
||||
|
287
src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
Normal file
287
src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
Normal file
@ -0,0 +1,287 @@
|
||||
#include "b3LauncherCL.h"
|
||||
|
||||
bool gDebugLauncherCL = false;
|
||||
|
||||
b3LauncherCL::b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name)
|
||||
:m_commandQueue(queue),
|
||||
m_kernel(kernel),
|
||||
m_idx(0),
|
||||
m_enableSerialization(false),
|
||||
m_name(name)
|
||||
{
|
||||
if (gDebugLauncherCL)
|
||||
{
|
||||
static int counter = 0;
|
||||
printf("[%d] Prepare to launch OpenCL kernel %s\n", counter++, name);
|
||||
}
|
||||
|
||||
m_serializationSizeInBytes = sizeof(int);
|
||||
}
|
||||
|
||||
b3LauncherCL::~b3LauncherCL()
|
||||
{
|
||||
for (int i=0;i<m_arrays.size();i++)
|
||||
{
|
||||
clReleaseMemObject(m_arrays[i]->getBufferCL());
|
||||
}
|
||||
if (gDebugLauncherCL)
|
||||
{
|
||||
static int counter = 0;
|
||||
printf("[%d] Finished launching OpenCL kernel %s [%d]\n", counter++,m_name);
|
||||
}
|
||||
}
|
||||
|
||||
void b3LauncherCL::setBuffer( cl_mem clBuffer)
|
||||
{
|
||||
if (m_enableSerialization)
|
||||
{
|
||||
b3KernelArgData kernelArg;
|
||||
kernelArg.m_argIndex = m_idx;
|
||||
kernelArg.m_isBuffer = 1;
|
||||
kernelArg.m_clBuffer = clBuffer;
|
||||
|
||||
cl_mem_info param_name = CL_MEM_SIZE;
|
||||
size_t param_value;
|
||||
size_t sizeInBytes = sizeof(size_t);
|
||||
size_t actualSizeInBytes;
|
||||
cl_int err;
|
||||
err = clGetMemObjectInfo ( kernelArg.m_clBuffer,
|
||||
param_name,
|
||||
sizeInBytes,
|
||||
¶m_value,
|
||||
&actualSizeInBytes);
|
||||
|
||||
b3Assert( err == CL_SUCCESS );
|
||||
kernelArg.m_argSizeInBytes = param_value;
|
||||
|
||||
m_kernelArguments.push_back(kernelArg);
|
||||
m_serializationSizeInBytes+= sizeof(b3KernelArgData);
|
||||
m_serializationSizeInBytes+=param_value;
|
||||
}
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
}
|
||||
|
||||
|
||||
void b3LauncherCL::setBuffers( b3BufferInfoCL* buffInfo, int n )
|
||||
{
|
||||
for(int i=0; i<n; i++)
|
||||
{
|
||||
if (m_enableSerialization)
|
||||
{
|
||||
b3KernelArgData kernelArg;
|
||||
kernelArg.m_argIndex = m_idx;
|
||||
kernelArg.m_isBuffer = 1;
|
||||
kernelArg.m_clBuffer = buffInfo[i].m_clBuffer;
|
||||
|
||||
cl_mem_info param_name = CL_MEM_SIZE;
|
||||
size_t param_value;
|
||||
size_t sizeInBytes = sizeof(size_t);
|
||||
size_t actualSizeInBytes;
|
||||
cl_int err;
|
||||
err = clGetMemObjectInfo ( kernelArg.m_clBuffer,
|
||||
param_name,
|
||||
sizeInBytes,
|
||||
¶m_value,
|
||||
&actualSizeInBytes);
|
||||
|
||||
b3Assert( err == CL_SUCCESS );
|
||||
kernelArg.m_argSizeInBytes = param_value;
|
||||
|
||||
m_kernelArguments.push_back(kernelArg);
|
||||
m_serializationSizeInBytes+= sizeof(b3KernelArgData);
|
||||
m_serializationSizeInBytes+=param_value;
|
||||
}
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
}
|
||||
}
|
||||
|
||||
int b3LauncherCL::deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx)
|
||||
{
|
||||
int index=0;
|
||||
|
||||
int numArguments = *(int*) &buf[index];
|
||||
index+=sizeof(int);
|
||||
|
||||
for (int i=0;i<numArguments;i++)
|
||||
{
|
||||
b3KernelArgData* arg = (b3KernelArgData*)&buf[index];
|
||||
|
||||
index+=sizeof(b3KernelArgData);
|
||||
if (arg->m_isBuffer)
|
||||
{
|
||||
b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx,m_commandQueue, arg->m_argSizeInBytes);
|
||||
clData->resize(arg->m_argSizeInBytes);
|
||||
|
||||
clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
|
||||
|
||||
arg->m_clBuffer = clData->getBufferCL();
|
||||
|
||||
m_arrays.push_back(clData);
|
||||
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
index+=arg->m_argSizeInBytes;
|
||||
} else
|
||||
{
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
}
|
||||
m_kernelArguments.push_back(*arg);
|
||||
}
|
||||
m_serializationSizeInBytes = index;
|
||||
return index;
|
||||
}
|
||||
|
||||
int b3LauncherCL::validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx)
|
||||
{
|
||||
int index=0;
|
||||
|
||||
int numArguments = *(int*) &goldBuffer[index];
|
||||
index+=sizeof(int);
|
||||
|
||||
if (numArguments != m_kernelArguments.size())
|
||||
{
|
||||
printf("failed validation: expected %d arguments, found %d\n",numArguments, m_kernelArguments.size());
|
||||
return -1;
|
||||
}
|
||||
|
||||
for (int ii=0;ii<numArguments;ii++)
|
||||
{
|
||||
b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
|
||||
|
||||
if (m_kernelArguments[ii].m_argSizeInBytes != argGold->m_argSizeInBytes)
|
||||
{
|
||||
printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n",ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
|
||||
return -2;
|
||||
}
|
||||
|
||||
{
|
||||
int expected = argGold->m_isBuffer;
|
||||
int found = m_kernelArguments[ii].m_isBuffer;
|
||||
|
||||
if (expected != found)
|
||||
{
|
||||
printf("failed validation: argument %d isBuffer expected: %d, found %d\n",ii,expected, found);
|
||||
return -3;
|
||||
}
|
||||
}
|
||||
index+=sizeof(b3KernelArgData);
|
||||
|
||||
if (argGold->m_isBuffer)
|
||||
{
|
||||
|
||||
unsigned char* memBuf= (unsigned char*) malloc(m_kernelArguments[ii].m_argSizeInBytes);
|
||||
unsigned char* goldBuf = &goldBuffer[index];
|
||||
for (int j=0;j<m_kernelArguments[j].m_argSizeInBytes;j++)
|
||||
{
|
||||
memBuf[j] = 0xaa;
|
||||
}
|
||||
|
||||
cl_int status = 0;
|
||||
status = clEnqueueReadBuffer( m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
|
||||
memBuf, 0,0,0 );
|
||||
b3Assert( status==CL_SUCCESS );
|
||||
clFinish(m_commandQueue);
|
||||
|
||||
for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
|
||||
{
|
||||
int expected = goldBuf[b];
|
||||
int found = memBuf[b];
|
||||
if (expected != found)
|
||||
{
|
||||
printf("failed validation: argument %d OpenCL data at byte position %d expected: %d, found %d\n",
|
||||
ii, b, expected, found);
|
||||
return -4;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
index+=argGold->m_argSizeInBytes;
|
||||
} else
|
||||
{
|
||||
|
||||
//compare content
|
||||
for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
|
||||
{
|
||||
int expected = argGold->m_argData[b];
|
||||
int found =m_kernelArguments[ii].m_argData[b];
|
||||
if (expected != found)
|
||||
{
|
||||
printf("failed validation: argument %d const data at byte position %d expected: %d, found %d\n",
|
||||
ii, b, expected, found);
|
||||
return -5;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
return index;
|
||||
|
||||
}
|
||||
|
||||
int b3LauncherCL::serializeArguments(unsigned char* destBuffer, int destBufferCapacity)
|
||||
{
|
||||
//initialize to known values
|
||||
for (int i=0;i<destBufferCapacity;i++)
|
||||
destBuffer[i] = 0xec;
|
||||
|
||||
assert(destBufferCapacity>=m_serializationSizeInBytes);
|
||||
|
||||
//todo: use the b3Serializer for this to allow for 32/64bit, endianness etc
|
||||
int numArguments = m_kernelArguments.size();
|
||||
int curBufferSize = 0;
|
||||
int* dest = (int*)&destBuffer[curBufferSize];
|
||||
*dest = numArguments;
|
||||
curBufferSize += sizeof(int);
|
||||
|
||||
|
||||
|
||||
for (int i=0;i<this->m_kernelArguments.size();i++)
|
||||
{
|
||||
b3KernelArgData* arg = (b3KernelArgData*) &destBuffer[curBufferSize];
|
||||
*arg = m_kernelArguments[i];
|
||||
curBufferSize+=sizeof(b3KernelArgData);
|
||||
if (arg->m_isBuffer==1)
|
||||
{
|
||||
//copy the OpenCL buffer content
|
||||
cl_int status = 0;
|
||||
status = clEnqueueReadBuffer( m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
|
||||
&destBuffer[curBufferSize], 0,0,0 );
|
||||
b3Assert( status==CL_SUCCESS );
|
||||
clFinish(m_commandQueue);
|
||||
curBufferSize+=arg->m_argSizeInBytes;
|
||||
}
|
||||
|
||||
}
|
||||
return curBufferSize;
|
||||
}
|
||||
|
||||
void b3LauncherCL::serializeToFile(const char* fileName, int numWorkItems)
|
||||
{
|
||||
int num = numWorkItems;
|
||||
int buffSize = getSerializationBufferSize();
|
||||
unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
|
||||
for (int i=0;i<buffSize+1;i++)
|
||||
{
|
||||
unsigned char* ptr = (unsigned char*)&buf[i];
|
||||
*ptr = 0xff;
|
||||
}
|
||||
// int actualWrite = serializeArguments(buf,buffSize);
|
||||
|
||||
// unsigned char* cptr = (unsigned char*)&buf[buffSize];
|
||||
// printf("buf[buffSize] = %d\n",*cptr);
|
||||
|
||||
assert(buf[buffSize]==0xff);//check for buffer overrun
|
||||
int* ptr = (int*)&buf[buffSize];
|
||||
|
||||
*ptr = num;
|
||||
|
||||
FILE* f = fopen(fileName,"wb");
|
||||
fwrite(buf,buffSize+sizeof(int),1,f);
|
||||
fclose(f);
|
||||
|
||||
delete[] buf;
|
||||
}
|
||||
|
@ -39,286 +39,31 @@ class b3LauncherCL
|
||||
int m_serializationSizeInBytes;
|
||||
bool m_enableSerialization;
|
||||
|
||||
const char* m_name;
|
||||
public:
|
||||
|
||||
b3AlignedObjectArray<b3OpenCLArray<unsigned char>* > m_arrays;
|
||||
|
||||
b3LauncherCL(cl_command_queue queue, cl_kernel kernel)
|
||||
:m_commandQueue(queue),
|
||||
m_kernel(kernel),
|
||||
m_idx(0),
|
||||
m_enableSerialization(false)
|
||||
{
|
||||
m_serializationSizeInBytes = sizeof(int);
|
||||
}
|
||||
b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name);
|
||||
|
||||
virtual ~b3LauncherCL()
|
||||
{
|
||||
for (int i=0;i<m_arrays.size();i++)
|
||||
{
|
||||
clReleaseMemObject(m_arrays[i]->getBufferCL());
|
||||
}
|
||||
}
|
||||
virtual ~b3LauncherCL();
|
||||
|
||||
inline void setBuffer( cl_mem clBuffer)
|
||||
{
|
||||
if (m_enableSerialization)
|
||||
{
|
||||
b3KernelArgData kernelArg;
|
||||
kernelArg.m_argIndex = m_idx;
|
||||
kernelArg.m_isBuffer = 1;
|
||||
kernelArg.m_clBuffer = clBuffer;
|
||||
void setBuffer( cl_mem clBuffer);
|
||||
|
||||
cl_mem_info param_name = CL_MEM_SIZE;
|
||||
size_t param_value;
|
||||
size_t sizeInBytes = sizeof(size_t);
|
||||
size_t actualSizeInBytes;
|
||||
cl_int err;
|
||||
err = clGetMemObjectInfo ( kernelArg.m_clBuffer,
|
||||
param_name,
|
||||
sizeInBytes,
|
||||
¶m_value,
|
||||
&actualSizeInBytes);
|
||||
|
||||
b3Assert( err == CL_SUCCESS );
|
||||
kernelArg.m_argSizeInBytes = param_value;
|
||||
|
||||
m_kernelArguments.push_back(kernelArg);
|
||||
m_serializationSizeInBytes+= sizeof(b3KernelArgData);
|
||||
m_serializationSizeInBytes+=param_value;
|
||||
}
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
}
|
||||
|
||||
|
||||
inline void setBuffers( b3BufferInfoCL* buffInfo, int n )
|
||||
{
|
||||
for(int i=0; i<n; i++)
|
||||
{
|
||||
if (m_enableSerialization)
|
||||
{
|
||||
b3KernelArgData kernelArg;
|
||||
kernelArg.m_argIndex = m_idx;
|
||||
kernelArg.m_isBuffer = 1;
|
||||
kernelArg.m_clBuffer = buffInfo[i].m_clBuffer;
|
||||
|
||||
cl_mem_info param_name = CL_MEM_SIZE;
|
||||
size_t param_value;
|
||||
size_t sizeInBytes = sizeof(size_t);
|
||||
size_t actualSizeInBytes;
|
||||
cl_int err;
|
||||
err = clGetMemObjectInfo ( kernelArg.m_clBuffer,
|
||||
param_name,
|
||||
sizeInBytes,
|
||||
¶m_value,
|
||||
&actualSizeInBytes);
|
||||
|
||||
b3Assert( err == CL_SUCCESS );
|
||||
kernelArg.m_argSizeInBytes = param_value;
|
||||
|
||||
m_kernelArguments.push_back(kernelArg);
|
||||
m_serializationSizeInBytes+= sizeof(b3KernelArgData);
|
||||
m_serializationSizeInBytes+=param_value;
|
||||
}
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
}
|
||||
}
|
||||
void setBuffers( b3BufferInfoCL* buffInfo, int n );
|
||||
|
||||
int getSerializationBufferSize() const
|
||||
{
|
||||
return m_serializationSizeInBytes;
|
||||
}
|
||||
|
||||
inline int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx)
|
||||
{
|
||||
int index=0;
|
||||
int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx);
|
||||
|
||||
int numArguments = *(int*) &buf[index];
|
||||
index+=sizeof(int);
|
||||
inline int validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx);
|
||||
|
||||
for (int i=0;i<numArguments;i++)
|
||||
{
|
||||
b3KernelArgData* arg = (b3KernelArgData*)&buf[index];
|
||||
|
||||
index+=sizeof(b3KernelArgData);
|
||||
if (arg->m_isBuffer)
|
||||
{
|
||||
b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx,m_commandQueue, arg->m_argSizeInBytes);
|
||||
clData->resize(arg->m_argSizeInBytes);
|
||||
|
||||
clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
|
||||
|
||||
arg->m_clBuffer = clData->getBufferCL();
|
||||
|
||||
m_arrays.push_back(clData);
|
||||
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
index+=arg->m_argSizeInBytes;
|
||||
} else
|
||||
{
|
||||
cl_int status = clSetKernelArg( m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
|
||||
b3Assert( status == CL_SUCCESS );
|
||||
}
|
||||
m_kernelArguments.push_back(*arg);
|
||||
}
|
||||
m_serializationSizeInBytes = index;
|
||||
return index;
|
||||
}
|
||||
|
||||
inline int validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx)
|
||||
{
|
||||
int index=0;
|
||||
|
||||
int numArguments = *(int*) &goldBuffer[index];
|
||||
index+=sizeof(int);
|
||||
|
||||
if (numArguments != m_kernelArguments.size())
|
||||
{
|
||||
printf("failed validation: expected %d arguments, found %d\n",numArguments, m_kernelArguments.size());
|
||||
return -1;
|
||||
}
|
||||
|
||||
for (int ii=0;ii<numArguments;ii++)
|
||||
{
|
||||
b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
|
||||
|
||||
if (m_kernelArguments[ii].m_argSizeInBytes != argGold->m_argSizeInBytes)
|
||||
{
|
||||
printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n",ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
|
||||
return -2;
|
||||
}
|
||||
|
||||
{
|
||||
int expected = argGold->m_isBuffer;
|
||||
int found = m_kernelArguments[ii].m_isBuffer;
|
||||
|
||||
if (expected != found)
|
||||
{
|
||||
printf("failed validation: argument %d isBuffer expected: %d, found %d\n",ii,expected, found);
|
||||
return -3;
|
||||
}
|
||||
}
|
||||
index+=sizeof(b3KernelArgData);
|
||||
|
||||
if (argGold->m_isBuffer)
|
||||
{
|
||||
|
||||
unsigned char* memBuf= (unsigned char*) malloc(m_kernelArguments[ii].m_argSizeInBytes);
|
||||
unsigned char* goldBuf = &goldBuffer[index];
|
||||
for (int j=0;j<m_kernelArguments[j].m_argSizeInBytes;j++)
|
||||
{
|
||||
memBuf[j] = 0xaa;
|
||||
}
|
||||
|
||||
cl_int status = 0;
|
||||
status = clEnqueueReadBuffer( m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
|
||||
memBuf, 0,0,0 );
|
||||
b3Assert( status==CL_SUCCESS );
|
||||
clFinish(m_commandQueue);
|
||||
|
||||
for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
|
||||
{
|
||||
int expected = goldBuf[b];
|
||||
int found = memBuf[b];
|
||||
if (expected != found)
|
||||
{
|
||||
printf("failed validation: argument %d OpenCL data at byte position %d expected: %d, found %d\n",
|
||||
ii, b, expected, found);
|
||||
return -4;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
index+=argGold->m_argSizeInBytes;
|
||||
} else
|
||||
{
|
||||
|
||||
//compare content
|
||||
for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
|
||||
{
|
||||
int expected = argGold->m_argData[b];
|
||||
int found =m_kernelArguments[ii].m_argData[b];
|
||||
if (expected != found)
|
||||
{
|
||||
printf("failed validation: argument %d const data at byte position %d expected: %d, found %d\n",
|
||||
ii, b, expected, found);
|
||||
return -5;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
return index;
|
||||
|
||||
}
|
||||
|
||||
inline int serializeArguments(unsigned char* destBuffer, int destBufferCapacity)
|
||||
{
|
||||
//initialize to known values
|
||||
for (int i=0;i<destBufferCapacity;i++)
|
||||
destBuffer[i] = 0xec;
|
||||
|
||||
assert(destBufferCapacity>=m_serializationSizeInBytes);
|
||||
|
||||
//todo: use the b3Serializer for this to allow for 32/64bit, endianness etc
|
||||
int numArguments = m_kernelArguments.size();
|
||||
int curBufferSize = 0;
|
||||
int* dest = (int*)&destBuffer[curBufferSize];
|
||||
*dest = numArguments;
|
||||
curBufferSize += sizeof(int);
|
||||
|
||||
|
||||
|
||||
for (int i=0;i<this->m_kernelArguments.size();i++)
|
||||
{
|
||||
b3KernelArgData* arg = (b3KernelArgData*) &destBuffer[curBufferSize];
|
||||
*arg = m_kernelArguments[i];
|
||||
curBufferSize+=sizeof(b3KernelArgData);
|
||||
if (arg->m_isBuffer==1)
|
||||
{
|
||||
//copy the OpenCL buffer content
|
||||
cl_int status = 0;
|
||||
status = clEnqueueReadBuffer( m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
|
||||
&destBuffer[curBufferSize], 0,0,0 );
|
||||
b3Assert( status==CL_SUCCESS );
|
||||
clFinish(m_commandQueue);
|
||||
curBufferSize+=arg->m_argSizeInBytes;
|
||||
}
|
||||
|
||||
}
|
||||
return curBufferSize;
|
||||
}
|
||||
|
||||
void serializeToFile(const char* fileName, int numWorkItems)
|
||||
{
|
||||
int num = numWorkItems;
|
||||
int buffSize = getSerializationBufferSize();
|
||||
unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
|
||||
for (int i=0;i<buffSize+1;i++)
|
||||
{
|
||||
unsigned char* ptr = (unsigned char*)&buf[i];
|
||||
*ptr = 0xff;
|
||||
}
|
||||
// int actualWrite = serializeArguments(buf,buffSize);
|
||||
|
||||
// unsigned char* cptr = (unsigned char*)&buf[buffSize];
|
||||
// printf("buf[buffSize] = %d\n",*cptr);
|
||||
|
||||
assert(buf[buffSize]==0xff);//check for buffer overrun
|
||||
int* ptr = (int*)&buf[buffSize];
|
||||
|
||||
*ptr = num;
|
||||
|
||||
FILE* f = fopen(fileName,"wb");
|
||||
fwrite(buf,buffSize+sizeof(int),1,f);
|
||||
fclose(f);
|
||||
|
||||
delete[] buf;
|
||||
}
|
||||
int serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
|
||||
|
||||
void serializeToFile(const char* fileName, int numWorkItems);
|
||||
|
||||
template<typename T>
|
||||
inline void setConst( const T& consts )
|
||||
|
@ -63,7 +63,7 @@ void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<uns
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( srcNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher( m_commandQueue, m_localScanKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_localScanKernel,"m_localScanKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( constBuffer );
|
||||
launcher.launch1D( numBlocks*BLOCK_SIZE, BLOCK_SIZE );
|
||||
@ -72,7 +72,7 @@ void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<uns
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher( m_commandQueue, m_blockSumKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_blockSumKernel,"m_blockSumKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( constBuffer );
|
||||
launcher.launch1D( BLOCK_SIZE, BLOCK_SIZE );
|
||||
@ -82,7 +82,7 @@ void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<uns
|
||||
if( numBlocks > 1 )
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
|
||||
b3LauncherCL launcher( m_commandQueue, m_propagationKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_propagationKernel,"m_propagationKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( constBuffer );
|
||||
launcher.launch1D( (numBlocks-1)*BLOCK_SIZE, BLOCK_SIZE );
|
||||
|
@ -63,7 +63,7 @@ void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( srcNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher( m_commandQueue, m_localScanKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_localScanKernel ,"m_localScanKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( constBuffer );
|
||||
launcher.launch1D( numBlocks*BLOCK_SIZE, BLOCK_SIZE );
|
||||
@ -72,7 +72,7 @@ void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
|
||||
|
||||
b3LauncherCL launcher( m_commandQueue, m_blockSumKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_blockSumKernel ,"m_blockSumKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( constBuffer );
|
||||
launcher.launch1D( BLOCK_SIZE, BLOCK_SIZE );
|
||||
@ -82,7 +82,7 @@ void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<
|
||||
if( numBlocks > 1 )
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
|
||||
b3LauncherCL launcher( m_commandQueue, m_propagationKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_propagationKernel ,"m_propagationKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( constBuffer );
|
||||
launcher.launch1D( (numBlocks-1)*BLOCK_SIZE, BLOCK_SIZE );
|
||||
|
@ -294,7 +294,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sor
|
||||
if (src->size())
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( srcHisto->getBufferCL() ) };
|
||||
b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel);
|
||||
b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel,"m_streamCountSortDataKernel");
|
||||
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
@ -328,7 +328,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sor
|
||||
if (fastScan)
|
||||
{// prefix scan group histogram
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( srcHisto->getBufferCL() ) };
|
||||
b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel,"m_prefixScanKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
launcher.launch1D( 128, 128 );
|
||||
@ -362,7 +362,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sor
|
||||
if (src->size())
|
||||
{// local sort and distribute
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( destHisto->getBufferCL(), true ), b3BufferInfoCL( dst->getBufferCL() )};
|
||||
b3LauncherCL launcher( m_commandQueue, m_sortAndScatterSortDataKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_sortAndScatterSortDataKernel,"m_sortAndScatterSortDataKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
launcher.launch1D( nWGs*WG_SIZE, WG_SIZE );
|
||||
@ -641,7 +641,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBi
|
||||
if (src->size())
|
||||
{
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( srcHisto->getBufferCL() ) };
|
||||
b3LauncherCL launcher(m_commandQueue, m_streamCountKernel);
|
||||
b3LauncherCL launcher(m_commandQueue, m_streamCountKernel,"m_streamCountKernel");
|
||||
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
@ -662,7 +662,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBi
|
||||
if (fastScan)
|
||||
{// prefix scan group histogram
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( srcHisto->getBufferCL() ) };
|
||||
b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel,"m_prefixScanKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
launcher.launch1D( 128, 128 );
|
||||
@ -676,7 +676,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBi
|
||||
if (src->size())
|
||||
{// local sort and distribute
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( destHisto->getBufferCL(), true ), b3BufferInfoCL( dst->getBufferCL() )};
|
||||
b3LauncherCL launcher( m_commandQueue, m_sortAndScatterKernel );
|
||||
b3LauncherCL launcher( m_commandQueue, m_sortAndScatterKernel ,"m_sortAndScatterKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
launcher.launch1D( nWGs*WG_SIZE, WG_SIZE );
|
||||
|
@ -230,7 +230,7 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3Align
|
||||
{
|
||||
B3_PROFILE("raycast launch1D");
|
||||
|
||||
b3LauncherCL launcher(m_data->m_q,m_data->m_raytraceKernel);
|
||||
b3LauncherCL launcher(m_data->m_q,m_data->m_raytraceKernel,"m_raytraceKernel");
|
||||
int numRays = rays.size();
|
||||
launcher.setConst(numRays);
|
||||
|
||||
|
@ -790,7 +790,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
|
||||
{
|
||||
B3_PROFILE("m_countBodiesKernel");
|
||||
b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel);
|
||||
b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel,"m_countBodiesKernel");
|
||||
launcher.setBuffer(contactBuf);//manifoldPtr->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
|
||||
@ -815,7 +815,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
|
||||
{
|
||||
B3_PROFILE("contactToConstraintSplitKernel");
|
||||
b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel);
|
||||
b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel,"m_contactToConstraintSplitKernel");
|
||||
launcher.setBuffer(contactBuf);
|
||||
launcher.setBuffer(bodyBuf);
|
||||
launcher.setBuffer(inertiaBuf);
|
||||
@ -840,11 +840,12 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
|
||||
{
|
||||
B3_PROFILE("m_clearVelocitiesKernel");
|
||||
b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel);
|
||||
b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel,"m_clearVelocitiesKernel");
|
||||
launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
||||
launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
||||
launch.setConst(totalNumSplitBodies);
|
||||
launch.launch1D(totalNumSplitBodies);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
@ -854,7 +855,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
{
|
||||
{
|
||||
B3_PROFILE("m_solveContactKernel");
|
||||
b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel );
|
||||
b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
|
||||
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
|
||||
launcher.setBuffer(bodyBuf);
|
||||
launcher.setBuffer(inertiaBuf);
|
||||
@ -869,14 +870,14 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
launcher.setConst(numManifolds);
|
||||
|
||||
launcher.launch1D(numManifolds);
|
||||
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
|
||||
{
|
||||
B3_PROFILE("average velocities");
|
||||
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
|
||||
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
|
||||
launcher.setBuffer(bodyBuf);
|
||||
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
||||
@ -884,13 +885,13 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
||||
launcher.setConst(numBodies);
|
||||
launcher.launch1D(numBodies);
|
||||
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
B3_PROFILE("m_solveFrictionKernel");
|
||||
b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel);
|
||||
b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel");
|
||||
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
|
||||
launcher.setBuffer(bodyBuf);
|
||||
launcher.setBuffer(inertiaBuf);
|
||||
@ -905,13 +906,13 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
launcher.setConst(numManifolds);
|
||||
|
||||
launcher.launch1D(numManifolds);
|
||||
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
B3_PROFILE("average velocities");
|
||||
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
|
||||
b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
|
||||
launcher.setBuffer(bodyBuf);
|
||||
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
||||
@ -919,7 +920,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
||||
launcher.setConst(numBodies);
|
||||
launcher.launch1D(numBodies);
|
||||
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
@ -929,7 +930,7 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
|
||||
|
||||
{
|
||||
B3_PROFILE("update body velocities");
|
||||
b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel);
|
||||
b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel,"m_updateBodyVelocitiesKernel");
|
||||
launcher.setBuffer(bodyBuf);
|
||||
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
||||
|
@ -231,7 +231,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
|
||||
{
|
||||
B3_PROFILE("m_initSolverBodiesKernel");
|
||||
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initSolverBodiesKernel);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initSolverBodiesKernel,"m_initSolverBodiesKernel");
|
||||
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
|
||||
launcher.setBuffer(gpuBodies->getBufferCL());
|
||||
launcher.setConst(numBodies);
|
||||
@ -280,7 +280,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
|
||||
{
|
||||
B3_PROFILE("getInfo1Kernel");
|
||||
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo1Kernel);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo1Kernel,"m_getInfo1Kernel");
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
|
||||
launcher.setBuffer(gpuConstraints->getBufferCL());
|
||||
launcher.setConst(numConstraints);
|
||||
@ -300,7 +300,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
|
||||
|
||||
{
|
||||
B3_PROFILE("init batch constraints");
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel,"m_initBatchConstraintsKernel");
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
|
||||
@ -348,7 +348,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
|
||||
{
|
||||
{
|
||||
B3_PROFILE("getInfo2Kernel");
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo2Kernel);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo2Kernel,"m_getInfo2Kernel");
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
|
||||
@ -759,7 +759,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
|
||||
int numConstraintsInBatch*/
|
||||
|
||||
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_solveJointConstraintRowsKernels);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_solveJointConstraintRowsKernels,"m_solveJointConstraintRowsKernels");
|
||||
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
|
||||
@ -1040,7 +1040,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
|
||||
if (gpuBreakConstraints)
|
||||
{
|
||||
B3_PROFILE("breakViolatedConstraintsKernel");
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_breakViolatedConstraintsKernel);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_breakViolatedConstraintsKernel,"m_breakViolatedConstraintsKernel");
|
||||
launcher.setBuffer(gpuConstraints->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
|
||||
@ -1090,7 +1090,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
|
||||
{
|
||||
B3_PROFILE("GPU write back velocities and transforms");
|
||||
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_writeBackVelocitiesKernel);
|
||||
b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_writeBackVelocitiesKernel,"m_writeBackVelocitiesKernel");
|
||||
launcher.setBuffer(gpuBodies->getBufferCL());
|
||||
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
|
||||
launcher.setConst(numBodies);
|
||||
|
@ -1,32 +1,16 @@
|
||||
|
||||
//#define USE_CPU
|
||||
#ifdef USE_CPU
|
||||
bool b3GpuBatchContacts = false;
|
||||
bool b3GpuSolveConstraint = false;
|
||||
bool gpuRadixSort=false;
|
||||
bool gpuSetSortData = false;
|
||||
|
||||
bool optionalSortContactsDeterminism = true;
|
||||
bool gpuSortContactsDeterminism = false;
|
||||
bool useCpuCopyConstraints = true;
|
||||
bool gCpuBatchContacts = false;
|
||||
bool gCpuSolveConstraint = false;
|
||||
bool gCpuRadixSort=false;
|
||||
bool gCpuSetSortData = false;
|
||||
bool gCpuSortContactsDeterminism = false;
|
||||
bool gUseCpuCopyConstraints = false;
|
||||
bool gUseScanHost = false;
|
||||
bool gReorderContactsOnCpu = false;
|
||||
|
||||
bool useScanHost = true;
|
||||
bool reorderContactsOnCpu = true;
|
||||
bool optionalSortContactsDeterminism = true;
|
||||
|
||||
#else
|
||||
bool b3GpuBatchContacts = true;
|
||||
bool b3GpuSolveConstraint = true;
|
||||
bool gpuRadixSort=true;
|
||||
bool gpuSetSortData = true;
|
||||
|
||||
bool optionalSortContactsDeterminism = true;
|
||||
bool gpuSortContactsDeterminism = true;
|
||||
bool useCpuCopyConstraints = false;
|
||||
|
||||
bool useScanHost = false;
|
||||
bool reorderContactsOnCpu = false;
|
||||
|
||||
#endif
|
||||
|
||||
#include "b3GpuPgsContactSolver.h"
|
||||
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
|
||||
@ -336,7 +320,7 @@ void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3Rigid
|
||||
cdata.z = ib;
|
||||
|
||||
|
||||
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveContactKernel );
|
||||
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
|
||||
#if 1
|
||||
|
||||
b3BufferInfoCL bInfo[] = {
|
||||
@ -441,7 +425,7 @@ void b3GpuPgsContactSolver::solveContactConstraint( const b3OpenCLArray<b3Rigid
|
||||
,b3BufferInfoCL(&gpuDebugInfo)
|
||||
#endif //DEBUG_ME
|
||||
};
|
||||
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveFrictionKernel );
|
||||
b3LauncherCL launcher( m_data->m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
//launcher.setConst( cdata.x );
|
||||
launcher.setConst( cdata.y );
|
||||
@ -598,7 +582,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
|
||||
if (optionalSortContactsDeterminism)
|
||||
{
|
||||
if (gpuSortContactsDeterminism)
|
||||
if (!gCpuSortContactsDeterminism)
|
||||
{
|
||||
B3_PROFILE("GPU Sort contact constraints (determinism)");
|
||||
|
||||
@ -608,7 +592,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
m_data->m_pBufContactOutGPU->copyToCL(m_data->m_pBufContactOutGPUCopy->getBufferCL(),numContacts,0,0);
|
||||
|
||||
{
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel,"m_setDeterminismSortDataChildShapeBKernel");
|
||||
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
|
||||
launcher.setConst(numContacts);
|
||||
@ -616,7 +600,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
}
|
||||
m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
|
||||
{
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel,"m_setDeterminismSortDataChildShapeAKernel");
|
||||
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
|
||||
launcher.setConst(numContacts);
|
||||
@ -624,7 +608,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
}
|
||||
m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
|
||||
{
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel,"m_setDeterminismSortDataBodyBKernel");
|
||||
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
|
||||
launcher.setConst(numContacts);
|
||||
@ -634,7 +618,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
|
||||
|
||||
{
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel,"m_setDeterminismSortDataBodyAKernel");
|
||||
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
|
||||
launcher.setConst(numContacts);
|
||||
@ -651,7 +635,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
|
||||
//b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
|
||||
// , b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel,"m_reorderContactKernel");
|
||||
launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_pBufContactOutGPU->getBufferCL());
|
||||
launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
|
||||
@ -755,7 +739,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
|
||||
|
||||
|
||||
if (gpuSetSortData)
|
||||
if (!gCpuSetSortData)
|
||||
{ // 2. set cell idx
|
||||
B3_PROFILE("GPU set cell idx");
|
||||
struct CB
|
||||
@ -779,7 +763,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
|
||||
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL()), b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel );
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel,"m_setSortDataKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata.m_nContacts );
|
||||
launcher.setConst( cdata.m_scale );
|
||||
@ -812,7 +796,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
|
||||
|
||||
|
||||
if (gpuRadixSort)
|
||||
if (!gCpuRadixSort)
|
||||
{ // 3. sort by cell idx
|
||||
B3_PROFILE("gpuRadixSort");
|
||||
//int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
|
||||
@ -836,7 +820,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
}
|
||||
|
||||
|
||||
if (useScanHost)
|
||||
if (gUseScanHost)
|
||||
{
|
||||
// 4. find entries
|
||||
B3_PROFILE("cpuBoundSearch");
|
||||
@ -879,7 +863,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
|
||||
if (nContacts)
|
||||
{ // 5. sort constraints by cellIdx
|
||||
if (reorderContactsOnCpu)
|
||||
if (gReorderContactsOnCpu)
|
||||
{
|
||||
B3_PROFILE("cpu m_reorderContactKernel");
|
||||
b3AlignedObjectArray<b3SortData> sortDataHost;
|
||||
@ -918,7 +902,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
|
||||
, b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
|
||||
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel,"m_reorderContactKernel");
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
launcher.launch1D( nContacts, 64 );
|
||||
@ -944,7 +928,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
if (nContacts)
|
||||
{
|
||||
|
||||
if (useCpuCopyConstraints)
|
||||
if (gUseCpuCopyConstraints)
|
||||
{
|
||||
for (int i=0;i<nContacts;i++)
|
||||
{
|
||||
@ -962,7 +946,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() )
|
||||
};
|
||||
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel );
|
||||
b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel,"m_copyConstraintKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setConst( cdata );
|
||||
launcher.launch1D( nContacts, 64 );
|
||||
@ -975,7 +959,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
bool compareGPU = false;
|
||||
if (nContacts)
|
||||
{
|
||||
if (b3GpuBatchContacts)
|
||||
if (!gCpuBatchContacts)
|
||||
{
|
||||
B3_PROFILE("gpu batchContacts");
|
||||
maxNumBatches = 150;//250;
|
||||
@ -984,10 +968,12 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
} else
|
||||
{
|
||||
B3_PROFILE("cpu batchContacts");
|
||||
b3AlignedObjectArray<b3Contact4> cpuContacts;
|
||||
static b3AlignedObjectArray<b3Contact4> cpuContacts;
|
||||
b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
|
||||
contactsIn->copyToHost(cpuContacts);
|
||||
|
||||
{
|
||||
B3_PROFILE("copyToHost");
|
||||
contactsIn->copyToHost(cpuContacts);
|
||||
}
|
||||
b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
|
||||
b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
|
||||
|
||||
@ -1025,7 +1011,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
|
||||
}
|
||||
}
|
||||
clFinish(m_data->m_queue);
|
||||
//clFinish(m_data->m_queue);
|
||||
}
|
||||
{
|
||||
B3_PROFILE("m_contactBuffer->copyFromHost");
|
||||
@ -1063,7 +1049,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
|
||||
int numIter = 4;
|
||||
|
||||
m_data->m_solverGPU->m_nIterations = numIter;//10
|
||||
if (b3GpuSolveConstraint)
|
||||
if (!gCpuSolveConstraint)
|
||||
{
|
||||
B3_PROFILE("GPU solveContactConstraint");
|
||||
|
||||
|
@ -33,27 +33,15 @@ subject to the following restrictions:
|
||||
#define B3_RIGIDBODY_INTEGRATE_PATH "src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl"
|
||||
#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl"
|
||||
|
||||
bool useBullet2CpuSolver = true;
|
||||
|
||||
//choice of contact solver
|
||||
bool useJacobi = false;
|
||||
|
||||
//#define USE_CPU
|
||||
#ifdef USE_CPU
|
||||
bool useDbvt = true;
|
||||
bool useBullet2CpuSolver = true;
|
||||
bool dumpContactStats = false;
|
||||
bool calcWorldSpaceAabbOnCpu = true;
|
||||
bool useCalculateOverlappingPairsHost = true;
|
||||
bool integrateOnCpu = true;
|
||||
|
||||
#else
|
||||
bool useDbvt = false;
|
||||
bool useBullet2CpuSolver = true;
|
||||
bool dumpContactStats = false;
|
||||
bool calcWorldSpaceAabbOnCpu = false;//true;
|
||||
bool useCalculateOverlappingPairsHost = false;
|
||||
bool integrateOnCpu = false;
|
||||
|
||||
#endif
|
||||
bool gUseJacobi = false;
|
||||
bool gUseDbvt = false;
|
||||
bool gDumpContactStats = false;
|
||||
bool gCalcWorldSpaceAabbOnCpu = false;
|
||||
bool gUseCalculateOverlappingPairsHost = false;
|
||||
bool gIntegrateOnCpu = false;
|
||||
|
||||
#define TEST_OTHER_GPU_SOLVER 1
|
||||
#ifdef TEST_OTHER_GPU_SOLVER
|
||||
@ -241,7 +229,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
|
||||
//compute overlapping pairs
|
||||
{
|
||||
|
||||
if (useDbvt)
|
||||
if (gUseDbvt)
|
||||
{
|
||||
{
|
||||
B3_PROFILE("setAabb");
|
||||
@ -261,7 +249,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
|
||||
numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
|
||||
} else
|
||||
{
|
||||
if (useCalculateOverlappingPairsHost)
|
||||
if (gUseCalculateOverlappingPairsHost)
|
||||
{
|
||||
m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs);
|
||||
} else
|
||||
@ -284,7 +272,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
|
||||
{
|
||||
cl_mem pairs =0;
|
||||
cl_mem aabbsWS =0;
|
||||
if (useDbvt)
|
||||
if (gUseDbvt)
|
||||
{
|
||||
B3_PROFILE("m_overlappingPairsGPU->copyFromHost");
|
||||
m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
|
||||
@ -300,13 +288,13 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
|
||||
m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
|
||||
numContacts = m_data->m_narrowphase->getNumContactsGpu();
|
||||
|
||||
if (useDbvt)
|
||||
if (gUseDbvt)
|
||||
{
|
||||
///store the cached information (contact locations in the 'z' component)
|
||||
B3_PROFILE("m_overlappingPairsGPU->copyToHost");
|
||||
m_data->m_overlappingPairsGPU->copyToHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
|
||||
}
|
||||
if (dumpContactStats && numContacts)
|
||||
if (gDumpContactStats && numContacts)
|
||||
{
|
||||
m_data->m_narrowphase->getContactsGpu();
|
||||
|
||||
@ -369,7 +357,7 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
|
||||
|
||||
#ifdef TEST_OTHER_GPU_SOLVER
|
||||
|
||||
if (useJacobi)
|
||||
if (gUseJacobi)
|
||||
{
|
||||
bool useGpu = true;
|
||||
if (useGpu)
|
||||
@ -453,7 +441,7 @@ void b3GpuRigidBodyPipeline::integrate(float timeStep)
|
||||
int numBodies = m_data->m_narrowphase->getNumRigidBodies();
|
||||
float angularDamp = 0.99f;
|
||||
|
||||
if (integrateOnCpu)
|
||||
if (gIntegrateOnCpu)
|
||||
{
|
||||
if(numBodies)
|
||||
{
|
||||
@ -470,7 +458,7 @@ void b3GpuRigidBodyPipeline::integrate(float timeStep)
|
||||
}
|
||||
} else
|
||||
{
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel,"m_integrateTransformsKernel");
|
||||
launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
|
||||
|
||||
launcher.setConst(numBodies);
|
||||
@ -492,12 +480,12 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
|
||||
if (!numBodies)
|
||||
return;
|
||||
|
||||
if (calcWorldSpaceAabbOnCpu)
|
||||
if (gCalcWorldSpaceAabbOnCpu)
|
||||
{
|
||||
|
||||
if (numBodies)
|
||||
{
|
||||
if (useDbvt)
|
||||
if (gUseDbvt)
|
||||
{
|
||||
m_data->m_allAabbsCPU.resize(numBodies);
|
||||
m_data->m_narrowphase->readbackAllBodiesToCpu();
|
||||
@ -521,7 +509,7 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
|
||||
} else
|
||||
{
|
||||
//__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel);
|
||||
b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel,"m_updateAabbsKernel");
|
||||
launcher.setConst(numBodies);
|
||||
cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
|
||||
launcher.setBuffer(bodies);
|
||||
@ -531,7 +519,7 @@ void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
|
||||
launcher.setBuffer(localAabbs);
|
||||
|
||||
cl_mem worldAabbs =0;
|
||||
if (useDbvt)
|
||||
if (gUseDbvt)
|
||||
{
|
||||
worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
|
||||
} else
|
||||
@ -624,7 +612,7 @@ int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
|
||||
|
||||
if (bodyIndex>=0)
|
||||
{
|
||||
if (useDbvt)
|
||||
if (gUseDbvt)
|
||||
{
|
||||
m_data->m_broadphaseDbvt->createProxy(aabbMin,aabbMax,bodyIndex,0,1,1);
|
||||
b3SapAabb aabb;
|
||||
|
@ -18,7 +18,7 @@ subject to the following restrictions:
|
||||
|
||||
///useNewBatchingKernel is a rewritten kernel using just a single thread of the warp, for experiments
|
||||
bool useNewBatchingKernel = true;
|
||||
bool convertConstraintOnCpu = false;
|
||||
bool gConvertConstraintOnCpu = false;
|
||||
|
||||
#define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl"
|
||||
#define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl"
|
||||
@ -824,7 +824,7 @@ void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* body
|
||||
cdata.z = ib;
|
||||
|
||||
|
||||
b3LauncherCL launcher( m_queue, m_solveContactKernel );
|
||||
b3LauncherCL launcher( m_queue, m_solveContactKernel ,"m_solveContactKernel");
|
||||
#if 1
|
||||
|
||||
b3BufferInfoCL bInfo[] = {
|
||||
@ -929,7 +929,7 @@ void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* body
|
||||
,b3BufferInfoCL(&gpuDebugInfo)
|
||||
#endif //DEBUG_ME
|
||||
};
|
||||
b3LauncherCL launcher( m_queue, m_solveFrictionKernel );
|
||||
b3LauncherCL launcher( m_queue, m_solveFrictionKernel,"m_solveFrictionKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
//launcher.setConst( cdata.x );
|
||||
launcher.setConst( cdata.y );
|
||||
@ -979,7 +979,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
|
||||
cdata.m_positionConstraintCoeff = cfg.m_positionConstraintCoeff;
|
||||
|
||||
|
||||
if (convertConstraintOnCpu)
|
||||
if (gConvertConstraintOnCpu)
|
||||
{
|
||||
b3AlignedObjectArray<b3RigidBodyCL> gBodies;
|
||||
bodyBuf->copyToHost(gBodies);
|
||||
@ -1031,7 +1031,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
|
||||
|
||||
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( shapeBuf->getBufferCL()),
|
||||
b3BufferInfoCL( contactCOut->getBufferCL() )};
|
||||
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel );
|
||||
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel,"m_contactToConstraintKernel" );
|
||||
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
|
||||
//launcher.setConst( cdata );
|
||||
|
||||
@ -1169,7 +1169,7 @@ void b3Solver::batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContact
|
||||
//b3LauncherCL launcher( m_queue, m_batchingKernel);
|
||||
cl_kernel k = useNewBatchingKernel ? m_batchingKernelNew : m_batchingKernel;
|
||||
|
||||
b3LauncherCL launcher( m_queue, k);
|
||||
b3LauncherCL launcher( m_queue, k,"*batchingKernel");
|
||||
if (!useNewBatchingKernel )
|
||||
{
|
||||
launcher.setBuffer( contacts->getBufferCL() );
|
||||
|
@ -186,7 +186,7 @@ int main(int argc, char* argv[])
|
||||
|
||||
atomicCounter.push_back(0);
|
||||
deviceElements.resize(numWorkItems);
|
||||
b3LauncherCL run(queue,testKernel);
|
||||
b3LauncherCL run(queue,testKernel,"testKernel");
|
||||
run.setBuffer(deviceElements.getBufferCL());
|
||||
run.setBuffer(deviceContacts.getBufferCL());
|
||||
run.setBuffer(atomicCounter.getBufferCL());
|
||||
|
@ -22,6 +22,7 @@ function createProject(vendor)
|
||||
"../../../src/Bullet3Common/b3AlignedAllocator.cpp",
|
||||
"../../../src/Bullet3OpenCL/Initialize/b3OpenCLUtils.h",
|
||||
"../../../src/Bullet3Common/b3Logging.cpp",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp"
|
||||
}
|
||||
|
||||
end
|
||||
|
@ -27,6 +27,7 @@ function createProject(vendor)
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp",
|
||||
"../../../src/Bullet3Common/b3AlignedAllocator.cpp",
|
||||
"../../../src/Bullet3Common/b3AlignedAllocator.h",
|
||||
"../../../src/Bullet3Common/b3AlignedObjectArray.h",
|
||||
|
@ -24,6 +24,7 @@ function createProject(vendor)
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp",
|
||||
"../../../src/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp",
|
||||
"../../../src/Bullet3Common/b3AlignedAllocator.cpp",
|
||||
"../../../src/Bullet3Common/b3AlignedAllocator.h",
|
||||
"../../../src/Bullet3Common/b3AlignedObjectArray.h",
|
||||
|
Loading…
Reference in New Issue
Block a user