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compute best axis on host and OpenCL for 1-axis SAP, based on best variance

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This commit is contained in:
erwin coumans
2013-07-12 20:46:43 -07:00
parent 74aa499ab6
commit 061f7173b8
11 changed files with 600 additions and 12 deletions
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98
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -2,6 +2,8 @@
#include "b3GpuSapBroadphase.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "kernels/sapKernels.h"
@@ -21,6 +23,9 @@ m_largeAabbsGPU(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q),
m_sum(ctx,q),
m_sum2(ctx,q),
m_dst(ctx,q),
m_currentBuffer(-1)
{
const char* sapSrc = sapCL;
@@ -33,7 +38,7 @@ m_currentBuffer(-1)
cl_program sapFastProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapFastSrc,&errNum,"",B3_BROADPHASE_SAPFAST_PATH);
b3Assert(errNum==CL_SUCCESS);
m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context,m_device,m_queue);
//m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
//m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBarrier",&errNum,sapProg );
//m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
@@ -42,6 +47,10 @@ m_currentBuffer(-1)
m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "prepareSumVarianceKernel",&errNum,sapProg );
b3Assert(errNum==CL_SUCCESS);
#if 0
m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
@@ -68,11 +77,14 @@ m_currentBuffer(-1)
b3GpuSapBroadphase::~b3GpuSapBroadphase()
{
delete m_sorter;
delete m_prefixScanFloat4;
clReleaseKernel(m_scatterKernel);
clReleaseKernel(m_flipFloatKernel);
clReleaseKernel(m_copyAabbsKernel);
clReleaseKernel(m_sapKernel);
clReleaseKernel(m_sap2Kernel);
clReleaseKernel(m_prepareSumVarianceKernel);
}
@@ -155,22 +167,26 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
{
//test
//if (m_currentBuffer>=0)
// calculateOverlappingPairsHostIncremental3Sap();
int axis=0;
b3Assert(m_allAabbsCPU.size() == m_allAabbsGPU.size());
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
//m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
int numSmallAabbs = m_smallAabbsCPU.size();
{
int numSmallAabbs = m_smallAabbsCPU.size();
for (int j=0;j<numSmallAabbs;j++)
{
//sync aabb
@@ -180,6 +196,30 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
}
}
int axis=0;
{
b3Vector3 s(0,0,0),s2(0,0,0);
int numRigidBodies = numSmallAabbs;
for(int i=0;i<numRigidBodies;i++)
{
b3Vector3 maxAabb(m_smallAabbsCPU[i].m_max[0],m_smallAabbsCPU[i].m_max[1],m_smallAabbsCPU[i].m_max[2]);
b3Vector3 minAabb(m_smallAabbsCPU[i].m_min[0],m_smallAabbsCPU[i].m_min[1],m_smallAabbsCPU[i].m_min[2]);
b3Vector3 centerAabb=(maxAabb+minAabb)*0.5f;
s += centerAabb;
s2 += centerAabb*centerAabb;
}
b3Vector3 v = s2 - (s*s) / (float)numRigidBodies;
if(v[1] > v[0])
axis = 1;
if(v[2] > v[axis])
axis = 2;
}
{
int numLargeAabbs = m_largeAabbsCPU.size();
for (int j=0;j<numLargeAabbs;j++)
@@ -268,9 +308,9 @@ void b3GpuSapBroadphase::reset()
void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
{
int axis = 0;//todo on GPU for now hardcode
B3_PROFILE("GPU 1-axis SAP calculateOverlappingPairs");
int axis = 0;
{
@@ -312,11 +352,47 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
launcher.setConst( numSmallAabbs );
int num = numSmallAabbs;
launcher.launch1D( num);
clFinish(m_queue);
}
}
}
{
B3_PROFILE("compute best variance axis");
int numSmallAabbs = m_smallAabbsGPU.size();
if (m_dst.size()!=(numSmallAabbs+1))
{
m_dst.resize(numSmallAabbs+1);
m_sum.resize(numSmallAabbs+1);
m_sum2.resize(numSmallAabbs+1);
m_sum.at(numSmallAabbs)=b3Vector3(0,0,0); //slow?
m_sum2.at(numSmallAabbs)=b3Vector3(0,0,0); //slow?
}
b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel );
launcher.setBuffer(m_smallAabbsGPU.getBufferCL());
launcher.setBuffer(m_sum.getBufferCL());
launcher.setBuffer(m_sum2.getBufferCL());
launcher.setConst( numSmallAabbs+1 );
int num = numSmallAabbs+1;
launcher.launch1D( num);
b3Vector3 s;
b3Vector3 s2;
m_prefixScanFloat4->execute(m_sum,m_dst,numSmallAabbs+1,&s);
m_prefixScanFloat4->execute(m_sum2,m_dst,numSmallAabbs+1,&s2);
b3Vector3 v = s2 - (s*s) / (float)numSmallAabbs;
if(v[1] > v[0])
axis = 1;
if(v[2] > v[axis])
axis = 2;
}
if (syncOnHost)
{
B3_PROFILE("Synchronize m_largeAabbsGPU (CPU/slow)");
@@ -360,7 +436,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
B3_PROFILE("GPU SAP");
int numSmallAabbs = m_smallAabbsGPU.size();
m_gpuSmallSortData.resize(numSmallAabbs);