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more work towards GPU bvh traversal

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This commit is contained in:
erwin coumans
2013-03-19 23:11:19 -07:00
parent 8bfbaf3ed1
commit 085d705645
4 changed files with 354 additions and 62 deletions
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43
opencl/gpu_sat/host/ConvexHullContact.cpp
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@@ -329,35 +329,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btOpenCLArray<btBvhSubtreeInfo> subTreesGPU(this->m_context,this->m_queue,numSubTrees);
subTreesGPU.copyFromHost(bvhData[0]->getSubtreeInfoArray());
/*
__kernel void bvhTraversalKernel( __global const int2* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global btAabbCL* aabbs,
__global int4* concavePairsOut,
__global volatile int* numConcavePairsOut,
int numPairs,
int maxNumConcavePairsCapacity
)
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( triangleConvexPairsOut.getBufferCL()),
btBufferInfoCL( concaveSepNormals.getBufferCL()),
btBufferInfoCL( numConcavePairsOut.getBufferCL())
*/
btVector3 bvhAabbMin = bvhData[0]->m_bvhAabbMin;
btVector3 bvhAabbMax = bvhData[0]->m_bvhAabbMax;
btVector3 bvhQuantization = bvhData[0]->m_bvhQuantization;
{
int np = numConcavePairsOut.at(0);
printf("np=%d\n", np);
@@ -368,12 +342,23 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
launcher.setBuffer( clAabbsWS.getBufferCL());
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setBuffer( subTreesGPU.getBufferCL());
launcher.setBuffer( treeNodesGPU.getBufferCL());
launcher.setConst( bvhAabbMin);
launcher.setConst( bvhAabbMax);
launcher.setConst( bvhQuantization);
launcher.setConst(numSubTrees);
launcher.setConst( nPairs );
launcher.setConst( maxTriConvexPairCapacity);
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
np = numConcavePairsOut.at(0);
triangleConvexPairsOut.resize(np);
btAlignedObjectArray<btInt4> pairsOutCPU;
triangleConvexPairsOut.copyToHost(pairsOutCPU);
printf("np=%d\n", np);
}