perf(vehicle): SCM HIP E2E — direct hits map, buffer reserve, dense body reduce#756
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perf(vehicle): SCM HIP E2E — direct hits map, buffer reserve, dense body reduce#756amd-pratmish wants to merge 3 commits into
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### Summary Adds an **opt-in HIP path** for the SCM Bekker / Mohr-Coulomb / Janosi contact-force loop in `SCMLoader::ComputeInternalForces()`. Ray casting and contact-patch BFS stay on CPU. - CMake: `CH_ENABLE_VEHICLE_SCM_GPU=ON` + `CHRONO_SCM_GPU_INCLUDE_DIR` / `CHRONO_SCM_GPU_LIB_DIR` - Runtime: `CHRONO_SCM_GPU=1` (uniform soil, rigid `ChBody` contactables in v1) - Auto-fallback to CPU when `hits.size() < CHRONO_SCM_GPU_MIN_HITS` (default **8192**) - Host compiler stays **g++**; HIP device code compiles via CMake HIP language (`CMAKE_HIP_COMPILER` auto-detected). Set `-DCMAKE_HIP_ARCHITECTURES=gfx942` (MI300X) or `gfx90a` (MI210). ### OpenMP → HIP split (v1) Porting pattern for CPU/OpenMP Chrono modules — only the dense inner loop moves to HIP: ```text [CPU] Update active domains [CPU] OpenMP ray cast → hits + patch_oob [CPU] BFS contact patches [CPU] Pack batch (OpenMP parallel for) [GPU] scm_compute_forces_kernel (Bekker + Mohr-Coulomb + Janosi per hit) [CPU] Reduce per-body forces → ChLoadBodyForce Ship kit: amd-chronos contrib/upstream_ready/phase2c/v1
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Upstream-facing playbook (no private integration references). Co-authored-by: Cursor <cursoragent@cursor.com>
…ody reduce ### Summary Follow-up to the optional SCM HIP backend. Improves end-to-end Chrono performance: - Pass ray-cast `hits` map directly to `ComputeContactForcesGpu` (no intermediate vector copy) - Call `scm_gpu::PrimeBuffers()` from all `SCMTerrain::Initialize` overloads - Dense per-body force accumulation in `SCMTerrainGpu.cpp` ### Depends on - **Merged:** `feat(vehicle): optional HIP SCM contact-force backend` (v1) ### Files in this PR - `src/chrono_vehicle/terrain/SCMTerrain.h` - `src/chrono_vehicle/terrain/SCMTerrain.cpp` - `src/chrono_vehicle/terrain/SCMTerrainGpu.cpp` Rebuild external `scm_gpu` from matching `amd-chronos` ref (see `SCM_GPU_EXTERNAL.md`). Ship kit: amd-chronos contrib/upstream_ready/phase2c/v2
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Superseded by combined SCM HIP PR #755 (maintainer requested single PR). |
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Summary
Follow-up to the optional SCM HIP backend. Improves end-to-end Chrono performance:
hitsmap directly toComputeContactForcesGpu(no intermediate vector copy)scm_gpu::PrimeBuffers()from allSCMTerrain::InitializeoverloadsSCMTerrainGpu.cppDepends on
amd-pratmish:perf/scm-vehicle-hip-e2ebased onfeat/scm-vehicle-hip-gfx942Files in this PR
src/chrono_vehicle/terrain/SCMTerrain.hsrc/chrono_vehicle/terrain/SCMTerrain.cppsrc/chrono_vehicle/terrain/SCMTerrainGpu.cppRebuild external
scm_gpufrom matchingamd-chronosref (seeSCM_GPU_EXTERNAL.mdin amd-chronos ship kit).Test plan
scm_parity_test --n-hits 65536PASSCHRONO_SCM_GPU=1wheel--load— contact timer improved vs v1CHRONO_SCM_GPU_PROFILE=1— steady-state pack/gpu/scatter logged