void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
int nContacts, const ConstraintCfg& cfg )
{
b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
struct CB
{
int m_nContacts;
float m_dt;
float m_positionDrift;
float m_positionConstraintCoeff;
};
{
B3_PROFILE("m_contactToConstraintKernel");
CB cdata;
cdata.m_nContacts = nContacts;
cdata.m_dt = cfg.m_dt;
cdata.m_positionDrift = cfg.m_positionDrift;
cdata.m_positionConstraintCoeff = cfg.m_positionConstraintCoeff;
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( shapeBuf->getBufferCL()),
b3BufferInfoCL( contactCOut->getBufferCL() )
};
b3LauncherCL launcher( m_queue, m_contactToConstraintKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata );
launcher.setConst(cdata.m_nContacts);
launcher.setConst(cdata.m_dt);
launcher.setConst(cdata.m_positionDrift);
launcher.setConst(cdata.m_positionConstraintCoeff);
launcher.launch1D( nContacts, 64 );
clFinish(m_queue);
}
contactCOut->resize(nContacts);
}
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 )
{
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL()) };
b3LauncherCL launcher( m_queue, m_lowerSortDataKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nSrc );
launcher.setConst( nDst );
launcher.launch1D( nSrc, 64 );
}
else if( option == BOUND_UPPER )
{
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
b3LauncherCL launcher(m_queue, m_upperSortDataKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nSrc );
launcher.setConst( nDst );
launcher.launch1D( nSrc, 64 );
}
else if( option == COUNT )
{
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 );
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() ) };
b3LauncherCL launcher( m_queue, m_subtractKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( nSrc );
launcher.setConst( nDst );
launcher.launch1D( nDst, 64 );
}
}
else
{
b3Assert( 0 );
}
}
void b3Solver::solveContactConstraint( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf, const b3OpenCLArray<b3InertiaCL>* shapeBuf,
b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches)
{
b3Int4 cdata = b3MakeInt4( n, 0, 0, 0 );
{
const int nn = N_SPLIT*N_SPLIT;
cdata.x = 0;
cdata.y = maxNumBatches;//250;
int numWorkItems = 64*nn/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<m_nIterations; iter++)
{
for(int ib=0; ib<N_BATCHES; ib++)
{
if (verify)
{
checkConstraintBatch(bodyBuf,shapeBuf,constraint,m_numConstraints,m_offsets,ib);
}
#ifdef DEBUG_ME
memset(debugInfo,0,sizeof(SolverDebugInfo)*numWorkItems);
gpuDebugInfo.write(debugInfo,numWorkItems);
#endif
cdata.z = ib;
cdata.w = N_SPLIT;
b3LauncherCL launcher( m_queue, m_solveContactKernel );
#if 1
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( bodyBuf->getBufferCL() ),
b3BufferInfoCL( shapeBuf->getBufferCL() ),
b3BufferInfoCL( constraint->getBufferCL() ),
b3BufferInfoCL( m_numConstraints->getBufferCL() ),
b3BufferInfoCL( m_offsets->getBufferCL() )
#ifdef DEBUG_ME
, b3BufferInfoCL(&gpuDebugInfo)
#endif
};
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata.x );
launcher.setConst( cdata.y );
launcher.setConst( cdata.z );
launcher.setConst( cdata.w );
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_queue);
}
cdata.x = 1;
bool applyFriction=true;
if (applyFriction)
{
B3_PROFILE("m_batchSolveKernel iterations2");
for(int iter=0; iter<m_nIterations; iter++)
{
for(int ib=0; ib<N_BATCHES; ib++)
{
cdata.z = ib;
cdata.w = N_SPLIT;
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( bodyBuf->getBufferCL() ),
b3BufferInfoCL( shapeBuf->getBufferCL() ),
b3BufferInfoCL( constraint->getBufferCL() ),
b3BufferInfoCL( m_numConstraints->getBufferCL() ),
b3BufferInfoCL( m_offsets->getBufferCL() )
#ifdef DEBUG_ME
,b3BufferInfoCL(&gpuDebugInfo)
#endif //DEBUG_ME
};
b3LauncherCL launcher( m_queue, m_solveFrictionKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
//launcher.setConst( cdata.x );
launcher.setConst( cdata.y );
launcher.setConst( cdata.z );
launcher.setConst( cdata.w );
launcher.launch1D( 64*nn/N_BATCHES, 64 );
}
}
clFinish(m_queue);
}
#ifdef DEBUG_ME
delete[] debugInfo;
#endif //DEBUG_ME
}
}
///todo: add some acceleration structure (AABBs, tree etc)
void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase)
{
//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);
B3_PROFILE("castRaysGPU");
{
B3_PROFILE("raycast copyFromHost");
m_data->m_gpuRays->copyFromHost(rays);
m_data->m_gpuHitResults->copyFromHost(hitResults);
}
int numRays = hitResults.size();
{
m_data->m_firstRayRigidPairIndexPerRay->resize(numRays);
m_data->m_numRayRigidPairsPerRay->resize(numRays);
m_data->m_gpuNumRayRigidPairs->resize(1);
m_data->m_gpuRayRigidPairs->resize(numRays * 16);
}
//run kernel
const bool USE_BRUTE_FORCE_RAYCAST = false;
if(USE_BRUTE_FORCE_RAYCAST)
{
B3_PROFILE("raycast launch1D");
b3LauncherCL launcher(m_data->m_q,m_data->m_raytraceKernel,"m_raytraceKernel");
int numRays = rays.size();
launcher.setConst(numRays);
launcher.setBuffer(m_data->m_gpuRays->getBufferCL());
launcher.setBuffer(m_data->m_gpuHitResults->getBufferCL());
launcher.setConst(numBodies);
launcher.setBuffer(narrowphaseData->m_bodyBufferGPU->getBufferCL());
launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL());
launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL());
launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL());
launcher.launch1D(numRays);
clFinish(m_data->m_q);
}
else
{
m_data->m_plbvh->build( broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU() );
m_data->m_plbvh->testRaysAgainstBvhAabbs(*m_data->m_gpuRays, *m_data->m_gpuNumRayRigidPairs, *m_data->m_gpuRayRigidPairs);
int numRayRigidPairs = -1;
m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1);
if( numRayRigidPairs > m_data->m_gpuRayRigidPairs->size() )
{
numRayRigidPairs = m_data->m_gpuRayRigidPairs->size();
m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1);
}
m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs); //Radix sort needs b3OpenCLArray::size() to be correct
//Sort ray-rigid pairs by ray index
{
B3_PROFILE("sort ray-rigid pairs");
m_data->m_radixSorter->execute( *reinterpret_cast< b3OpenCLArray<b3SortData>* >(m_data->m_gpuRayRigidPairs) );
}
//detect start,count of each ray pair
{
B3_PROFILE("detect ray-rigid pair index ranges");
{
B3_PROFILE("reset ray-rigid pair index ranges");
m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays); //atomic_min used to find first index
m_data->m_fill->execute(*m_data->m_numRayRigidPairsPerRay, 0, numRays);
clFinish(m_data->m_q);
}
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() ),
b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() )
};
b3LauncherCL launcher(m_data->m_q, m_data->m_findRayRigidPairIndexRanges, "m_findRayRigidPairIndexRanges");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numRayRigidPairs);
launcher.launch1D(numRayRigidPairs);
clFinish(m_data->m_q);
}
{
B3_PROFILE("ray-rigid intersection");
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_data->m_gpuRays->getBufferCL() ),
b3BufferInfoCL( m_data->m_gpuHitResults->getBufferCL() ),
b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() ),
b3BufferInfoCL( narrowphaseData->m_bodyBufferGPU->getBufferCL() ),
b3BufferInfoCL( narrowphaseData->m_collidablesGPU->getBufferCL() ),
b3BufferInfoCL( narrowphaseData->m_convexFacesGPU->getBufferCL() ),
b3BufferInfoCL( narrowphaseData->m_convexPolyhedraGPU->getBufferCL() ),
b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() )
};
b3LauncherCL launcher(m_data->m_q, m_data->m_raytracePairsKernel, "m_raytracePairsKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numRays);
launcher.launch1D(numRays);
clFinish(m_data->m_q);
}
}
//copy results
{
B3_PROFILE("raycast copyToHost");
m_data->m_gpuHitResults->copyToHost(hitResults);
}
}
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 = 150;//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 b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
{
B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
if (0)
{
calculateOverlappingPairsHost(maxPairs);
/*
b3AlignedObjectArray<b3Int4> cpuPairs;
m_gpuPairs.copyToHost(cpuPairs);
printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
for (int i=0;i<m_gpuPairs.size();i++)
{
printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
}
*/
return;
}
int numSmallAabbs = m_smallAabbsMappingGPU.size();
b3OpenCLArray<int> pairCount(m_context,m_queue);
pairCount.push_back(0);
m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody);
{
int numLargeAabbs = m_largeAabbsMappingGPU.size();
if (numLargeAabbs && numSmallAabbs)
{
B3_PROFILE("sap2Kernel");
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_allAabbsGPU1.getBufferCL() ),
b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ),
b3BufferInfoCL( m_gpuPairs.getBufferCL() ),
b3BufferInfoCL(pairCount.getBufferCL())};
b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numLargeAabbs );
launcher.setConst( numSmallAabbs);
launcher.setConst( 0 );//axis is not used
launcher.setConst( maxPairs );
//@todo: use actual maximum work item sizes of the device instead of hardcoded values
launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
int numPairs = pairCount.at(0);
if (numPairs >maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
numPairs =maxPairs;
}
}
}
if (numSmallAabbs)
{
B3_PROFILE("gridKernel");
m_hashGpu.resize(numSmallAabbs);
{
B3_PROFILE("kCalcHashAABB");
b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
launch.setConst(numSmallAabbs);
launch.setBuffer(m_allAabbsGPU1.getBufferCL());
launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
launch.setBuffer(m_hashGpu.getBufferCL());
launch.setBuffer(this->m_paramsGPU.getBufferCL());
launch.launch1D(numSmallAabbs);
}
m_sorter->execute(m_hashGpu);
int numCells = this->m_paramsCPU.m_gridSize[0]*this->m_paramsCPU.m_gridSize[1]*this->m_paramsCPU.m_gridSize[2];
m_cellStartGpu.resize(numCells);
//b3AlignedObjectArray<int > cellStartCpu;
{
B3_PROFILE("kClearCellStart");
b3LauncherCL launch(m_queue,kClearCellStart,"kClearCellStart");
launch.setConst(numCells);
launch.setBuffer(m_cellStartGpu.getBufferCL());
launch.launch1D(numCells);
//m_cellStartGpu.copyToHost(cellStartCpu);
//printf("??\n");
}
{
B3_PROFILE("kFindCellStart");
b3LauncherCL launch(m_queue,kFindCellStart,"kFindCellStart");
launch.setConst(numSmallAabbs);
launch.setBuffer(m_hashGpu.getBufferCL());
launch.setBuffer(m_cellStartGpu.getBufferCL());
launch.launch1D(numSmallAabbs);
//m_cellStartGpu.copyToHost(cellStartCpu);
//printf("??\n");
}
{
B3_PROFILE("kFindOverlappingPairs");
b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs");
launch.setConst(numSmallAabbs);
launch.setBuffer(m_allAabbsGPU1.getBufferCL());
launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
launch.setBuffer(m_hashGpu.getBufferCL());
launch.setBuffer(m_cellStartGpu.getBufferCL());
launch.setBuffer(m_paramsGPU.getBufferCL());
//launch.setBuffer(0);
launch.setBuffer(pairCount.getBufferCL());
launch.setBuffer(m_gpuPairs.getBufferCL());
launch.setConst(maxPairs);
launch.launch1D(numSmallAabbs);
int numPairs = pairCount.at(0);
if (numPairs >maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
numPairs =maxPairs;
}
m_gpuPairs.resize(numPairs);
if (0)
{
b3AlignedObjectArray<b3Int4> pairsCpu;
m_gpuPairs.copyToHost(pairsCpu);
printf("m_gpuPairs.size()=%d\n",m_gpuPairs.size());
for (int i=0;i<m_gpuPairs.size();i++)
{
printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y);
}
printf("?!?\n");
}
}
}
//calculateOverlappingPairsHost(maxPairs);
}
void ParticleDemo::clientMoveAndDisplay()
{
int numParticles = NUM_PARTICLES_X*NUM_PARTICLES_Y*NUM_PARTICLES_Z;
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
glBindBuffer(GL_ARRAY_BUFFER, vbo);
glFlush();
int posArraySize = numParticles*sizeof(float)*4;
cl_bool blocking= CL_TRUE;
char* hostPtr= (char*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),posArraySize, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
GLint err = glGetError();
assert(err==GL_NO_ERROR);
glFinish();
#if 1
//do some stuff using the OpenCL buffer
bool useCpu = false;
if (useCpu)
{
float* posBuffer = (float*)hostPtr;
for (int i=0;i<numParticles;i++)
{
posBuffer[i*4+1] += 0.1;
}
}
else
{
cl_int ciErrNum;
if (!m_data->m_clPositionBuffer)
{
m_data->m_clPositionBuffer = clCreateBuffer(m_clData->m_clContext, CL_MEM_READ_WRITE,
posArraySize, 0, &ciErrNum);
clFinish(m_clData->m_clQueue);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clEnqueueWriteBuffer ( m_clData->m_clQueue,m_data->m_clPositionBuffer,
blocking,0,posArraySize,hostPtr,0,0,0
);
clFinish(m_clData->m_clQueue);
}
if (0)
{
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_velocitiesGPU->getBufferCL(), true ),
b3BufferInfoCL( m_data->m_clPositionBuffer)
};
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numParticles);
launcher.launch1D( numParticles);
clFinish(m_clData->m_clQueue);
}
if (1)
{
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_clPositionBuffer),
b3BufferInfoCL( m_data->m_velocitiesGPU->getBufferCL() ),
b3BufferInfoCL( m_data->m_simParamGPU->getBufferCL(),true)
};
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updatePositionsKernel2 );
launcher.setConst( numParticles);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
float timeStep = 1.f/60.f;
launcher.setConst( timeStep);
launcher.launch1D( numParticles);
clFinish(m_clData->m_clQueue);
}
{
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_clPositionBuffer),
b3BufferInfoCL( m_data->m_broadphaseGPU->getAabbBufferWS()),
};
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbsKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( m_data->m_simParamCPU[0].m_particleRad);
launcher.setConst( numParticles);
launcher.launch1D( numParticles);
clFinish(m_clData->m_clQueue);
}
//broadphase
int numPairsGPU=0;
cl_mem pairsGPU = 0;
{
m_data->m_broadphaseGPU->calculateOverlappingPairs(64*numParticles);
pairsGPU = m_data->m_broadphaseGPU->getOverlappingPairBuffer();
numPairsGPU = m_data->m_broadphaseGPU->getNumOverlap();
}
if (numPairsGPU)
{
b3BufferInfoCL bInfo[] = {
b3BufferInfoCL( m_data->m_clPositionBuffer),
b3BufferInfoCL( m_data->m_velocitiesGPU->getBufferCL() ),
b3BufferInfoCL( m_data->m_broadphaseGPU->getOverlappingPairBuffer(),true),
};
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_collideParticlesKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( numPairsGPU);
launcher.launch1D( numPairsGPU);
clFinish(m_clData->m_clQueue);
//__kernel void collideParticlesKernel( __global float4* pPos, __global float4* pVel, __global int2* pairs, const int numPairs)
}
if (1)
{
ciErrNum = clEnqueueReadBuffer ( m_clData->m_clQueue,
m_data->m_clPositionBuffer,
blocking,
0,
posArraySize,
hostPtr,0,0,0);
//clReleaseMemObject(clBuffer);
clFinish(m_clData->m_clQueue);
}
}
#endif
glUnmapBuffer( GL_ARRAY_BUFFER);
glFlush();
/*
int numParticles = NUM_PARTICLES_X*NUM_PARTICLES_Y*NUM_PARTICLES_Z;
for (int objectIndex=0;objectIndex<numParticles;objectIndex++)
{
float pos[4]={0,0,0,0};
float orn[4]={0,0,0,1};
// m_instancingRenderer->writeSingleInstanceTransformToGPU(pos,orn,i);
{
glBindBuffer(GL_ARRAY_BUFFER, m_instancingRenderer->getInternalData()->m_vbo);
glFlush();
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
//b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
int totalNumInstances= numParticles;
int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
char* base = orgBase;
int capInBytes = m_instancingRenderer->getMaxShapeCapacity();
float* positions = (float*)(base+capInBytes);
float* orientations = (float*)(base+capInBytes+ POSITION_BUFFER_SIZE);
positions[objectIndex*4+1] += 0.1f;
glUnmapBuffer( GL_ARRAY_BUFFER);
glFlush();
}
}
*/
}
void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
{
int originalSize = keyValuesInOut.size();
int workingSize = originalSize;
int dataAlignment = DATA_ALIGNMENT;
#ifdef DEBUG_RADIXSORT2
b3AlignedObjectArray<b3SortData> test2;
keyValuesInOut.copyToHost(test2);
printf("numElem = %d\n",test2.size());
for (int i=0;i<test2.size();i++)
{
printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
}
#endif //DEBUG_RADIXSORT2
b3OpenCLArray<b3SortData>* src = 0;
if (workingSize%dataAlignment)
{
workingSize += dataAlignment-(workingSize%dataAlignment);
m_workBuffer4->copyFromOpenCLArray(keyValuesInOut);
m_workBuffer4->resize(workingSize);
b3SortData fillValue;
fillValue.m_key = 0xffffffff;
fillValue.m_value = 0xffffffff;
#define USE_BTFILL
#ifdef USE_BTFILL
m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4,(b3Int2&)fillValue,workingSize-originalSize,originalSize);
#else
//fill the remaining bits (very slow way, todo: fill on GPU/OpenCL side)
for (int i=originalSize; i<workingSize;i++)
{
m_workBuffer4->copyFromHostPointer(&fillValue,1,i);
}
#endif//USE_BTFILL
src = m_workBuffer4;
} else
{
src = &keyValuesInOut;
m_workBuffer4->resize(0);
}
b3Assert( workingSize%DATA_ALIGNMENT == 0 );
int minCap = NUM_BUCKET*NUM_WGS;
int n = workingSize;
m_workBuffer1->resize(minCap);
m_workBuffer3->resize(workingSize);
// ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
b3Assert( BITS_PER_PASS == 4 );
b3Assert( WG_SIZE == 64 );
b3Assert( (sortBits&0x3) == 0 );
b3OpenCLArray<b3SortData>* dst = m_workBuffer3;
b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
int nWGs = NUM_WGS;
b3ConstData cdata;
{
int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;//set at 256
int nBlocks = (n+blockSize-1)/(blockSize);
cdata.m_n = n;
cdata.m_nWGs = NUM_WGS;
cdata.m_startBit = 0;
cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1)/cdata.m_nWGs;
if( nBlocks < NUM_WGS )
{
cdata.m_nBlocksPerWG = 1;
nWGs = nBlocks;
}
}
int count=0;
for(int ib=0; ib<sortBits; ib+=4)
{
#ifdef DEBUG_RADIXSORT2
keyValuesInOut.copyToHost(test2);
printf("numElem = %d\n",test2.size());
for (int i=0;i<test2.size();i++)
{
if (test2[i].m_key != test2[i].m_value)
{
printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
}
}
#endif //DEBUG_RADIXSORT2
cdata.m_startBit = ib;
if (src->size())
{
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( srcHisto->getBufferCL() ) };
b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel);
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
int num = NUM_WGS*WG_SIZE;
launcher.launch1D( num, WG_SIZE );
}
#ifdef DEBUG_RADIXSORT
b3AlignedObjectArray<unsigned int> testHist;
srcHisto->copyToHost(testHist);
printf("ib = %d, testHist size = %d, non zero elements:\n",ib, testHist.size());
for (int i=0;i<testHist.size();i++)
{
if (testHist[i]!=0)
printf("testHist[%d]=%d\n",i,testHist[i]);
}
#endif //DEBUG_RADIXSORT
//fast prefix scan is not working properly on Mac OSX yet
#ifdef _WIN32
bool fastScan=!m_deviceCPU;//only use fast scan on GPU
#else
bool fastScan=false;
#endif
if (fastScan)
{// prefix scan group histogram
b3BufferInfoCL bInfo[] = { b3BufferInfoCL( srcHisto->getBufferCL() ) };
b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
launcher.launch1D( 128, 128 );
destHisto = srcHisto;
}else
{
//unsigned int sum; //for debugging
m_scan->execute(*srcHisto,*destHisto,1920,0);//,&sum);
}
#ifdef DEBUG_RADIXSORT
destHisto->copyToHost(testHist);
printf("ib = %d, testHist size = %d, non zero elements:\n",ib, testHist.size());
for (int i=0;i<testHist.size();i++)
{
if (testHist[i]!=0)
printf("testHist[%d]=%d\n",i,testHist[i]);
}
for (int i=0;i<testHist.size();i+=NUM_WGS)
{
printf("testHist[%d]=%d\n",i/NUM_WGS,testHist[i]);
}
#endif //DEBUG_RADIXSORT
#define USE_GPU
#ifdef USE_GPU
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 );
launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst( cdata );
launcher.launch1D( nWGs*WG_SIZE, WG_SIZE );
}
#else
{
#define NUM_TABLES 16
//#define SEQUENTIAL
#ifdef SEQUENTIAL
int counter2[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int tables[NUM_TABLES];
int startBit = ib;
destHisto->copyToHost(testHist);
b3AlignedObjectArray<b3SortData> srcHost;
b3AlignedObjectArray<b3SortData> dstHost;
dstHost.resize(src->size());
src->copyToHost(srcHost);
for (int i=0;i<NUM_TABLES;i++)
{
tables[i] = testHist[i*NUM_WGS];
}
// distribute
for(int i=0; i<n; i++)
{
int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES-1);
dstHost[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
counter2[tableIdx] ++;
}
#else
int counter2[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int tables[NUM_TABLES];
b3AlignedObjectArray<b3SortData> dstHostOK;
dstHostOK.resize(src->size());
destHisto->copyToHost(testHist);
b3AlignedObjectArray<b3SortData> srcHost;
src->copyToHost(srcHost);
int blockSize = 256;
int nBlocksPerWG = cdata.m_nBlocksPerWG;
int startBit = ib;
{
for (int i=0;i<NUM_TABLES;i++)
{
tables[i] = testHist[i*NUM_WGS];
}
// distribute
for(int i=0; i<n; i++)
{
int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES-1);
dstHostOK[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
counter2[tableIdx] ++;
}
}
b3AlignedObjectArray<b3SortData> dstHost;
dstHost.resize(src->size());
int counter[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
for (int wgIdx=0;wgIdx<NUM_WGS;wgIdx++)
{
int counter[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
for(int iblock=0; iblock<b3Min(cdata.m_nBlocksPerWG, nBlocks); iblock++)
{
for (int lIdx = 0;lIdx < 64;lIdx++)
{
int addr = iblock*blockSize + blockSize*cdata.m_nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
// MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
// Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
// AMD: AtomInc performs better while NV prefers ++
for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)
{
if( addr+j < n )
{
// printf ("addr+j=%d\n", addr+j);
int i = addr+j;
int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES-1);
int destIndex = testHist[tableIdx*NUM_WGS+wgIdx] + counter[tableIdx];
b3SortData ok = dstHostOK[destIndex];
if (ok.m_key != srcHost[i].m_key)
{
printf("ok.m_key = %d, srcHost[i].m_key = %d\n", ok.m_key,srcHost[i].m_key );
printf("(ok.m_value = %d, srcHost[i].m_value = %d)\n", ok.m_value,srcHost[i].m_value );
}
if (ok.m_value != srcHost[i].m_value)
{
printf("ok.m_value = %d, srcHost[i].m_value = %d\n", ok.m_value,srcHost[i].m_value );
printf("(ok.m_key = %d, srcHost[i].m_key = %d)\n", ok.m_key,srcHost[i].m_key );
}
dstHost[destIndex] = srcHost[i];
counter[tableIdx] ++;
}
}
}
}
}
#endif //SEQUENTIAL
dst->copyFromHost(dstHost);
}
#endif//USE_GPU
#ifdef DEBUG_RADIXSORT
destHisto->copyToHost(testHist);
printf("ib = %d, testHist size = %d, non zero elements:\n",ib, testHist.size());
for (int i=0;i<testHist.size();i++)
{
if (testHist[i]!=0)
printf("testHist[%d]=%d\n",i,testHist[i]);
}
#endif //DEBUG_RADIXSORT
b3Swap(src, dst );
b3Swap(srcHisto,destHisto);
#ifdef DEBUG_RADIXSORT2
keyValuesInOut.copyToHost(test2);
printf("numElem = %d\n",test2.size());
for (int i=0;i<test2.size();i++)
{
if (test2[i].m_key != test2[i].m_value)
{
printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
}
}
#endif //DEBUG_RADIXSORT2
count++;
}
