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- Eigen compatibility - Vector add performance - Necessary build flags etc.
Initial SYCL proximity engine up to broad phase including: - Proximity engine data structures - Unit tests against Drake broad phase - Various small benchmarks --------- Co-authored-by: Joseph Masterjohn <joemasterjohn@gmail.com>
- LBVH based tet level broad phase - Narrow phase is now complicated indexing free and just takes array of pairs of tets - Benchmark plotting scripts - Extensive timing code for CPU GPU comparision
Completion of SYCL based GPU Proximity Engine Features include - LBVH based tet level broad phase - Code for timing and benchmarking to compare with CPU - Plotting scripts for benchmarking results - More performant Narrow Phase because of removal of complicated indexing
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This PR brings in the complete GPU Proximity Engine in SYCL. Some of the features include
This change is