diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp | 1529 |
1 files changed, 0 insertions, 1529 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp deleted file mode 100644 index e3d235a4fd..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp +++ /dev/null @@ -1,1529 +0,0 @@ - -bool gUseLargeBatches = false; -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 optionalSortContactsDeterminism = true; - -#include "b3GpuPgsContactSolver.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h" - -#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h" -#include <string.h> -#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h" -#include "b3Solver.h" - -#define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl" -#define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl" -#define B3_SOLVER_CONTACT_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl" -#define B3_SOLVER_FRICTION_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl" -#define B3_BATCHING_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl" -#define B3_BATCHING_NEW_PATH "src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl" - -#include "kernels/solverSetup.h" -#include "kernels/solverSetup2.h" -#include "kernels/solveContact.h" -#include "kernels/solveFriction.h" -#include "kernels/batchingKernels.h" -#include "kernels/batchingKernelsNew.h" - -struct b3GpuBatchingPgsSolverInternalData -{ - cl_context m_context; - cl_device_id m_device; - cl_command_queue m_queue; - int m_pairCapacity; - int m_nIterations; - - b3OpenCLArray<b3GpuConstraint4>* m_contactCGPU; - b3OpenCLArray<unsigned int>* m_numConstraints; - b3OpenCLArray<unsigned int>* m_offsets; - - b3Solver* m_solverGPU; - - cl_kernel m_batchingKernel; - cl_kernel m_batchingKernelNew; - cl_kernel m_solveContactKernel; - cl_kernel m_solveSingleContactKernel; - cl_kernel m_solveSingleFrictionKernel; - cl_kernel m_solveFrictionKernel; - cl_kernel m_contactToConstraintKernel; - cl_kernel m_setSortDataKernel; - cl_kernel m_reorderContactKernel; - cl_kernel m_copyConstraintKernel; - - cl_kernel m_setDeterminismSortDataBodyAKernel; - cl_kernel m_setDeterminismSortDataBodyBKernel; - cl_kernel m_setDeterminismSortDataChildShapeAKernel; - cl_kernel m_setDeterminismSortDataChildShapeBKernel; - - class b3RadixSort32CL* m_sort32; - class b3BoundSearchCL* m_search; - class b3PrefixScanCL* m_scan; - - b3OpenCLArray<b3SortData>* m_sortDataBuffer; - b3OpenCLArray<b3Contact4>* m_contactBuffer; - - b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU; - b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU; - b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU; - - b3OpenCLArray<b3Contact4>* m_pBufContactOutGPUCopy; - b3OpenCLArray<b3SortData>* m_contactKeyValues; - - b3AlignedObjectArray<unsigned int> m_idxBuffer; - b3AlignedObjectArray<b3SortData> m_sortData; - b3AlignedObjectArray<b3Contact4> m_old; - - b3AlignedObjectArray<int> m_batchSizes; - b3OpenCLArray<int>* m_batchSizesGpu; -}; - -b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity) -{ - m_debugOutput = 0; - m_data = new b3GpuBatchingPgsSolverInternalData; - m_data->m_context = ctx; - m_data->m_device = device; - m_data->m_queue = q; - m_data->m_pairCapacity = pairCapacity; - m_data->m_nIterations = 4; - m_data->m_batchSizesGpu = new b3OpenCLArray<int>(ctx, q); - m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx, q); - m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx, q); - m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx, q); - - m_data->m_pBufContactOutGPUCopy = new b3OpenCLArray<b3Contact4>(ctx, q); - m_data->m_contactKeyValues = new b3OpenCLArray<b3SortData>(ctx, q); - - m_data->m_solverGPU = new b3Solver(ctx, device, q, 512 * 1024); - - m_data->m_sort32 = new b3RadixSort32CL(ctx, device, m_data->m_queue); - m_data->m_scan = new b3PrefixScanCL(ctx, device, m_data->m_queue, B3_SOLVER_N_CELLS); - m_data->m_search = new b3BoundSearchCL(ctx, device, m_data->m_queue, B3_SOLVER_N_CELLS); - - const int sortSize = B3NEXTMULTIPLEOF(pairCapacity, 512); - - m_data->m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx, m_data->m_queue, sortSize); - m_data->m_contactBuffer = new b3OpenCLArray<b3Contact4>(ctx, m_data->m_queue); - - m_data->m_numConstraints = new b3OpenCLArray<unsigned int>(ctx, m_data->m_queue, B3_SOLVER_N_CELLS); - m_data->m_numConstraints->resize(B3_SOLVER_N_CELLS); - - m_data->m_contactCGPU = new b3OpenCLArray<b3GpuConstraint4>(ctx, q, pairCapacity); - - m_data->m_offsets = new b3OpenCLArray<unsigned int>(ctx, m_data->m_queue, B3_SOLVER_N_CELLS); - m_data->m_offsets->resize(B3_SOLVER_N_CELLS); - const char* additionalMacros = ""; - //const char* srcFileNameForCaching=""; - - cl_int pErrNum; - const char* batchKernelSource = batchingKernelsCL; - const char* batchKernelNewSource = batchingKernelsNewCL; - const char* solverSetupSource = solverSetupCL; - const char* solverSetup2Source = solverSetup2CL; - const char* solveContactSource = solveContactCL; - const char* solveFrictionSource = solveFrictionCL; - - { - cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveContactSource, &pErrNum, additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH); - b3Assert(solveContactProg); - - cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveFrictionSource, &pErrNum, additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH); - b3Assert(solveFrictionProg); - - cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetup2Source, &pErrNum, additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH); - - b3Assert(solverSetup2Prog); - - cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetupSource, &pErrNum, additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH); - b3Assert(solverSetupProg); - - m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg, additionalMacros); - b3Assert(m_data->m_solveFrictionKernel); - - m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg, additionalMacros); - b3Assert(m_data->m_solveContactKernel); - - m_data->m_solveSingleContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "solveSingleContactKernel", &pErrNum, solveContactProg, additionalMacros); - b3Assert(m_data->m_solveSingleContactKernel); - - m_data->m_solveSingleFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "solveSingleFrictionKernel", &pErrNum, solveFrictionProg, additionalMacros); - b3Assert(m_data->m_solveSingleFrictionKernel); - - m_data->m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg, additionalMacros); - b3Assert(m_data->m_contactToConstraintKernel); - - m_data->m_setSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_setSortDataKernel); - - m_data->m_setDeterminismSortDataBodyAKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyA", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_setDeterminismSortDataBodyAKernel); - - m_data->m_setDeterminismSortDataBodyBKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyB", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_setDeterminismSortDataBodyBKernel); - - m_data->m_setDeterminismSortDataChildShapeAKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeA", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_setDeterminismSortDataChildShapeAKernel); - - m_data->m_setDeterminismSortDataChildShapeBKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeB", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_setDeterminismSortDataChildShapeBKernel); - - m_data->m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_reorderContactKernel); - - m_data->m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog, additionalMacros); - b3Assert(m_data->m_copyConstraintKernel); - } - - { - cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelSource, &pErrNum, additionalMacros, B3_BATCHING_PATH); - b3Assert(batchingProg); - - m_data->m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg, additionalMacros); - b3Assert(m_data->m_batchingKernel); - } - - { - cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelNewSource, &pErrNum, additionalMacros, B3_BATCHING_NEW_PATH); - b3Assert(batchingNewProg); - - m_data->m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg, additionalMacros); - b3Assert(m_data->m_batchingKernelNew); - } -} - -b3GpuPgsContactSolver::~b3GpuPgsContactSolver() -{ - delete m_data->m_batchSizesGpu; - delete m_data->m_bodyBufferGPU; - delete m_data->m_inertiaBufferGPU; - delete m_data->m_pBufContactOutGPU; - delete m_data->m_pBufContactOutGPUCopy; - delete m_data->m_contactKeyValues; - - delete m_data->m_contactCGPU; - delete m_data->m_numConstraints; - delete m_data->m_offsets; - delete m_data->m_sortDataBuffer; - delete m_data->m_contactBuffer; - - delete m_data->m_sort32; - delete m_data->m_scan; - delete m_data->m_search; - delete m_data->m_solverGPU; - - clReleaseKernel(m_data->m_batchingKernel); - clReleaseKernel(m_data->m_batchingKernelNew); - clReleaseKernel(m_data->m_solveSingleContactKernel); - clReleaseKernel(m_data->m_solveSingleFrictionKernel); - clReleaseKernel(m_data->m_solveContactKernel); - clReleaseKernel(m_data->m_solveFrictionKernel); - - clReleaseKernel(m_data->m_contactToConstraintKernel); - clReleaseKernel(m_data->m_setSortDataKernel); - clReleaseKernel(m_data->m_reorderContactKernel); - clReleaseKernel(m_data->m_copyConstraintKernel); - - clReleaseKernel(m_data->m_setDeterminismSortDataBodyAKernel); - clReleaseKernel(m_data->m_setDeterminismSortDataBodyBKernel); - clReleaseKernel(m_data->m_setDeterminismSortDataChildShapeAKernel); - clReleaseKernel(m_data->m_setDeterminismSortDataChildShapeBKernel); - - delete m_data; -} - -struct b3ConstraintCfg -{ - b3ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(0) {} - - float m_positionDrift; - float m_positionConstraintCoeff; - float m_dt; - bool m_enableParallelSolve; - float m_batchCellSize; - int m_staticIdx; -}; - -void b3GpuPgsContactSolver::solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, - b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes) //const b3OpenCLArray<int>* gpuBatchSizes) -{ - B3_PROFILE("solveContactConstraintBatchSizes"); - int numBatches = batchSizes->size() / B3_MAX_NUM_BATCHES; - for (int iter = 0; iter < numIterations; iter++) - { - for (int cellId = 0; cellId < numBatches; cellId++) - { - int offset = 0; - for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++) - { - int numInBatch = batchSizes->at(cellId * B3_MAX_NUM_BATCHES + ii); - if (!numInBatch) - break; - - { - b3LauncherCL launcher(m_data->m_queue, m_data->m_solveSingleContactKernel, "m_solveSingleContactKernel"); - launcher.setBuffer(bodyBuf->getBufferCL()); - launcher.setBuffer(shapeBuf->getBufferCL()); - launcher.setBuffer(constraint->getBufferCL()); - launcher.setConst(cellId); - launcher.setConst(offset); - launcher.setConst(numInBatch); - launcher.launch1D(numInBatch); - offset += numInBatch; - } - } - } - } - - for (int iter = 0; iter < numIterations; iter++) - { - for (int cellId = 0; cellId < numBatches; cellId++) - { - int offset = 0; - for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++) - { - int numInBatch = batchSizes->at(cellId * B3_MAX_NUM_BATCHES + ii); - if (!numInBatch) - break; - - { - b3LauncherCL launcher(m_data->m_queue, m_data->m_solveSingleFrictionKernel, "m_solveSingleFrictionKernel"); - launcher.setBuffer(bodyBuf->getBufferCL()); - launcher.setBuffer(shapeBuf->getBufferCL()); - launcher.setBuffer(constraint->getBufferCL()); - launcher.setConst(cellId); - launcher.setConst(offset); - launcher.setConst(numInBatch); - launcher.launch1D(numInBatch); - offset += numInBatch; - } - } - } - } -} - -void b3GpuPgsContactSolver::solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, - b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes) //,const b3OpenCLArray<int>* gpuBatchSizes) -{ - //sort the contacts - - b3Int4 cdata = b3MakeInt4(n, 0, 0, 0); - { - const int nn = B3_SOLVER_N_CELLS; - - cdata.x = 0; - cdata.y = maxNumBatches; //250; - - int numWorkItems = 64 * nn / B3_SOLVER_N_BATCHES; -#ifdef DEBUG_ME - SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems]; - adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems); -#endif - - { - B3_PROFILE("m_batchSolveKernel iterations"); - for (int iter = 0; iter < numIterations; iter++) - { - for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++) - { -#ifdef DEBUG_ME - memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems); - gpuDebugInfo.write(debugInfo, numWorkItems); -#endif - - cdata.z = ib; - - b3LauncherCL launcher(m_data->m_queue, m_data->m_solveContactKernel, "m_solveContactKernel"); -#if 1 - - b3BufferInfoCL bInfo[] = { - - b3BufferInfoCL(bodyBuf->getBufferCL()), - b3BufferInfoCL(shapeBuf->getBufferCL()), - b3BufferInfoCL(constraint->getBufferCL()), - b3BufferInfoCL(m_data->m_solverGPU->m_numConstraints->getBufferCL()), - b3BufferInfoCL(m_data->m_solverGPU->m_offsets->getBufferCL()) -#ifdef DEBUG_ME - , - b3BufferInfoCL(&gpuDebugInfo) -#endif - }; - - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setBuffer(m_data->m_solverGPU->m_batchSizes.getBufferCL()); - //launcher.setConst( cdata.x ); - launcher.setConst(cdata.y); - launcher.setConst(cdata.z); - b3Int4 nSplit; - nSplit.x = B3_SOLVER_N_SPLIT_X; - nSplit.y = B3_SOLVER_N_SPLIT_Y; - nSplit.z = B3_SOLVER_N_SPLIT_Z; - - launcher.setConst(nSplit); - launcher.launch1D(numWorkItems, 64); - -#else - const char* fileName = "m_batchSolveKernel.bin"; - FILE* f = fopen(fileName, "rb"); - if (f) - { - int sizeInBytes = 0; - if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET)) - { - printf("error, cannot get file size\n"); - exit(0); - } - - unsigned char* buf = (unsigned char*)malloc(sizeInBytes); - fread(buf, sizeInBytes, 1, f); - int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context); - int num = *(int*)&buf[serializedBytes]; - - launcher.launch1D(num); - - //this clFinish is for testing on errors - clFinish(m_queue); - } - -#endif - -#ifdef DEBUG_ME - clFinish(m_queue); - gpuDebugInfo.read(debugInfo, numWorkItems); - clFinish(m_queue); - for (int i = 0; i < numWorkItems; i++) - { - if (debugInfo[i].m_valInt2 > 0) - { - printf("debugInfo[i].m_valInt2 = %d\n", i, debugInfo[i].m_valInt2); - } - - if (debugInfo[i].m_valInt3 > 0) - { - printf("debugInfo[i].m_valInt3 = %d\n", i, debugInfo[i].m_valInt3); - } - } -#endif //DEBUG_ME - } - } - - clFinish(m_data->m_queue); - } - - cdata.x = 1; - bool applyFriction = true; - if (applyFriction) - { - B3_PROFILE("m_batchSolveKernel iterations2"); - for (int iter = 0; iter < numIterations; iter++) - { - for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++) - { - cdata.z = ib; - - b3BufferInfoCL bInfo[] = { - b3BufferInfoCL(bodyBuf->getBufferCL()), - b3BufferInfoCL(shapeBuf->getBufferCL()), - b3BufferInfoCL(constraint->getBufferCL()), - b3BufferInfoCL(m_data->m_solverGPU->m_numConstraints->getBufferCL()), - b3BufferInfoCL(m_data->m_solverGPU->m_offsets->getBufferCL()) -#ifdef DEBUG_ME - , - b3BufferInfoCL(&gpuDebugInfo) -#endif //DEBUG_ME - }; - b3LauncherCL launcher(m_data->m_queue, m_data->m_solveFrictionKernel, "m_solveFrictionKernel"); - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setBuffer(m_data->m_solverGPU->m_batchSizes.getBufferCL()); - //launcher.setConst( cdata.x ); - launcher.setConst(cdata.y); - launcher.setConst(cdata.z); - - b3Int4 nSplit; - nSplit.x = B3_SOLVER_N_SPLIT_X; - nSplit.y = B3_SOLVER_N_SPLIT_Y; - nSplit.z = B3_SOLVER_N_SPLIT_Z; - - launcher.setConst(nSplit); - - launcher.launch1D(64 * nn / B3_SOLVER_N_BATCHES, 64); - } - } - clFinish(m_data->m_queue); - } -#ifdef DEBUG_ME - delete[] debugInfo; -#endif //DEBUG_ME - } -} - -static bool sortfnc(const b3SortData& a, const b3SortData& b) -{ - return (a.m_key < b.m_key); -} - -static bool b3ContactCmp(const b3Contact4& p, const b3Contact4& q) -{ - return ((p.m_bodyAPtrAndSignBit < q.m_bodyAPtrAndSignBit) || - ((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit < q.m_bodyBPtrAndSignBit)) || - ((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA < q.m_childIndexA) || - ((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA < q.m_childIndexA) || - ((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA == q.m_childIndexA && p.m_childIndexB < q.m_childIndexB)); -} - -#define USE_SPATIAL_BATCHING 1 -#define USE_4x4_GRID 1 - -#ifndef USE_SPATIAL_BATCHING -static const int gridTable4x4[] = - { - 0, 1, 17, 16, - 1, 2, 18, 19, - 17, 18, 32, 3, - 16, 19, 3, 34}; -static const int gridTable8x8[] = - { - 0, 2, 3, 16, 17, 18, 19, 1, - 66, 64, 80, 67, 82, 81, 65, 83, - 131, 144, 128, 130, 147, 129, 145, 146, - 208, 195, 194, 192, 193, 211, 210, 209, - 21, 22, 23, 5, 4, 6, 7, 20, - 86, 85, 69, 87, 70, 68, 84, 71, - 151, 133, 149, 150, 135, 148, 132, 134, - 197, 27, 214, 213, 212, 199, 198, 196 - -}; - -#endif - -void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts, float scale, const b3Int4& nSplit, int staticIdx) -{ - for (int gIdx = 0; gIdx < nContacts; gIdx++) - { - if (gIdx < nContacts) - { - int aPtrAndSignBit = gContact[gIdx].m_bodyAPtrAndSignBit; - int bPtrAndSignBit = gContact[gIdx].m_bodyBPtrAndSignBit; - - int aIdx = abs(aPtrAndSignBit); - int bIdx = abs(bPtrAndSignBit); - - bool aStatic = (aPtrAndSignBit < 0) || (aPtrAndSignBit == staticIdx); - -#if USE_SPATIAL_BATCHING - int idx = (aStatic) ? bIdx : aIdx; - b3Vector3 p = gBodies[idx].m_pos; - int xIdx = (int)((p.x - ((p.x < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.x - 1); - int yIdx = (int)((p.y - ((p.y < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.y - 1); - int zIdx = (int)((p.z - ((p.z < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.z - 1); - - int newIndex = (xIdx + yIdx * nSplit.x + zIdx * nSplit.x * nSplit.y); - -#else //USE_SPATIAL_BATCHING - bool bStatic = (bPtrAndSignBit < 0) || (bPtrAndSignBit == staticIdx); - -#if USE_4x4_GRID - int aa = aIdx & 3; - int bb = bIdx & 3; - if (aStatic) - aa = bb; - if (bStatic) - bb = aa; - - int gridIndex = aa + bb * 4; - int newIndex = gridTable4x4[gridIndex]; -#else //USE_4x4_GRID - int aa = aIdx & 7; - int bb = bIdx & 7; - if (aStatic) - aa = bb; - if (bStatic) - bb = aa; - - int gridIndex = aa + bb * 8; - int newIndex = gridTable8x8[gridIndex]; -#endif //USE_4x4_GRID -#endif //USE_SPATIAL_BATCHING - - gSortDataOut[gIdx].x = newIndex; - gSortDataOut[gIdx].y = gIdx; - } - else - { - gSortDataOut[gIdx].x = 0xffffffff; - } - } -} - -void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const b3Config& config, int static0Index) -{ - B3_PROFILE("solveContacts"); - m_data->m_bodyBufferGPU->setFromOpenCLBuffer(bodyBuf, numBodies); - m_data->m_inertiaBufferGPU->setFromOpenCLBuffer(inertiaBuf, numBodies); - m_data->m_pBufContactOutGPU->setFromOpenCLBuffer(contactBuf, numContacts); - - if (optionalSortContactsDeterminism) - { - if (!gCpuSortContactsDeterminism) - { - B3_PROFILE("GPU Sort contact constraints (determinism)"); - - m_data->m_pBufContactOutGPUCopy->resize(numContacts); - m_data->m_contactKeyValues->resize(numContacts); - - m_data->m_pBufContactOutGPU->copyToCL(m_data->m_pBufContactOutGPUCopy->getBufferCL(), numContacts, 0, 0); - - { - 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); - launcher.launch1D(numContacts, 64); - } - m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues); - { - 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); - launcher.launch1D(numContacts, 64); - } - m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues); - { - 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); - launcher.launch1D(numContacts, 64); - } - - m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues); - - { - 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); - launcher.launch1D(numContacts, 64); - } - - m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues); - - { - B3_PROFILE("gpu reorderContactKernel (determinism)"); - - b3Int4 cdata; - cdata.x = numContacts; - - //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, "m_reorderContactKernel"); - launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL()); - launcher.setBuffer(m_data->m_pBufContactOutGPU->getBufferCL()); - launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL()); - launcher.setConst(cdata); - launcher.launch1D(numContacts, 64); - } - } - else - { - B3_PROFILE("CPU Sort contact constraints (determinism)"); - b3AlignedObjectArray<b3Contact4> cpuConstraints; - m_data->m_pBufContactOutGPU->copyToHost(cpuConstraints); - bool sort = true; - if (sort) - { - cpuConstraints.quickSort(b3ContactCmp); - - for (int i = 0; i < cpuConstraints.size(); i++) - { - cpuConstraints[i].m_batchIdx = i; - } - } - m_data->m_pBufContactOutGPU->copyFromHost(cpuConstraints); - if (m_debugOutput == 100) - { - for (int i = 0; i < cpuConstraints.size(); i++) - { - printf("c[%d].m_bodyA = %d, m_bodyB = %d, batchId = %d\n", i, cpuConstraints[i].m_bodyAPtrAndSignBit, cpuConstraints[i].m_bodyBPtrAndSignBit, cpuConstraints[i].m_batchIdx); - } - } - - m_debugOutput++; - } - } - - int nContactOut = m_data->m_pBufContactOutGPU->size(); - - bool useSolver = true; - - if (useSolver) - { - float dt = 1. / 60.; - b3ConstraintCfg csCfg(dt); - csCfg.m_enableParallelSolve = true; - csCfg.m_batchCellSize = 6; - csCfg.m_staticIdx = static0Index; - - b3OpenCLArray<b3RigidBodyData>* bodyBuf = m_data->m_bodyBufferGPU; - - void* additionalData = 0; //m_data->m_frictionCGPU; - const b3OpenCLArray<b3InertiaData>* shapeBuf = m_data->m_inertiaBufferGPU; - b3OpenCLArray<b3GpuConstraint4>* contactConstraintOut = m_data->m_contactCGPU; - int nContacts = nContactOut; - - int maxNumBatches = 0; - - if (!gUseLargeBatches) - { - if (m_data->m_solverGPU->m_contactBuffer2) - { - m_data->m_solverGPU->m_contactBuffer2->resize(nContacts); - } - - if (m_data->m_solverGPU->m_contactBuffer2 == 0) - { - m_data->m_solverGPU->m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(m_data->m_context, m_data->m_queue, nContacts); - m_data->m_solverGPU->m_contactBuffer2->resize(nContacts); - } - - //clFinish(m_data->m_queue); - - { - B3_PROFILE("batching"); - //@todo: just reserve it, without copy of original contact (unless we use warmstarting) - - //const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf; - - { - //b3OpenCLArray<b3RigidBodyData>* bodyNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, bodyBuf ); - //b3OpenCLArray<b3Contact4>* contactNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, contactsIn ); - - const int sortAlignment = 512; // todo. get this out of sort - if (csCfg.m_enableParallelSolve) - { - int sortSize = B3NEXTMULTIPLEOF(nContacts, sortAlignment); - - b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints; - b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets; - - if (!gCpuSetSortData) - { // 2. set cell idx - B3_PROFILE("GPU set cell idx"); - struct CB - { - int m_nContacts; - int m_staticIdx; - float m_scale; - b3Int4 m_nSplit; - }; - - b3Assert(sortSize % 64 == 0); - CB cdata; - cdata.m_nContacts = nContacts; - cdata.m_staticIdx = csCfg.m_staticIdx; - cdata.m_scale = 1.f / csCfg.m_batchCellSize; - cdata.m_nSplit.x = B3_SOLVER_N_SPLIT_X; - cdata.m_nSplit.y = B3_SOLVER_N_SPLIT_Y; - cdata.m_nSplit.z = B3_SOLVER_N_SPLIT_Z; - - m_data->m_solverGPU->m_sortDataBuffer->resize(nContacts); - - 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, "m_setSortDataKernel"); - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(cdata.m_nContacts); - launcher.setConst(cdata.m_scale); - launcher.setConst(cdata.m_nSplit); - launcher.setConst(cdata.m_staticIdx); - - launcher.launch1D(sortSize, 64); - } - else - { - m_data->m_solverGPU->m_sortDataBuffer->resize(nContacts); - b3AlignedObjectArray<b3SortData> sortDataCPU; - m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataCPU); - - b3AlignedObjectArray<b3Contact4> contactCPU; - m_data->m_pBufContactOutGPU->copyToHost(contactCPU); - b3AlignedObjectArray<b3RigidBodyData> bodiesCPU; - bodyBuf->copyToHost(bodiesCPU); - float scale = 1.f / csCfg.m_batchCellSize; - b3Int4 nSplit; - nSplit.x = B3_SOLVER_N_SPLIT_X; - nSplit.y = B3_SOLVER_N_SPLIT_Y; - nSplit.z = B3_SOLVER_N_SPLIT_Z; - - SetSortDataCPU(&contactCPU[0], &bodiesCPU[0], &sortDataCPU[0], nContacts, scale, nSplit, csCfg.m_staticIdx); - - m_data->m_solverGPU->m_sortDataBuffer->copyFromHost(sortDataCPU); - } - - if (!gCpuRadixSort) - { // 3. sort by cell idx - B3_PROFILE("gpuRadixSort"); - //int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT; - //int sortBit = 32; - //if( n <= 0xffff ) sortBit = 16; - //if( n <= 0xff ) sortBit = 8; - //adl::RadixSort<adl::TYPE_CL>::execute( data->m_sort, *data->m_sortDataBuffer, sortSize ); - //adl::RadixSort32<adl::TYPE_CL>::execute( data->m_sort32, *data->m_sortDataBuffer, sortSize ); - b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer); - this->m_data->m_solverGPU->m_sort32->execute(keyValuesInOut); - } - else - { - b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer); - b3AlignedObjectArray<b3SortData> hostValues; - keyValuesInOut.copyToHost(hostValues); - hostValues.quickSort(sortfnc); - keyValuesInOut.copyFromHost(hostValues); - } - - if (gUseScanHost) - { - // 4. find entries - B3_PROFILE("cpuBoundSearch"); - b3AlignedObjectArray<unsigned int> countsHost; - countsNative->copyToHost(countsHost); - - b3AlignedObjectArray<b3SortData> sortDataHost; - m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataHost); - - //m_data->m_solverGPU->m_search->executeHost(*m_data->m_solverGPU->m_sortDataBuffer,nContacts,*countsNative,B3_SOLVER_N_CELLS,b3BoundSearchCL::COUNT); - m_data->m_solverGPU->m_search->executeHost(sortDataHost, nContacts, countsHost, B3_SOLVER_N_CELLS, b3BoundSearchCL::COUNT); - - countsNative->copyFromHost(countsHost); - - //adl::BoundSearch<adl::TYPE_CL>::execute( data->m_search, *data->m_sortDataBuffer, nContacts, *countsNative, - // B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT, adl::BoundSearchBase::COUNT ); - - //unsigned int sum; - //m_data->m_solverGPU->m_scan->execute(*countsNative,*offsetsNative, B3_SOLVER_N_CELLS);//,&sum ); - b3AlignedObjectArray<unsigned int> offsetsHost; - offsetsHost.resize(offsetsNative->size()); - - m_data->m_solverGPU->m_scan->executeHost(countsHost, offsetsHost, B3_SOLVER_N_CELLS); //,&sum ); - offsetsNative->copyFromHost(offsetsHost); - - //printf("sum = %d\n",sum); - } - else - { - // 4. find entries - B3_PROFILE("gpuBoundSearch"); - m_data->m_solverGPU->m_search->execute(*m_data->m_solverGPU->m_sortDataBuffer, nContacts, *countsNative, B3_SOLVER_N_CELLS, b3BoundSearchCL::COUNT); - m_data->m_solverGPU->m_scan->execute(*countsNative, *offsetsNative, B3_SOLVER_N_CELLS); //,&sum ); - } - - if (nContacts) - { // 5. sort constraints by cellIdx - if (gReorderContactsOnCpu) - { - B3_PROFILE("cpu m_reorderContactKernel"); - b3AlignedObjectArray<b3SortData> sortDataHost; - m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataHost); - b3AlignedObjectArray<b3Contact4> inContacts; - b3AlignedObjectArray<b3Contact4> outContacts; - m_data->m_pBufContactOutGPU->copyToHost(inContacts); - outContacts.resize(inContacts.size()); - for (int i = 0; i < nContacts; i++) - { - int srcIdx = sortDataHost[i].y; - outContacts[i] = inContacts[srcIdx]; - } - m_data->m_solverGPU->m_contactBuffer2->copyFromHost(outContacts); - - /* "void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n" - "{\n" - " int nContacts = cb.x;\n" - " int gIdx = GET_GLOBAL_IDX;\n" - " if( gIdx < nContacts )\n" - " {\n" - " int srcIdx = sortData[gIdx].y;\n" - " out[gIdx] = in[srcIdx];\n" - " }\n" - "}\n" - */ - } - else - { - B3_PROFILE("gpu m_reorderContactKernel"); - - b3Int4 cdata; - cdata.x = nContacts; - - 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, "m_reorderContactKernel"); - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(cdata); - launcher.launch1D(nContacts, 64); - } - } - } - } - - //clFinish(m_data->m_queue); - - // { - // b3AlignedObjectArray<unsigned int> histogram; - // m_data->m_solverGPU->m_numConstraints->copyToHost(histogram); - // printf(",,,\n"); - // } - - if (nContacts) - { - if (gUseCpuCopyConstraints) - { - for (int i = 0; i < nContacts; i++) - { - m_data->m_pBufContactOutGPU->copyFromOpenCLArray(*m_data->m_solverGPU->m_contactBuffer2); - // m_data->m_solverGPU->m_contactBuffer2->getBufferCL(); - // m_data->m_pBufContactOutGPU->getBufferCL() - } - } - else - { - B3_PROFILE("gpu m_copyConstraintKernel"); - b3Int4 cdata; - cdata.x = nContacts; - b3BufferInfoCL bInfo[] = { - b3BufferInfoCL(m_data->m_solverGPU->m_contactBuffer2->getBufferCL()), - b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL())}; - - 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); - //we use the clFinish for proper benchmark/profile - clFinish(m_data->m_queue); - } - } - - // bool compareGPU = false; - if (nContacts) - { - if (!gCpuBatchContacts) - { - B3_PROFILE("gpu batchContacts"); - maxNumBatches = 250; //250; - m_data->m_solverGPU->batchContacts(m_data->m_pBufContactOutGPU, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx); - clFinish(m_data->m_queue); - } - else - { - B3_PROFILE("cpu batchContacts"); - static b3AlignedObjectArray<b3Contact4> cpuContacts; - b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2; - { - 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; - - b3AlignedObjectArray<unsigned int> nNativeHost; - b3AlignedObjectArray<unsigned int> offsetsNativeHost; - - { - B3_PROFILE("countsNative/offsetsNative copyToHost"); - countsNative->copyToHost(nNativeHost); - offsetsNative->copyToHost(offsetsNativeHost); - } - - int numNonzeroGrid = 0; - - if (gUseLargeBatches) - { - m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES); - int totalNumConstraints = cpuContacts.size(); - //int simdWidth =numBodies+1;//-1;//64;//-1;//32; - int numBatches = sortConstraintByBatch3(&cpuContacts[0], totalNumConstraints, totalNumConstraints + 1, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[0]); // on GPU - maxNumBatches = b3Max(numBatches, maxNumBatches); - static int globalMaxBatch = 0; - if (maxNumBatches > globalMaxBatch) - { - globalMaxBatch = maxNumBatches; - b3Printf("maxNumBatches = %d\n", maxNumBatches); - } - } - else - { - m_data->m_batchSizes.resize(B3_SOLVER_N_CELLS * B3_MAX_NUM_BATCHES); - B3_PROFILE("cpu batch grid"); - for (int i = 0; i < B3_SOLVER_N_CELLS; i++) - { - int n = (nNativeHost)[i]; - int offset = (offsetsNativeHost)[i]; - if (n) - { - numNonzeroGrid++; - int simdWidth = numBodies + 1; //-1;//64;//-1;//32; - int numBatches = sortConstraintByBatch3(&cpuContacts[0] + offset, n, simdWidth, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[i * B3_MAX_NUM_BATCHES]); // on GPU - maxNumBatches = b3Max(numBatches, maxNumBatches); - static int globalMaxBatch = 0; - if (maxNumBatches > globalMaxBatch) - { - globalMaxBatch = maxNumBatches; - b3Printf("maxNumBatches = %d\n", maxNumBatches); - } - //we use the clFinish for proper benchmark/profile - } - } - //clFinish(m_data->m_queue); - } - { - B3_PROFILE("m_contactBuffer->copyFromHost"); - m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts); - } - } - } - } - } - - //printf("maxNumBatches = %d\n", maxNumBatches); - - if (gUseLargeBatches) - { - if (nContacts) - { - B3_PROFILE("cpu batchContacts"); - static b3AlignedObjectArray<b3Contact4> cpuContacts; - // b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2; - { - B3_PROFILE("copyToHost"); - m_data->m_pBufContactOutGPU->copyToHost(cpuContacts); - } - // b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints; - // b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets; - - // int numNonzeroGrid=0; - - { - m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES); - int totalNumConstraints = cpuContacts.size(); - // int simdWidth =numBodies+1;//-1;//64;//-1;//32; - int numBatches = sortConstraintByBatch3(&cpuContacts[0], totalNumConstraints, totalNumConstraints + 1, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[0]); // on GPU - maxNumBatches = b3Max(numBatches, maxNumBatches); - static int globalMaxBatch = 0; - if (maxNumBatches > globalMaxBatch) - { - globalMaxBatch = maxNumBatches; - b3Printf("maxNumBatches = %d\n", maxNumBatches); - } - } - { - B3_PROFILE("m_contactBuffer->copyFromHost"); - m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts); - } - } - } - - if (nContacts) - { - B3_PROFILE("gpu convertToConstraints"); - m_data->m_solverGPU->convertToConstraints(bodyBuf, - shapeBuf, m_data->m_solverGPU->m_contactBuffer2, - contactConstraintOut, - additionalData, nContacts, - (b3SolverBase::ConstraintCfg&)csCfg); - clFinish(m_data->m_queue); - } - - if (1) - { - int numIter = 4; - - m_data->m_solverGPU->m_nIterations = numIter; //10 - if (!gCpuSolveConstraint) - { - B3_PROFILE("GPU solveContactConstraint"); - - /*m_data->m_solverGPU->solveContactConstraint( - m_data->m_bodyBufferGPU, - m_data->m_inertiaBufferGPU, - m_data->m_contactCGPU,0, - nContactOut , - maxNumBatches); - */ - - //m_data->m_batchSizesGpu->copyFromHost(m_data->m_batchSizes); - - if (gUseLargeBatches) - { - solveContactConstraintBatchSizes(m_data->m_bodyBufferGPU, - m_data->m_inertiaBufferGPU, - m_data->m_contactCGPU, 0, - nContactOut, - maxNumBatches, numIter, &m_data->m_batchSizes); - } - else - { - solveContactConstraint( - m_data->m_bodyBufferGPU, - m_data->m_inertiaBufferGPU, - m_data->m_contactCGPU, 0, - nContactOut, - maxNumBatches, numIter, &m_data->m_batchSizes); //m_data->m_batchSizesGpu); - } - } - else - { - B3_PROFILE("Host solveContactConstraint"); - - m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU, 0, nContactOut, maxNumBatches, &m_data->m_batchSizes); - } - } - -#if 0 - if (0) - { - B3_PROFILE("read body velocities back to CPU"); - //read body updated linear/angular velocities back to CPU - m_data->m_bodyBufferGPU->read( - m_data->m_bodyBufferCPU->m_ptr,numOfConvexRBodies); - adl::DeviceUtils::waitForCompletion( m_data->m_deviceCL ); - } -#endif - } -} - -void b3GpuPgsContactSolver::batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx) -{ -} - -b3AlignedObjectArray<unsigned int> idxBuffer; -b3AlignedObjectArray<b3SortData> sortData; -b3AlignedObjectArray<b3Contact4> old; - -inline int b3GpuPgsContactSolver::sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies) -{ - B3_PROFILE("sortConstraintByBatch"); - int numIter = 0; - - sortData.resize(n); - idxBuffer.resize(n); - old.resize(n); - - unsigned int* idxSrc = &idxBuffer[0]; - unsigned int* idxDst = &idxBuffer[0]; - int nIdxSrc, nIdxDst; - - const int N_FLG = 256; - const int FLG_MASK = N_FLG - 1; - unsigned int flg[N_FLG / 32]; -#if defined(_DEBUG) - for (int i = 0; i < n; i++) - cs[i].getBatchIdx() = -1; -#endif - for (int i = 0; i < n; i++) - idxSrc[i] = i; - nIdxSrc = n; - - int batchIdx = 0; - - { - B3_PROFILE("cpu batch innerloop"); - while (nIdxSrc) - { - numIter++; - nIdxDst = 0; - int nCurrentBatch = 0; - - // clear flag - for (int i = 0; i < N_FLG / 32; i++) flg[i] = 0; - - for (int i = 0; i < nIdxSrc; i++) - { - int idx = idxSrc[i]; - - b3Assert(idx < n); - // check if it can go - int bodyAS = cs[idx].m_bodyAPtrAndSignBit; - int bodyBS = cs[idx].m_bodyBPtrAndSignBit; - - int bodyA = abs(bodyAS); - int bodyB = abs(bodyBS); - - int aIdx = bodyA & FLG_MASK; - int bIdx = bodyB & FLG_MASK; - - unsigned int aUnavailable = flg[aIdx / 32] & (1 << (aIdx & 31)); - unsigned int bUnavailable = flg[bIdx / 32] & (1 << (bIdx & 31)); - - bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx; - bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx; - - //use inv_mass! - aUnavailable = !aIsStatic ? aUnavailable : 0; // - bUnavailable = !bIsStatic ? bUnavailable : 0; - - if (aUnavailable == 0 && bUnavailable == 0) // ok - { - if (!aIsStatic) - flg[aIdx / 32] |= (1 << (aIdx & 31)); - if (!bIsStatic) - flg[bIdx / 32] |= (1 << (bIdx & 31)); - - cs[idx].getBatchIdx() = batchIdx; - sortData[idx].m_key = batchIdx; - sortData[idx].m_value = idx; - - { - nCurrentBatch++; - if (nCurrentBatch == simdWidth) - { - nCurrentBatch = 0; - for (int i = 0; i < N_FLG / 32; i++) flg[i] = 0; - } - } - } - else - { - idxDst[nIdxDst++] = idx; - } - } - b3Swap(idxSrc, idxDst); - b3Swap(nIdxSrc, nIdxDst); - batchIdx++; - } - } - { - B3_PROFILE("quickSort"); - sortData.quickSort(sortfnc); - } - - { - B3_PROFILE("reorder"); - // reorder - - memcpy(&old[0], cs, sizeof(b3Contact4) * n); - for (int i = 0; i < n; i++) - { - int idx = sortData[i].m_value; - cs[i] = old[idx]; - } - } - -#if defined(_DEBUG) - // debugPrintf( "nBatches: %d\n", batchIdx ); - for (int i = 0; i < n; i++) - { - b3Assert(cs[i].getBatchIdx() != -1); - } -#endif - return batchIdx; -} - -b3AlignedObjectArray<int> bodyUsed2; - -inline int b3GpuPgsContactSolver::sortConstraintByBatch2(b3Contact4* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies) -{ - B3_PROFILE("sortConstraintByBatch2"); - - bodyUsed2.resize(2 * simdWidth); - - for (int q = 0; q < 2 * simdWidth; q++) - bodyUsed2[q] = 0; - - int curBodyUsed = 0; - - int numIter = 0; - - m_data->m_sortData.resize(numConstraints); - m_data->m_idxBuffer.resize(numConstraints); - m_data->m_old.resize(numConstraints); - - unsigned int* idxSrc = &m_data->m_idxBuffer[0]; - -#if defined(_DEBUG) - for (int i = 0; i < numConstraints; i++) - cs[i].getBatchIdx() = -1; -#endif - for (int i = 0; i < numConstraints; i++) - idxSrc[i] = i; - - int numValidConstraints = 0; - // int unprocessedConstraintIndex = 0; - - int batchIdx = 0; - - { - B3_PROFILE("cpu batch innerloop"); - - while (numValidConstraints < numConstraints) - { - numIter++; - int nCurrentBatch = 0; - // clear flag - for (int i = 0; i < curBodyUsed; i++) - bodyUsed2[i] = 0; - curBodyUsed = 0; - - for (int i = numValidConstraints; i < numConstraints; i++) - { - int idx = idxSrc[i]; - b3Assert(idx < numConstraints); - // check if it can go - int bodyAS = cs[idx].m_bodyAPtrAndSignBit; - int bodyBS = cs[idx].m_bodyBPtrAndSignBit; - int bodyA = abs(bodyAS); - int bodyB = abs(bodyBS); - bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx; - bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx; - int aUnavailable = 0; - int bUnavailable = 0; - if (!aIsStatic) - { - for (int j = 0; j < curBodyUsed; j++) - { - if (bodyA == bodyUsed2[j]) - { - aUnavailable = 1; - break; - } - } - } - if (!aUnavailable) - if (!bIsStatic) - { - for (int j = 0; j < curBodyUsed; j++) - { - if (bodyB == bodyUsed2[j]) - { - bUnavailable = 1; - break; - } - } - } - - if (aUnavailable == 0 && bUnavailable == 0) // ok - { - if (!aIsStatic) - { - bodyUsed2[curBodyUsed++] = bodyA; - } - if (!bIsStatic) - { - bodyUsed2[curBodyUsed++] = bodyB; - } - - cs[idx].getBatchIdx() = batchIdx; - m_data->m_sortData[idx].m_key = batchIdx; - m_data->m_sortData[idx].m_value = idx; - - if (i != numValidConstraints) - { - b3Swap(idxSrc[i], idxSrc[numValidConstraints]); - } - - numValidConstraints++; - { - nCurrentBatch++; - if (nCurrentBatch == simdWidth) - { - nCurrentBatch = 0; - for (int i = 0; i < curBodyUsed; i++) - bodyUsed2[i] = 0; - - curBodyUsed = 0; - } - } - } - } - - batchIdx++; - } - } - { - B3_PROFILE("quickSort"); - //m_data->m_sortData.quickSort(sortfnc); - } - - { - B3_PROFILE("reorder"); - // reorder - - memcpy(&m_data->m_old[0], cs, sizeof(b3Contact4) * numConstraints); - - for (int i = 0; i < numConstraints; i++) - { - b3Assert(m_data->m_sortData[idxSrc[i]].m_value == idxSrc[i]); - int idx = m_data->m_sortData[idxSrc[i]].m_value; - cs[i] = m_data->m_old[idx]; - } - } - -#if defined(_DEBUG) - // debugPrintf( "nBatches: %d\n", batchIdx ); - for (int i = 0; i < numConstraints; i++) - { - b3Assert(cs[i].getBatchIdx() != -1); - } -#endif - - return batchIdx; -} - -b3AlignedObjectArray<int> bodyUsed; -b3AlignedObjectArray<int> curUsed; - -inline int b3GpuPgsContactSolver::sortConstraintByBatch3(b3Contact4* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies, int* batchSizes) -{ - B3_PROFILE("sortConstraintByBatch3"); - - static int maxSwaps = 0; - int numSwaps = 0; - - curUsed.resize(2 * simdWidth); - - static int maxNumConstraints = 0; - if (maxNumConstraints < numConstraints) - { - maxNumConstraints = numConstraints; - //printf("maxNumConstraints = %d\n",maxNumConstraints ); - } - - int numUsedArray = numBodies / 32 + 1; - bodyUsed.resize(numUsedArray); - - for (int q = 0; q < numUsedArray; q++) - bodyUsed[q] = 0; - - int curBodyUsed = 0; - - int numIter = 0; - - m_data->m_sortData.resize(0); - m_data->m_idxBuffer.resize(0); - m_data->m_old.resize(0); - -#if defined(_DEBUG) - for (int i = 0; i < numConstraints; i++) - cs[i].getBatchIdx() = -1; -#endif - - int numValidConstraints = 0; - // int unprocessedConstraintIndex = 0; - - int batchIdx = 0; - - { - B3_PROFILE("cpu batch innerloop"); - - while (numValidConstraints < numConstraints) - { - numIter++; - int nCurrentBatch = 0; - batchSizes[batchIdx] = 0; - - // clear flag - for (int i = 0; i < curBodyUsed; i++) - bodyUsed[curUsed[i] / 32] = 0; - - curBodyUsed = 0; - - for (int i = numValidConstraints; i < numConstraints; i++) - { - int idx = i; - b3Assert(idx < numConstraints); - // check if it can go - int bodyAS = cs[idx].m_bodyAPtrAndSignBit; - int bodyBS = cs[idx].m_bodyBPtrAndSignBit; - int bodyA = abs(bodyAS); - int bodyB = abs(bodyBS); - bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx; - bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx; - int aUnavailable = 0; - int bUnavailable = 0; - if (!aIsStatic) - { - aUnavailable = bodyUsed[bodyA / 32] & (1 << (bodyA & 31)); - } - if (!aUnavailable) - if (!bIsStatic) - { - bUnavailable = bodyUsed[bodyB / 32] & (1 << (bodyB & 31)); - } - - if (aUnavailable == 0 && bUnavailable == 0) // ok - { - if (!aIsStatic) - { - bodyUsed[bodyA / 32] |= (1 << (bodyA & 31)); - curUsed[curBodyUsed++] = bodyA; - } - if (!bIsStatic) - { - bodyUsed[bodyB / 32] |= (1 << (bodyB & 31)); - curUsed[curBodyUsed++] = bodyB; - } - - cs[idx].getBatchIdx() = batchIdx; - - if (i != numValidConstraints) - { - b3Swap(cs[i], cs[numValidConstraints]); - numSwaps++; - } - - numValidConstraints++; - { - nCurrentBatch++; - if (nCurrentBatch == simdWidth) - { - batchSizes[batchIdx] += simdWidth; - nCurrentBatch = 0; - for (int i = 0; i < curBodyUsed; i++) - bodyUsed[curUsed[i] / 32] = 0; - curBodyUsed = 0; - } - } - } - } - - if (batchIdx >= B3_MAX_NUM_BATCHES) - { - b3Error("batchIdx>=B3_MAX_NUM_BATCHES"); - b3Assert(0); - break; - } - - batchSizes[batchIdx] += nCurrentBatch; - - batchIdx++; - } - } - -#if defined(_DEBUG) - // debugPrintf( "nBatches: %d\n", batchIdx ); - for (int i = 0; i < numConstraints; i++) - { - b3Assert(cs[i].getBatchIdx() != -1); - } -#endif - - batchSizes[batchIdx] = 0; - - if (maxSwaps < numSwaps) - { - maxSwaps = numSwaps; - //printf("maxSwaps = %d\n", maxSwaps); - } - - return batchIdx; -} |