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CPU implementation of btCudaBroadphase added.

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It is called bt3DGridBroadphase and btCudaBroadphase is now derived from it rater than from btSimpleBroadphase
Test of bt3DGridBroadphase was added to CDTestFramework
This commit is contained in:
rponom
2008-11-25 03:16:11 +00:00
parent 7dda192bfc
commit 09aa2dbbe7
10 changed files with 1247 additions and 839 deletions
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88
Extras/CUDA/btCudaBroadphase.h
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@@ -21,14 +21,18 @@ subject to the following restrictions:
#include "btCudaBroadphaseKernel.h"
///The btCudaBroadphase uses CUDA to compute overlapping pairs using a GPU.
class btCudaBroadphase : public btSimpleBroadphase
///The bt3DGridBroadphase uses CUDA to compute overlapping pairs using a GPU.
class bt3DGridBroadphase : public btSimpleBroadphase
{
protected:
bool m_bInitialized;
unsigned int m_numBodies;
unsigned int m_numCells;
unsigned int m_maxPairsPerBody;
btScalar m_cellFactorAABB;
unsigned int m_maxBodiesPerCell;
btCudaBroadphaseParams m_params;
btScalar m_maxRadius;
// CPU data
unsigned int* m_hBodiesHash;
unsigned int* m_hCellStart;
@@ -37,17 +41,6 @@ class btCudaBroadphase : public btSimpleBroadphase
unsigned int* m_hPairBuff;
unsigned int* m_hPairScan;
unsigned int* m_hPairOut;
// GPU data
unsigned int* m_dBodiesHash[2];
unsigned int* m_dCellStart;
unsigned int* m_dPairBuff;
unsigned int* m_dPairBuffStartCurr;
btCuda3F1U* m_dAABB;
unsigned int* m_dPairScan;
unsigned int* m_dPairOut;
unsigned int m_maxBodiesPerCell;
btCudaBroadphaseParams m_params;
btScalar m_maxRadius;
// large proxies
int m_numLargeHandles;
int m_maxLargeHandles;
@@ -82,12 +75,56 @@ class btCudaBroadphase : public btSimpleBroadphase
}
bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
bool isLargeProxy(btBroadphaseProxy* proxy);
// debug
unsigned int m_numPairsAdded;
unsigned int m_numPairsRemoved;
unsigned int m_numOverflows;
//
public:
bt3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
int maxBodiesPerCell = 8,
btScalar cellFactorAABB = btScalar(1.0f));
virtual ~bt3DGridBroadphase();
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
protected:
void _initialize();
void _finalize();
void addPairsToCache(btDispatcher* dispatcher);
void addLarge2LargePairsToCache(btDispatcher* dispatcher);
// overrides for CPU version
virtual void setParameters(btCudaBroadphaseParams* hostParams);
virtual void prepareAABB();
virtual void calcHashAABB();
virtual void sortHash();
virtual void findCellStart();
virtual void findOverlappingPairs();
virtual void findPairsLarge();
virtual void computePairCacheChanges();
virtual void scanOverlappingPairBuff();
virtual void squeezeOverlappingPairBuff();
};
///The btCudaBroadphase uses CUDA to compute overlapping pairs using a GPU.
class btCudaBroadphase : public bt3DGridBroadphase
{
protected:
// GPU data
unsigned int* m_dBodiesHash[2];
unsigned int* m_dCellStart;
unsigned int* m_dPairBuff;
unsigned int* m_dPairBuffStartCurr;
btCuda3F1U* m_dAABB;
unsigned int* m_dPairScan;
unsigned int* m_dPairOut;
public:
btCudaBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
@@ -95,18 +132,21 @@ public:
int maxBodiesPerCell = 8,
btScalar cellFactorAABB = btScalar(1.0f));
virtual ~btCudaBroadphase();
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
protected:
void _initialize();
void _finalize();
void scanOverlappingPairBuffCPU();
void addPairsToCacheCPU(btDispatcher* dispatcher);
void addLarge2LargePairsToCache(btDispatcher* dispatcher);
void allocateArray(void** devPtr, unsigned int size);
void freeArray(void* devPtr);
// overrides for CUDA version
virtual void setParameters(btCudaBroadphaseParams* hostParams);
virtual void prepareAABB();
virtual void calcHashAABB();
virtual void sortHash();
virtual void findCellStart();
virtual void findOverlappingPairs();
virtual void findPairsLarge();
virtual void computePairCacheChanges();
virtual void scanOverlappingPairBuff();
virtual void squeezeOverlappingPairBuff();
};
#endif //CUDA_BROADPHASE_H