Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix PLBVH symmetry optimization for calculateOverlappingPairs().

Browse Source
This commit is contained in:
Jackson Lee
2014-03-13 19:22:05 -07:00
parent bb0102d79b
commit 19b194e8fe
4 changed files with 106 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
View File

@@ -69,6 +69,9 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel);
m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_findLeafIndexRangesKernel);
m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_plbvhCalculateOverlappingPairsKernel);
m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
@@ -91,6 +94,8 @@ b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
clReleaseKernel(m_findDistanceFromRootKernel);
clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel);
clReleaseKernel(m_findLeafIndexRangesKernel);
clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
clReleaseKernel(m_plbvhRayTraverseKernel);
clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
@@ -253,7 +258,33 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
}
//
constructRadixBinaryTree();
constructBinaryRadixTree();
//Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices.
//The root node contains leaf node indices in the range [0, numLeafNodes - 1].
//The child nodes of each node split their parent's index range into 2 contiguous halves.
//
//For example, if the root has indices [0, 31], its children might partition that range into [0, 11] and [12, 31].
//The next level in the tree could then split those ranges into [0, 2], [3, 11], [12, 22], and [23, 31].
//
//This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice
{
B3_PROFILE("m_findLeafIndexRangesKernel");
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numInternalNodes);
launcher.launch1D(numInternalNodes);
clFinish(m_queue);
}
}
void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs)
@@ -410,9 +441,9 @@ void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayIn
}
void b3GpuParallelLinearBvh::constructRadixBinaryTree()
void b3GpuParallelLinearBvh::constructBinaryRadixTree()
{
B3_PROFILE("b3GpuParallelLinearBvh::constructRadixBinaryTree()");
B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()");
int numLeaves = m_leafNodeAabbs.size();
int numInternalNodes = numLeaves - 1;