Narrow Phase Kernel and full scale testing of SYCL Proximity engine with Drake#7
Open
Huzaifg wants to merge 7 commits intojoemasterjohn:sycl_testingfrom
Open
Narrow Phase Kernel and full scale testing of SYCL Proximity engine with Drake#7Huzaifg wants to merge 7 commits intojoemasterjohn:sycl_testingfrom
Huzaifg wants to merge 7 commits intojoemasterjohn:sycl_testingfrom
Conversation
- 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
joemasterjohn
pushed a commit
that referenced
this pull request
Dec 14, 2025
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR completes the first iteration of the SYCL Proximity engine. It sets up communication with Drake and allows Drake to use this SYCL engine for hydro-hydro collision query. Additionally -
This change is