bool is_valid(cl_mem m)
{
global_mutex.lock();
const bool r = valid_mems.count(m) != 0 && m->valid();
if (r)
m->lock();
global_mutex.unlock();
return r;
}
cl_int clRetainMemObjectFCL (cl_mem memobj)
{
MSG(clRetainMemObjectFCL);
if (!FreeOCL::is_valid(memobj))
return CL_INVALID_MEM_OBJECT;
memobj->retain();
memobj->unlock();
return CL_SUCCESS;
}
cl_int
clRetainMemObject(cl_mem memobj)
{
if (!memobj->isA(Coal::Object::T_MemObject))
return CL_INVALID_MEM_OBJECT;
memobj->reference();
return CL_SUCCESS;
}
cl_int
clReleaseMemObject(cl_mem memobj)
{
if (!memobj->isA(Coal::Object::T_MemObject))
return CL_INVALID_MEM_OBJECT;
if (memobj->dereference())
delete memobj;
return CL_SUCCESS;
}
cl_int
clGetMemObjectInfo(cl_mem memobj,
cl_mem_info param_name,
size_t param_value_size,
void * param_value,
size_t * param_value_size_ret)
{
if (!memobj->isA(Coal::Object::T_MemObject))
return CL_INVALID_MEM_OBJECT;
return memobj->info(param_name, param_value_size, param_value,
param_value_size_ret);
}
cl_int
clSetMemObjectDestructorCallback(cl_mem memobj,
void (CL_CALLBACK *pfn_notify)(cl_mem memobj,
void *user_data),
void * user_data)
{
if (!memobj->isA(Coal::Object::T_MemObject))
return CL_INVALID_MEM_OBJECT;
memobj->setDestructorCallback(pfn_notify, user_data);
return CL_SUCCESS;
}
PUBLIC cl_int
clRetainMemObject(cl_mem obj) {
if (!obj)
return CL_INVALID_MEM_OBJECT;
obj->retain();
return CL_SUCCESS;
}
cl_int
clGetImageInfo(cl_mem image,
cl_image_info param_name,
size_t param_value_size,
void * param_value,
size_t * param_value_size_ret)
{
if (!image->isA(Coal::Object::T_MemObject) ||
(image->type() != Coal::MemObject::Image2D &&
image->type() != Coal::MemObject::Image3D))
return CL_INVALID_MEM_OBJECT;
Coal::Image2D *image2d = (Coal::Image2D *)image;
return image2d->imageInfo(param_name, param_value_size, param_value,
param_value_size_ret);
}
cl_int clReleaseMemObjectFCL (cl_mem memobj)
{
MSG(clReleaseMemObjectFCL);
if (!FreeOCL::is_valid(memobj))
return CL_INVALID_MEM_OBJECT;
memobj->release();
if (memobj->get_ref_count() == 0)
{
memobj->invalidate();
memobj->unlock();
delete memobj;
}
else
memobj->unlock();
return CL_SUCCESS;
}
PUBLIC cl_int
clReleaseMemObject(cl_mem obj) {
if (!obj)
return CL_INVALID_MEM_OBJECT;
if (obj->release())
delete obj;
return CL_SUCCESS;
}
PUBLIC cl_int
clGetMemObjectInfo(cl_mem obj, cl_mem_info param,
size_t size, void *buf, size_t *size_ret) {
if (!obj)
return CL_INVALID_MEM_OBJECT;
switch (param) {
case CL_MEM_TYPE:
return scalar_property<cl_mem_object_type>(buf, size, size_ret,
obj->type());
case CL_MEM_FLAGS:
return scalar_property<cl_mem_flags>(buf, size, size_ret, obj->flags());
case CL_MEM_SIZE:
return scalar_property<size_t>(buf, size, size_ret, obj->size());
case CL_MEM_HOST_PTR:
return scalar_property<void *>(buf, size, size_ret, obj->host_ptr());
case CL_MEM_MAP_COUNT:
return scalar_property<cl_uint>(buf, size, size_ret, 0);
case CL_MEM_REFERENCE_COUNT:
return scalar_property<cl_uint>(buf, size, size_ret, obj->ref_count());
case CL_MEM_CONTEXT:
return scalar_property<cl_context>(buf, size, size_ret, &obj->ctx);
case CL_MEM_ASSOCIATED_MEMOBJECT: {
sub_buffer *sub = dynamic_cast<sub_buffer *>(obj);
return scalar_property<cl_mem>(buf, size, size_ret,
(sub ? &sub->parent : NULL));
}
case CL_MEM_OFFSET: {
sub_buffer *sub = dynamic_cast<sub_buffer *>(obj);
return scalar_property<size_t>(buf, size, size_ret,
(sub ? sub->offset() : 0));
}
default:
return CL_INVALID_VALUE;
}
}
cl_mem
clCreateSubBuffer(cl_mem buffer,
cl_mem_flags flags,
cl_buffer_create_type buffer_create_type,
const void * buffer_create_info,
cl_int * errcode_ret)
{
cl_int dummy_errcode;
if (!errcode_ret)
errcode_ret = &dummy_errcode;
if (!buffer->isA(Coal::Object::T_MemObject))
{
*errcode_ret = CL_INVALID_MEM_OBJECT;
return 0;
}
Coal::MemObject *memobject = (Coal::MemObject *)buffer;
cl_buffer_region *region = (cl_buffer_region *)buffer_create_info;
// NOTE: Is it right ? Couldn't we create SubBuffers of images ?
if (memobject->type() != Coal::MemObject::Buffer)
{
*errcode_ret = CL_INVALID_MEM_OBJECT;
return 0;
}
if (buffer_create_type != CL_BUFFER_CREATE_TYPE_REGION)
{
*errcode_ret = CL_INVALID_VALUE;
return 0;
}
if (!buffer_create_info)
{
*errcode_ret = CL_INVALID_VALUE;
return 0;
}
*errcode_ret = CL_SUCCESS;
Coal::SubBuffer *buf = new Coal::SubBuffer((Coal::Buffer *)buffer,
region->origin, region->size,
flags, errcode_ret);
if (*errcode_ret != CL_SUCCESS || (*errcode_ret = buf->init()) != CL_SUCCESS)
{
delete buf;
return 0;
}
return (cl_mem)buf;
}
PUBLIC cl_int
clSetMemObjectDestructorCallback(cl_mem obj,
void (CL_CALLBACK *pfn_notify)(cl_mem, void *),
void *user_data) {
if (!obj)
return CL_INVALID_MEM_OBJECT;
if (!pfn_notify)
return CL_INVALID_VALUE;
obj->destroy_notify([=]{ pfn_notify(obj, user_data); });
return CL_SUCCESS;
}
cl_int
clEnqueueReadImage(cl_command_queue command_queue,
cl_mem image,
cl_bool blocking_read,
const size_t * origin,
const size_t * region,
size_t row_pitch,
size_t slice_pitch,
void * ptr,
cl_uint num_events_in_wait_list,
const cl_event * event_wait_list,
cl_event * event)
{
cl_int rs = CL_SUCCESS;
if (!command_queue->isA(Coal::Object::T_CommandQueue))
return CL_INVALID_COMMAND_QUEUE;
if (!image || (image->type() != Coal::MemObject::Image2D &&
image->type() != Coal::MemObject::Image3D))
return CL_INVALID_MEM_OBJECT;
Coal::ReadImageEvent *command = new Coal::ReadImageEvent(
(Coal::CommandQueue *)command_queue,
(Coal::Image2D *)image,
origin, region, row_pitch, slice_pitch, (void *)ptr,
num_events_in_wait_list, (const Coal::Event **)event_wait_list, &rs
);
if (rs != CL_SUCCESS)
{
delete command;
return rs;
}
return queueEvent(command_queue, command, event, blocking_read);
}
PUBLIC cl_int
clEnqueueWriteBuffer(cl_command_queue q, cl_mem obj, cl_bool blocking,
size_t offset, size_t size, const void *ptr,
cl_uint num_deps, const cl_event *deps,
cl_event *ev) try {
validate_base(q, num_deps, deps);
validate_obj(q, obj);
if (!ptr || offset > obj->size() || offset + size > obj->size())
throw error(CL_INVALID_VALUE);
hard_event *hev = new hard_event(
*q, CL_COMMAND_WRITE_BUFFER, { deps, deps + num_deps },
soft_copy_op(q,
obj, { offset }, { 1 },
ptr, { 0 }, { 1 },
{ size, 1, 1 }));
ret_object(ev, hev);
return CL_SUCCESS;
} catch (error &e) {
return e.get();
}
PUBLIC cl_int
clEnqueueUnmapMemObject(cl_command_queue q, cl_mem obj, void *ptr,
cl_uint num_deps, const cl_event *deps,
cl_event *ev) try {
validate_base(q, num_deps, deps);
validate_obj(q, obj);
hard_event *hev = new hard_event(
*q, CL_COMMAND_UNMAP_MEM_OBJECT, { deps, deps + num_deps },
[=](event &) {
obj->resource(q).del_map(ptr);
});
ret_object(ev, hev);
return CL_SUCCESS;
} catch (error &e) {
return e.get();
}
cl_int clGetMemObjectInfoFCL (cl_mem memobj,
cl_mem_info param_name,
size_t param_value_size,
void *param_value,
size_t *param_value_size_ret)
{
MSG(clGetMemObjectInfoFCL);
FreeOCL::unlocker unlock;
if (!FreeOCL::is_valid(memobj))
return CL_INVALID_MEM_OBJECT;
unlock.handle(memobj);
bool bTooSmall = false;
switch(param_name)
{
case CL_MEM_TYPE: bTooSmall = SET_VAR(memobj->mem_type); break;
case CL_MEM_FLAGS: bTooSmall = SET_VAR(memobj->flags); break;
case CL_MEM_SIZE: bTooSmall = SET_VAR(memobj->size); break;
case CL_MEM_HOST_PTR: bTooSmall = SET_VAR(memobj->host_ptr); break;
case CL_MEM_MAP_COUNT:
{
cl_uint n = memobj->mapped.size();
bTooSmall = SET_VAR(n);
}
break;
case CL_MEM_REFERENCE_COUNT: bTooSmall = SET_VAR(memobj->get_ref_count()); break;
case CL_MEM_CONTEXT: bTooSmall = SET_VAR(memobj->context); break;
case CL_MEM_ASSOCIATED_MEMOBJECT: bTooSmall = SET_VAR(memobj->parent); break;
case CL_MEM_OFFSET: bTooSmall = SET_VAR(memobj->offset); break;
default:
return CL_INVALID_VALUE;
}
if (bTooSmall && param_value != NULL)
return CL_INVALID_VALUE;
return CL_SUCCESS;
}
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
}
}