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Code Issues Releases Wiki Activity

add some clFinish for better profile timings

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improved parallel batching, don't try to write for static objects,
this fixed a bug, when the hash of a static object was identical with hash of dynamic objects, causing it to be assigned a bogus 100+i batching number
The parallel batching is still not enabled, because we need to measure the batching size (todo)
This commit is contained in:
erwincoumans 2013-07-15 10:22:40 -07:00
parent 05ed1fdbcf
commit a5d00c8219
4 changed files with 28 additions and 20 deletions
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15
src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
View File

@ -373,7 +373,7 @@ void b3GpuBatchingPgsSolver::solveContactConstraint( const b3OpenCLArray<b3Rigi
}
}
//clFinish(m_data->m_queue);
clFinish(m_data->m_queue);
}
@ -416,7 +416,7 @@ void b3GpuBatchingPgsSolver::solveContactConstraint( const b3OpenCLArray<b3Rigi
launcher.launch1D( 64*nn/B3_SOLVER_N_BATCHES, 64 );
}
}
//clFinish(m_data->m_queue);
clFinish(m_data->m_queue);
}
#ifdef DEBUG_ME
@ -838,7 +838,8 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
launcher.launch1D( nContacts, 64 );
//clFinish(m_data->m_queue);
//we use the clFinish for proper benchmark/profile
clFinish(m_data->m_queue);
}
@ -900,7 +901,9 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3Printf("maxNumBatches = %d\n",maxNumBatches);
}
//clFinish(m_data->m_queue);
//we use the clFinish for proper benchmark/profile
clFinish(m_data->m_queue);
}
}
@ -925,7 +928,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
contactConstraintOut,
additionalData, nContacts,
(b3SolverBase::ConstraintCfg&) csCfg );
//clFinish(m_data->m_queue);
clFinish(m_data->m_queue);
}
@ -968,7 +971,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU,0, nContactOut ,maxNumBatches);
}
//clFinish(m_data->m_queue);
}

1
src/Bullet3OpenCL/RigidBody/b3Solver.cpp
View File

@ -159,6 +159,7 @@ b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue,
{
cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelSource, &pErrNum,additionalMacros, B3_BATCHING_PATH);
//cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, 0, &pErrNum,additionalMacros, B3_BATCHING_PATH,true);
b3Assert(batchingProg);
m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg,additionalMacros );

16
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
View File

@ -216,19 +216,21 @@ __kernel void CreateBatches( __global const Contact4* gConstraints, __global Con
if( aUsed==0 && bUsed==0 )
{
int aAvailable;
int bAvailable;
int aAvailable=1;
int bAvailable=1;
int ea = abs(e.m_a);
int eb = abs(e.m_b);
aAvailable = tryWrite( ldsCheckBuffer, ea );
bAvailable = tryWrite( ldsCheckBuffer, eb );
bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);
bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);
aAvailable = aStatic? 1: aAvailable;
bAvailable = bStatic? 1: bAvailable;
if (!aStatic)
aAvailable = tryWrite( ldsCheckBuffer, ea );
if (!bStatic)
bAvailable = tryWrite( ldsCheckBuffer, eb );
//aAvailable = aStatic? 1: aAvailable;
//bAvailable = bStatic? 1: bAvailable;
bool success = (aAvailable && bAvailable);
if(success)

16
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
View File

@ -218,19 +218,21 @@ static const char* batchingKernelsCL= \
"\n"
" if( aUsed==0 && bUsed==0 )\n"
" {\n"
" int aAvailable;\n"
" int bAvailable;\n"
" int aAvailable=1;\n"
" int bAvailable=1;\n"
" int ea = abs(e.m_a);\n"
" int eb = abs(e.m_b);\n"
"\n"
" aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
" bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
"\n"
" bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
" bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
" \n"
" aAvailable = aStatic? 1: aAvailable;\n"
" bAvailable = bStatic? 1: bAvailable;\n"
" if (!aStatic)\n"
" aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
" if (!bStatic)\n"
" bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
" \n"
" //aAvailable = aStatic? 1: aAvailable;\n"
" //bAvailable = bStatic? 1: bAvailable;\n"
"\n"
" bool success = (aAvailable && bAvailable);\n"
" if(success)\n"