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Code Issues Releases Wiki Activity

remove clFinish and copyToHost from GPU joint solver, performance is looking better now.

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This commit is contained in:
erwin coumans 2013-07-09 11:19:16 -07:00
parent c4375a09e4
commit bd2cd7b2a7
3 changed files with 22 additions and 22 deletions
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2
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@ -187,7 +187,7 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
{
case 0:
{
///enable next line to force CPU constraint solving
//c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(-1.1,0,0),b3Vector3(1.1,0,0));
// c->setBreakingImpulseThreshold(14);
b3Vector3 pivotInA(-1.1,0,0);

16
src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
View File

@ -351,7 +351,7 @@ void b3GpuBatchingPgsSolver::solveContactConstraint( const b3OpenCLArray<b3Rigi
}
}
clFinish(m_data->m_queue);
//clFinish(m_data->m_queue);
}
@ -388,7 +388,7 @@ 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
@ -458,7 +458,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
}
clFinish(m_data->m_queue);
//clFinish(m_data->m_queue);
@ -586,7 +586,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
}
clFinish(m_data->m_queue);
//clFinish(m_data->m_queue);
// {
// b3AlignedObjectArray<unsigned int> histogram;
@ -604,7 +604,7 @@ 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);
//clFinish(m_data->m_queue);
}
@ -666,7 +666,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
b3Printf("maxNumBatches = %d\n",maxNumBatches);
}
clFinish(m_data->m_queue);
//clFinish(m_data->m_queue);
}
}
@ -691,7 +691,7 @@ 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);
}
@ -723,7 +723,7 @@ 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);
//clFinish(m_data->m_queue);
}

26
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
View File

@ -207,7 +207,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
launcher.setBuffer(gpuBodies->getBufferCL());
launcher.setConst(numBodies);
launcher.launch1D(numBodies);
clFinish(m_gpuData->m_queue);
//clFinish(m_gpuData->m_queue);
// m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
} else
@ -264,20 +264,20 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
launcher.setConst(numConstraints);
launcher.launch1D(numConstraints);
}
clFinish(m_gpuData->m_queue);
//clFinish(m_gpuData->m_queue);
if (batches.size()==0)
m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
if (1)
{
m_gpuData->m_gpuConstraintInfo1->copyToHost(m_tmpConstraintSizesPool);
//m_gpuData->m_gpuConstraintInfo1->copyToHost(m_tmpConstraintSizesPool);
b3OpenCLArray<unsigned int> dst(m_gpuData->m_context,m_gpuData->m_queue);
dst.resize(numConstraints);
unsigned int total=0;
m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,dst,numConstraints,&total);
unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints-1);
b3AlignedObjectArray<unsigned int> dstHost;
dst.copyToHost(dstHost);
//b3AlignedObjectArray<unsigned int> dstHost;
//dst.copyToHost(dstHost);
totalNumRows = total+lastElem;
{
@ -287,7 +287,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
launcher.setConst(numConstraints);
launcher.launch1D(numConstraints);
clFinish(m_gpuData->m_queue);
//clFinish(m_gpuData->m_queue);
}
if (batches.size()==0)
m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
@ -346,12 +346,12 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
launcher.setConst(infoGlobal.m_numIterations);
launcher.setConst(numConstraints);
launcher.launch1D(numConstraints);
clFinish(m_gpuData->m_queue);
//clFinish(m_gpuData->m_queue);
if (batches.size()==0)
m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
//m_gpuData->m_gpuConstraintRows->copyToHost(verify);
m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
//m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
@ -645,7 +645,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b
{
//only create the batches once.
//@todo: incrementally update batches when constraints are added/activated and/or removed/deactivated
bool createBatches = true;//batches.size()==0;
bool createBatches = batches.size()==0;
{
B3_PROFILE("GpuSolveGroupCacheFriendlyIterations");
if (createBatches)
@ -701,7 +701,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b
launcher.setConst(numConstraintsInBatch);
launcher.launch1D(numConstraintsInBatch);
clFinish(m_gpuData->m_queue);
//clFinish(m_gpuData->m_queue);
} else
{
@ -740,8 +740,8 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b
if (useGpu)
{
B3_PROFILE("copy to host");
m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
//B3_PROFILE("copy to host");
//m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
}
//int sz = sizeof(b3GpuSolverBody);
//printf("cpu sizeof(b3GpuSolverBody)=%d\n",sz);
@ -971,7 +971,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3Rig
launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
launcher.setConst(numBodies);
launcher.launch1D(numBodies);
clFinish(m_gpuData->m_queue);
//clFinish(m_gpuData->m_queue);
// m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
// m_gpuData->m_gpuBodies->copyToHostPointer(bodies,numBodies);
//m_gpuData->m_gpuBodies->copyToHost(testBodies);