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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp')
-rw-r--r--thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp162
1 files changed, 76 insertions, 86 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
index a4980f71e1..c0e11bfb26 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
@@ -19,149 +19,139 @@ subject to the following restrictions:
#define KERNEL1 "SearchSortDataUpperKernel"
#define KERNEL2 "SubtractKernel"
-
#include "b3BoundSearchCL.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "b3LauncherCL.h"
#include "kernels/BoundSearchKernelsCL.h"
b3BoundSearchCL::b3BoundSearchCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int maxSize)
- :m_context(ctx),
- m_device(device),
- m_queue(queue)
+ : m_context(ctx),
+ m_device(device),
+ m_queue(queue)
{
-
const char* additionalMacros = "";
//const char* srcFileNameForCaching="";
cl_int pErrNum;
const char* kernelSource = boundSearchKernelsCL;
- cl_program boundSearchProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, kernelSource, &pErrNum,additionalMacros, BOUNDSEARCH_PATH);
+ cl_program boundSearchProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, BOUNDSEARCH_PATH);
b3Assert(boundSearchProg);
- m_lowerSortDataKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SearchSortDataLowerKernel", &pErrNum, boundSearchProg,additionalMacros );
- b3Assert(m_lowerSortDataKernel );
+ m_lowerSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataLowerKernel", &pErrNum, boundSearchProg, additionalMacros);
+ b3Assert(m_lowerSortDataKernel);
- m_upperSortDataKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SearchSortDataUpperKernel", &pErrNum, boundSearchProg,additionalMacros );
+ m_upperSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataUpperKernel", &pErrNum, boundSearchProg, additionalMacros);
b3Assert(m_upperSortDataKernel);
m_subtractKernel = 0;
- if( maxSize )
+ if (maxSize)
{
- m_subtractKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SubtractKernel", &pErrNum, boundSearchProg,additionalMacros );
+ m_subtractKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SubtractKernel", &pErrNum, boundSearchProg, additionalMacros);
b3Assert(m_subtractKernel);
}
//m_constBuffer = new b3OpenCLArray<b3Int4>( device, 1, BufferBase::BUFFER_CONST );
-
- m_lower = (maxSize == 0)? 0: new b3OpenCLArray<unsigned int>(ctx,queue,maxSize );
- m_upper = (maxSize == 0)? 0: new b3OpenCLArray<unsigned int>(ctx,queue, maxSize );
- m_filler = new b3FillCL(ctx,device,queue);
+ m_lower = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
+ m_upper = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
+
+ m_filler = new b3FillCL(ctx, device, queue);
}
b3BoundSearchCL::~b3BoundSearchCL()
{
-
delete m_lower;
delete m_upper;
delete m_filler;
-
+
clReleaseKernel(m_lowerSortDataKernel);
clReleaseKernel(m_upperSortDataKernel);
clReleaseKernel(m_subtractKernel);
-
-
}
-
-void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option )
+void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option)
{
b3Int4 constBuffer;
constBuffer.x = nSrc;
constBuffer.y = nDst;
- if( option == BOUND_LOWER )
+ if (option == BOUND_LOWER)
{
- b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL()) };
-
- b3LauncherCL launcher( m_queue, m_lowerSortDataKernel,"m_lowerSortDataKernel" );
- launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
- launcher.setConst( nSrc );
- launcher.setConst( nDst );
-
- launcher.launch1D( nSrc, 64 );
+ b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
+
+ b3LauncherCL launcher(m_queue, m_lowerSortDataKernel, "m_lowerSortDataKernel");
+ launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+ launcher.setConst(nSrc);
+ launcher.setConst(nDst);
+
+ launcher.launch1D(nSrc, 64);
}
- else if( option == BOUND_UPPER )
+ else if (option == BOUND_UPPER)
{
- b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
+ b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
- b3LauncherCL launcher(m_queue, m_upperSortDataKernel,"m_upperSortDataKernel" );
- launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
- launcher.setConst( nSrc );
- launcher.setConst( nDst );
+ b3LauncherCL launcher(m_queue, m_upperSortDataKernel, "m_upperSortDataKernel");
+ launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+ launcher.setConst(nSrc);
+ launcher.setConst(nDst);
- launcher.launch1D( nSrc, 64 );
+ launcher.launch1D(nSrc, 64);
}
- else if( option == COUNT )
+ else if (option == COUNT)
{
- b3Assert( m_lower );
- b3Assert( m_upper );
- b3Assert( m_lower->capacity() <= (int)nDst );
- b3Assert( m_upper->capacity() <= (int)nDst );
+ b3Assert(m_lower);
+ b3Assert(m_upper);
+ b3Assert(m_lower->capacity() <= (int)nDst);
+ b3Assert(m_upper->capacity() <= (int)nDst);
int zero = 0;
- m_filler->execute( *m_lower, zero, nDst );
- m_filler->execute( *m_upper, zero, nDst );
+ m_filler->execute(*m_lower, zero, nDst);
+ m_filler->execute(*m_upper, zero, nDst);
- execute( src, nSrc, *m_lower, nDst, BOUND_LOWER );
- execute( src, nSrc, *m_upper, nDst, BOUND_UPPER );
+ execute(src, nSrc, *m_lower, nDst, BOUND_LOWER);
+ execute(src, nSrc, *m_upper, nDst, BOUND_UPPER);
{
- b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_upper->getBufferCL(), true ), b3BufferInfoCL( m_lower->getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
+ b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_upper->getBufferCL(), true), b3BufferInfoCL(m_lower->getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
- b3LauncherCL launcher( m_queue, m_subtractKernel ,"m_subtractKernel");
- launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
- launcher.setConst( nSrc );
- launcher.setConst( nDst );
+ b3LauncherCL launcher(m_queue, m_subtractKernel, "m_subtractKernel");
+ launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+ launcher.setConst(nSrc);
+ launcher.setConst(nDst);
- launcher.launch1D( nDst, 64 );
+ launcher.launch1D(nDst, 64);
}
}
else
{
- b3Assert( 0 );
+ b3Assert(0);
}
-
}
-
-void b3BoundSearchCL::executeHost( b3AlignedObjectArray<b3SortData>& src, int nSrc,
- b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option )
+void b3BoundSearchCL::executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc,
+ b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option)
{
+ for (int i = 0; i < nSrc - 1; i++)
+ b3Assert(src[i].m_key <= src[i + 1].m_key);
-
- for(int i=0; i<nSrc-1; i++)
- b3Assert( src[i].m_key <= src[i+1].m_key );
-
- b3SortData minData,zeroData,maxData;
+ b3SortData minData, zeroData, maxData;
minData.m_key = -1;
minData.m_value = -1;
- zeroData.m_key=0;
- zeroData.m_value=0;
+ zeroData.m_key = 0;
+ zeroData.m_value = 0;
maxData.m_key = nDst;
maxData.m_value = nDst;
- if( option == BOUND_LOWER )
+ if (option == BOUND_LOWER)
{
- for(int i=0; i<nSrc; i++)
+ for (int i = 0; i < nSrc; i++)
{
- b3SortData& iData = (i==0)? minData: src[i-1];
- b3SortData& jData = (i==nSrc)? maxData: src[i];
+ b3SortData& iData = (i == 0) ? minData : src[i - 1];
+ b3SortData& jData = (i == nSrc) ? maxData : src[i];
- if( iData.m_key != jData.m_key )
+ if (iData.m_key != jData.m_key)
{
int k = jData.m_key;
{
@@ -170,14 +160,14 @@ void b3BoundSearchCL::executeHost( b3AlignedObjectArray<b3SortData>& src, int nS
}
}
}
- else if( option == BOUND_UPPER )
+ else if (option == BOUND_UPPER)
{
- for(int i=1; i<nSrc+1; i++)
+ for (int i = 1; i < nSrc + 1; i++)
{
- b3SortData& iData = src[i-1];
- b3SortData& jData = (i==nSrc)? maxData: src[i];
+ b3SortData& iData = src[i - 1];
+ b3SortData& jData = (i == nSrc) ? maxData : src[i];
- if( iData.m_key != jData.m_key )
+ if (iData.m_key != jData.m_key)
{
int k = iData.m_key;
{
@@ -186,28 +176,28 @@ void b3BoundSearchCL::executeHost( b3AlignedObjectArray<b3SortData>& src, int nS
}
}
}
- else if( option == COUNT )
+ else if (option == COUNT)
{
b3AlignedObjectArray<unsigned int> lower;
- lower.resize(nDst );
+ lower.resize(nDst);
b3AlignedObjectArray<unsigned int> upper;
- upper.resize(nDst );
+ upper.resize(nDst);
- for(int i=0; i<nDst; i++)
- {
- lower[i] = upper[i] = 0;
+ for (int i = 0; i < nDst; i++)
+ {
+ lower[i] = upper[i] = 0;
}
- executeHost( src, nSrc, lower, nDst, BOUND_LOWER );
- executeHost( src, nSrc, upper, nDst, BOUND_UPPER );
+ executeHost(src, nSrc, lower, nDst, BOUND_LOWER);
+ executeHost(src, nSrc, upper, nDst, BOUND_UPPER);
- for( int i=0; i<nDst; i++)
- {
- dst[i] = upper[i] - lower[i];
+ for (int i = 0; i < nDst; i++)
+ {
+ dst[i] = upper[i] - lower[i];
}
}
else
{
- b3Assert( 0 );
+ b3Assert(0);
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-23 00:02:47 +0000