Split PLBVH files into .h/.cpp.
Also move PLBVH binary tree construction into separate function.
This commit is contained in:
Jackson Lee
425
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
Normal file
425
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
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/*
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Initial Author Jackson Lee, 2014
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "b3GpuParallelLinearBvh.h"
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b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
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m_queue(queue),
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m_fill(context, device, queue),
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m_radixSorter(context, device, queue),
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m_rootNodeIndex(context, queue),
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m_numNodesPerLevelGpu(context, queue),
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m_firstIndexOffsetPerLevelGpu(context, queue),
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m_internalNodeAabbs(context, queue),
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m_internalNodeLeafIndexRanges(context, queue),
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m_internalNodeChildNodes(context, queue),
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m_internalNodeParentNodes(context, queue),
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m_leafNodeParentNodes(context, queue),
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m_mortonCodesAndAabbIndicies(context, queue),
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m_mergedAabb(context, queue),
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m_leafNodeAabbs(context, queue)
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{
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m_rootNodeIndex.resize(1);
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//
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const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
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const char* kernelSource = parallelLinearBvhCL; //parallelLinearBvhCL.h
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cl_int error;
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char* additionalMacros = 0;
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m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
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b3Assert(m_parallelLinearBvhProgram);
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m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
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b3Assert(m_findAllNodesMergedAabbKernel);
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m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
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b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
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m_constructBinaryTreeKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "constructBinaryTree", &error, m_parallelLinearBvhProgram, additionalMacros );
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b3Assert(m_constructBinaryTreeKernel);
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m_determineInternalNodeAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "determineInternalNodeAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
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b3Assert(m_determineInternalNodeAabbsKernel);
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m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
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b3Assert(m_plbvhCalculateOverlappingPairsKernel);
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m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
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b3Assert(m_plbvhRayTraverseKernel);
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}
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b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
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{
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clReleaseKernel(m_findAllNodesMergedAabbKernel);
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clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
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clReleaseKernel(m_constructBinaryTreeKernel);
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clReleaseKernel(m_determineInternalNodeAabbsKernel);
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clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
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clReleaseKernel(m_plbvhRayTraverseKernel);
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clReleaseProgram(m_parallelLinearBvhProgram);
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}
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void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs)
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{
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B3_PROFILE("b3ParallelLinearBvh::build()");
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m_leafNodeAabbs.copyFromOpenCLArray(worldSpaceAabbs);
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//
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int numLeaves = m_leafNodeAabbs.size(); //Number of leaves in the BVH == Number of rigid body AABBs
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int numInternalNodes = numLeaves - 1;
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if(numLeaves < 2)
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{
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int rootNodeIndex = numLeaves - 1;
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m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
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return;
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}
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//
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{
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m_internalNodeAabbs.resize(numInternalNodes);
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m_internalNodeLeafIndexRanges.resize(numInternalNodes);
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m_internalNodeChildNodes.resize(numInternalNodes);
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m_internalNodeParentNodes.resize(numInternalNodes);
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m_leafNodeParentNodes.resize(numLeaves);
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m_mortonCodesAndAabbIndicies.resize(numLeaves);
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m_mergedAabb.resize(numLeaves);
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}
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//Find the AABB of all input AABBs; this is used to define the size of
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//each cell in the virtual grid(2^10 cells in each dimension).
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{
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B3_PROFILE("Find AABB of merged nodes");
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m_mergedAabb.copyFromOpenCLArray(worldSpaceAabbs); //Need to make a copy since the kernel modifies the array
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for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
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numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
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{
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( m_mergedAabb.getBufferCL() ) //Resulting AABB is stored in m_mergedAabb[0]
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};
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b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst(numAabbsNeedingMerge);
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launcher.launch1D(numAabbsNeedingMerge);
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}
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clFinish(m_queue);
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}
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//Insert the center of the AABBs into a virtual grid,
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//then convert the discrete grid coordinates into a morton code
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//For each element in m_mortonCodesAndAabbIndicies, set
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// m_key == morton code (value to sort by)
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// m_value = AABB index
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{
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B3_PROFILE("Assign morton codes");
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
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b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
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b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
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};
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b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst(numLeaves);
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launcher.launch1D(numLeaves);
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clFinish(m_queue);
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}
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//
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{
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B3_PROFILE("Sort leaves by morton codes");
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m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
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clFinish(m_queue);
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}
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//Optional; only element at m_internalNodeParentNodes[0], the root node, needs to be set here
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//as the parent indices of other nodes are overwritten during m_constructBinaryTreeKernel
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{
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B3_PROFILE("Reset parent node indices");
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m_fill.execute( m_internalNodeParentNodes, B3_PLBVH_ROOT_NODE_MARKER, m_internalNodeParentNodes.size() );
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m_fill.execute( m_leafNodeParentNodes, B3_PLBVH_ROOT_NODE_MARKER, m_leafNodeParentNodes.size() );
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clFinish(m_queue);
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}
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constructSimpleBinaryTree();
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}
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void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs)
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{
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b3Assert( out_numPairs.size() == 1 );
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int maxPairs = out_overlappingPairs.size();
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int reset = 0;
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out_numPairs.copyFromHostPointer(&reset, 1);
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if( m_leafNodeAabbs.size() < 2 ) return;
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{
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B3_PROFILE("PLBVH calculateOverlappingPairs");
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int numQueryAabbs = m_leafNodeAabbs.size();
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
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b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
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b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
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b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
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b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
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b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
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b3BufferInfoCL( out_numPairs.getBufferCL() ),
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b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
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};
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b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst(maxPairs);
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launcher.setConst(numQueryAabbs);
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launcher.launch1D(numQueryAabbs);
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clFinish(m_queue);
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}
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//
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int numPairs = -1;
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out_numPairs.copyToHostPointer(&numPairs, 1);
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if(numPairs > maxPairs)
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{
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b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
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numPairs = maxPairs;
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out_numPairs.copyFromHostPointer(&maxPairs, 1);
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}
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out_overlappingPairs.resize(numPairs);
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}
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void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
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b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
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{
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B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
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int numRays = rays.size();
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int maxRayRigidPairs = out_rayRigidPairs.size();
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int reset = 0;
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out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
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if( m_leafNodeAabbs.size() < 1 ) return;
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
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b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
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b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
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b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
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b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
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b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
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b3BufferInfoCL( rays.getBufferCL() ),
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b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
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b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
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};
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b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst(maxRayRigidPairs);
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launcher.setConst(numRays);
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launcher.launch1D(numRays);
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clFinish(m_queue);
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//
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int numRayRigidPairs = -1;
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out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
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if(numRayRigidPairs > maxRayRigidPairs)
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b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
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}
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void b3GpuParallelLinearBvh::constructSimpleBinaryTree()
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{
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int numLeaves = m_leafNodeAabbs.size(); //Number of leaves in the BVH == Number of rigid body AABBs
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int numInternalNodes = numLeaves - 1;
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//Determine number of levels in the binary tree( numLevels = ceil( log2(numLeaves) ) )
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//The number of levels is equivalent to the number of bits needed to uniquely identify each node(including both internal and leaf nodes)
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int numLevels = 0;
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{
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//Find the most significant bit(msb)
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int mostSignificantBit = 0;
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{
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int temp = numLeaves;
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while(temp >>= 1) mostSignificantBit++; //Start counting from 0 (0 and 1 have msb 0, 2 has msb 1)
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}
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numLevels = mostSignificantBit + 1;
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//If the number of nodes is not a power of 2(as in, can be expressed as 2^N where N is an integer), then there is 1 additional level
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if( ~(1 << mostSignificantBit) & numLeaves ) numLevels++;
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}
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//Determine number of internal nodes per level, use prefix sum to get offsets of each level, and send to GPU
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{
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B3_PROFILE("Determine number of nodes per level");
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m_numNodesPerLevelCpu.resize(numLevels);
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//The last level contains the leaf nodes; number of leaves is already known
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if(numLevels - 1 >= 0) m_numNodesPerLevelCpu[numLevels - 1] = numLeaves;
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//Calculate number of nodes in each level;
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//start from the second to last level(level right next to leaf nodes) and move towards the root(level 0)
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int remainder = 0;
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for(int levelIndex = numLevels - 2; levelIndex >= 0; --levelIndex)
|
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{
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int numNodesPreviousLevel = m_numNodesPerLevelCpu[levelIndex + 1]; //For first iteration this == numLeaves
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int numNodesCurrentLevel = numNodesPreviousLevel / 2;
|
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remainder += numNodesPreviousLevel % 2;
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if(remainder == 2)
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{
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numNodesCurrentLevel++;
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remainder = 0;
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}
|
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||||||
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m_numNodesPerLevelCpu[levelIndex] = numNodesCurrentLevel;
|
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|
}
|
||||||
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|
||||||
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//Prefix sum to calculate the first index offset of each level
|
||||||
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{
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||||||
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m_firstIndexOffsetPerLevelCpu = m_numNodesPerLevelCpu;
|
||||||
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|
||||||
|
//Perform inclusive scan
|
||||||
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for(int i = 1; i < m_firstIndexOffsetPerLevelCpu.size(); ++i)
|
||||||
|
m_firstIndexOffsetPerLevelCpu[i] += m_firstIndexOffsetPerLevelCpu[i - 1];
|
||||||
|
|
||||||
|
//Convert inclusive scan to exclusive scan to get the offsets
|
||||||
|
//This is equivalent to shifting each element in m_firstIndexOffsetPerLevelCpu[] by 1 to the right,
|
||||||
|
//and setting the first element to 0
|
||||||
|
for(int i = 0; i < m_firstIndexOffsetPerLevelCpu.size(); ++i)
|
||||||
|
m_firstIndexOffsetPerLevelCpu[i] -= m_numNodesPerLevelCpu[i];
|
||||||
|
}
|
||||||
|
|
||||||
|
//Copy to GPU
|
||||||
|
m_numNodesPerLevelGpu.copyFromHost(m_numNodesPerLevelCpu, false);
|
||||||
|
m_firstIndexOffsetPerLevelGpu.copyFromHost(m_firstIndexOffsetPerLevelCpu, false);
|
||||||
|
clFinish(m_queue);
|
||||||
|
}
|
||||||
|
|
||||||
|
//Construct binary tree; find the children of each internal node, and assign parent nodes
|
||||||
|
{
|
||||||
|
B3_PROFILE("Construct binary tree");
|
||||||
|
|
||||||
|
const int ROOT_NODE_INDEX = 0x80000000; //Default root index is 0, most significant bit is set to indicate internal node
|
||||||
|
m_rootNodeIndex.copyFromHostPointer(&ROOT_NODE_INDEX, 1);
|
||||||
|
|
||||||
|
b3BufferInfoCL bufferInfo[] =
|
||||||
|
{
|
||||||
|
b3BufferInfoCL( m_firstIndexOffsetPerLevelGpu.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_numNodesPerLevelGpu.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_leafNodeParentNodes.getBufferCL() )
|
||||||
|
};
|
||||||
|
|
||||||
|
b3LauncherCL launcher(m_queue, m_constructBinaryTreeKernel, "m_constructBinaryTreeKernel");
|
||||||
|
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||||
|
launcher.setConst(numLevels);
|
||||||
|
launcher.setConst(numInternalNodes);
|
||||||
|
|
||||||
|
launcher.launch1D(numInternalNodes);
|
||||||
|
clFinish(m_queue);
|
||||||
|
}
|
||||||
|
|
||||||
|
//For each internal node, check children to get its AABB; start from the
|
||||||
|
//last level, which contains the leaves, and move towards the root
|
||||||
|
{
|
||||||
|
B3_PROFILE("Set AABBs");
|
||||||
|
|
||||||
|
//Due to the arrangement of internal nodes, each internal node corresponds
|
||||||
|
//to a contiguous range of leaf node indices. This characteristic can be used
|
||||||
|
//to optimize calculateOverlappingPairs(); checking if
|
||||||
|
//(m_internalNodeLeafIndexRanges[].y < leafNodeIndex) can be used to ensure that
|
||||||
|
//each pair is processed only once.
|
||||||
|
{
|
||||||
|
B3_PROFILE("Reset internal node index ranges");
|
||||||
|
|
||||||
|
b3Int2 invalidIndexRange;
|
||||||
|
invalidIndexRange.x = -1; //x == min
|
||||||
|
invalidIndexRange.y = -2; //y == max
|
||||||
|
|
||||||
|
m_fill.execute( m_internalNodeLeafIndexRanges, invalidIndexRange, m_internalNodeLeafIndexRanges.size() );
|
||||||
|
clFinish(m_queue);
|
||||||
|
}
|
||||||
|
|
||||||
|
int lastInternalLevelIndex = numLevels - 2; //Last level is leaf node level
|
||||||
|
for(int level = lastInternalLevelIndex; level >= 0; --level)
|
||||||
|
{
|
||||||
|
b3BufferInfoCL bufferInfo[] =
|
||||||
|
{
|
||||||
|
b3BufferInfoCL( m_firstIndexOffsetPerLevelGpu.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_numNodesPerLevelGpu.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
|
||||||
|
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() )
|
||||||
|
};
|
||||||
|
|
||||||
|
b3LauncherCL launcher(m_queue, m_determineInternalNodeAabbsKernel, "m_determineInternalNodeAabbsKernel");
|
||||||
|
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||||
|
launcher.setConst(numLevels);
|
||||||
|
launcher.setConst(numInternalNodes);
|
||||||
|
launcher.setConst(level);
|
||||||
|
|
||||||
|
launcher.launch1D(numLeaves);
|
||||||
|
}
|
||||||
|
clFinish(m_queue);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void b3GpuParallelLinearBvh::constructRadixBinaryTree()
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
@@ -20,8 +20,6 @@ subject to the following restrictions:
|
|||||||
#include "Bullet3Common/shared/b3Int4.h"
|
#include "Bullet3Common/shared/b3Int4.h"
|
||||||
#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
|
#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
|
||||||
|
|
||||||
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
|
|
||||||
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
|
|
||||||
#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
|
#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
|
||||||
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
|
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
|
||||||
|
|
||||||
@@ -56,9 +54,12 @@ class b3GpuParallelLinearBvh
|
|||||||
|
|
||||||
cl_kernel m_findAllNodesMergedAabbKernel;
|
cl_kernel m_findAllNodesMergedAabbKernel;
|
||||||
cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
|
cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
|
||||||
|
|
||||||
|
//Binary tree construction kernels
|
||||||
cl_kernel m_constructBinaryTreeKernel;
|
cl_kernel m_constructBinaryTreeKernel;
|
||||||
cl_kernel m_determineInternalNodeAabbsKernel;
|
cl_kernel m_determineInternalNodeAabbsKernel;
|
||||||
|
|
||||||
|
//Traversal kernels
|
||||||
cl_kernel m_plbvhCalculateOverlappingPairsKernel;
|
cl_kernel m_plbvhCalculateOverlappingPairsKernel;
|
||||||
cl_kernel m_plbvhRayTraverseKernel;
|
cl_kernel m_plbvhRayTraverseKernel;
|
||||||
|
|
||||||
@@ -87,405 +88,29 @@ class b3GpuParallelLinearBvh
|
|||||||
b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;
|
b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
|
b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue);
|
||||||
m_queue(queue),
|
virtual ~b3GpuParallelLinearBvh();
|
||||||
m_fill(context, device, queue),
|
|
||||||
m_radixSorter(context, device, queue),
|
|
||||||
|
|
||||||
m_rootNodeIndex(context, queue),
|
|
||||||
|
|
||||||
m_numNodesPerLevelGpu(context, queue),
|
|
||||||
m_firstIndexOffsetPerLevelGpu(context, queue),
|
|
||||||
|
|
||||||
m_internalNodeAabbs(context, queue),
|
|
||||||
m_internalNodeLeafIndexRanges(context, queue),
|
|
||||||
m_internalNodeChildNodes(context, queue),
|
|
||||||
m_internalNodeParentNodes(context, queue),
|
|
||||||
|
|
||||||
m_leafNodeParentNodes(context, queue),
|
|
||||||
m_mortonCodesAndAabbIndicies(context, queue),
|
|
||||||
m_mergedAabb(context, queue),
|
|
||||||
m_leafNodeAabbs(context, queue)
|
|
||||||
{
|
|
||||||
m_rootNodeIndex.resize(1);
|
|
||||||
|
|
||||||
//
|
void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs);
|
||||||
const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
|
|
||||||
|
|
||||||
const char* kernelSource = parallelLinearBvhCL; //parallelLinearBvhCL.h
|
|
||||||
cl_int error;
|
|
||||||
char* additionalMacros = 0;
|
|
||||||
m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
|
|
||||||
b3Assert(m_parallelLinearBvhProgram);
|
|
||||||
|
|
||||||
m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
|
|
||||||
b3Assert(m_findAllNodesMergedAabbKernel);
|
|
||||||
m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
|
|
||||||
b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
|
|
||||||
m_constructBinaryTreeKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "constructBinaryTree", &error, m_parallelLinearBvhProgram, additionalMacros );
|
|
||||||
b3Assert(m_constructBinaryTreeKernel);
|
|
||||||
m_determineInternalNodeAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "determineInternalNodeAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
|
|
||||||
b3Assert(m_determineInternalNodeAabbsKernel);
|
|
||||||
|
|
||||||
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 );
|
|
||||||
b3Assert(m_plbvhRayTraverseKernel);
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual ~b3GpuParallelLinearBvh()
|
|
||||||
{
|
|
||||||
clReleaseKernel(m_findAllNodesMergedAabbKernel);
|
|
||||||
clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
|
|
||||||
clReleaseKernel(m_constructBinaryTreeKernel);
|
|
||||||
clReleaseKernel(m_determineInternalNodeAabbsKernel);
|
|
||||||
|
|
||||||
clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
|
|
||||||
clReleaseKernel(m_plbvhRayTraverseKernel);
|
|
||||||
|
|
||||||
clReleaseProgram(m_parallelLinearBvhProgram);
|
|
||||||
}
|
|
||||||
|
|
||||||
void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs)
|
|
||||||
{
|
|
||||||
B3_PROFILE("b3ParallelLinearBvh::build()");
|
|
||||||
|
|
||||||
int numLeaves = worldSpaceAabbs.size(); //Number of leaves in the BVH == Number of rigid body AABBs
|
|
||||||
int numInternalNodes = numLeaves - 1;
|
|
||||||
|
|
||||||
//
|
|
||||||
m_leafNodeAabbs.copyFromOpenCLArray(worldSpaceAabbs);
|
|
||||||
|
|
||||||
if(numLeaves < 2)
|
|
||||||
{
|
|
||||||
int rootNodeIndex = numLeaves - 1;
|
|
||||||
m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
//
|
|
||||||
{
|
|
||||||
m_internalNodeAabbs.resize(numInternalNodes);
|
|
||||||
m_internalNodeLeafIndexRanges.resize(numInternalNodes);
|
|
||||||
m_internalNodeChildNodes.resize(numInternalNodes);
|
|
||||||
m_internalNodeParentNodes.resize(numInternalNodes);
|
|
||||||
|
|
||||||
m_leafNodeParentNodes.resize(numLeaves);
|
|
||||||
m_mortonCodesAndAabbIndicies.resize(numLeaves);
|
|
||||||
m_mergedAabb.resize(numLeaves);
|
|
||||||
}
|
|
||||||
|
|
||||||
//Determine number of levels in the binary tree( numLevels = ceil( log2(numLeaves) ) )
|
|
||||||
//The number of levels is equivalent to the number of bits needed to uniquely identify each node(including both internal and leaf nodes)
|
|
||||||
int numLevels = 0;
|
|
||||||
{
|
|
||||||
//Find the most significant bit(msb)
|
|
||||||
int mostSignificantBit = 0;
|
|
||||||
{
|
|
||||||
int temp = numLeaves;
|
|
||||||
while(temp >>= 1) mostSignificantBit++; //Start counting from 0 (0 and 1 have msb 0, 2 has msb 1)
|
|
||||||
}
|
|
||||||
numLevels = mostSignificantBit + 1;
|
|
||||||
|
|
||||||
//If the number of nodes is not a power of 2(as in, can be expressed as 2^N where N is an integer), then there is 1 additional level
|
|
||||||
if( ~(1 << mostSignificantBit) & numLeaves ) numLevels++;
|
|
||||||
}
|
|
||||||
|
|
||||||
//Determine number of internal nodes per level, use prefix sum to get offsets of each level, and send to GPU
|
|
||||||
{
|
|
||||||
B3_PROFILE("Determine number of nodes per level");
|
|
||||||
|
|
||||||
m_numNodesPerLevelCpu.resize(numLevels);
|
|
||||||
|
|
||||||
//The last level contains the leaf nodes; number of leaves is already known
|
|
||||||
if(numLevels - 1 >= 0) m_numNodesPerLevelCpu[numLevels - 1] = numLeaves;
|
|
||||||
|
|
||||||
//Calculate number of nodes in each level;
|
|
||||||
//start from the second to last level(level right next to leaf nodes) and move towards the root(level 0)
|
|
||||||
int remainder = 0;
|
|
||||||
for(int levelIndex = numLevels - 2; levelIndex >= 0; --levelIndex)
|
|
||||||
{
|
|
||||||
int numNodesPreviousLevel = m_numNodesPerLevelCpu[levelIndex + 1]; //For first iteration this == numLeaves
|
|
||||||
int numNodesCurrentLevel = numNodesPreviousLevel / 2;
|
|
||||||
|
|
||||||
remainder += numNodesPreviousLevel % 2;
|
|
||||||
if(remainder == 2)
|
|
||||||
{
|
|
||||||
numNodesCurrentLevel++;
|
|
||||||
remainder = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
m_numNodesPerLevelCpu[levelIndex] = numNodesCurrentLevel;
|
|
||||||
}
|
|
||||||
|
|
||||||
//Prefix sum to calculate the first index offset of each level
|
|
||||||
{
|
|
||||||
m_firstIndexOffsetPerLevelCpu = m_numNodesPerLevelCpu;
|
|
||||||
|
|
||||||
//Perform inclusive scan
|
|
||||||
for(int i = 1; i < m_firstIndexOffsetPerLevelCpu.size(); ++i)
|
|
||||||
m_firstIndexOffsetPerLevelCpu[i] += m_firstIndexOffsetPerLevelCpu[i - 1];
|
|
||||||
|
|
||||||
//Convert inclusive scan to exclusive scan to get the offsets
|
|
||||||
//This is equivalent to shifting each element in m_firstIndexOffsetPerLevelCpu[] by 1 to the right,
|
|
||||||
//and setting the first element to 0
|
|
||||||
for(int i = 0; i < m_firstIndexOffsetPerLevelCpu.size(); ++i)
|
|
||||||
m_firstIndexOffsetPerLevelCpu[i] -= m_numNodesPerLevelCpu[i];
|
|
||||||
}
|
|
||||||
|
|
||||||
//Copy to GPU
|
|
||||||
m_numNodesPerLevelGpu.copyFromHost(m_numNodesPerLevelCpu, false);
|
|
||||||
m_firstIndexOffsetPerLevelGpu.copyFromHost(m_firstIndexOffsetPerLevelCpu, false);
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
//Find the AABB of all input AABBs; this is used to define the size of
|
|
||||||
//each cell in the virtual grid(2^10 cells in each dimension).
|
|
||||||
{
|
|
||||||
B3_PROFILE("Find AABB of merged nodes");
|
|
||||||
|
|
||||||
m_mergedAabb.copyFromOpenCLArray(worldSpaceAabbs); //Need to make a copy since the kernel modifies the array
|
|
||||||
|
|
||||||
for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
|
|
||||||
numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
|
|
||||||
{
|
|
||||||
b3BufferInfoCL bufferInfo[] =
|
|
||||||
{
|
|
||||||
b3BufferInfoCL( m_mergedAabb.getBufferCL() ) //Resulting AABB is stored in m_mergedAabb[0]
|
|
||||||
};
|
|
||||||
|
|
||||||
b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
|
|
||||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
|
||||||
launcher.setConst(numAabbsNeedingMerge);
|
|
||||||
|
|
||||||
launcher.launch1D(numAabbsNeedingMerge);
|
|
||||||
}
|
|
||||||
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
//Insert the center of the AABBs into a virtual grid,
|
|
||||||
//then convert the discrete grid coordinates into a morton code
|
|
||||||
//For each element in m_mortonCodesAndAabbIndicies, set
|
|
||||||
// m_key == morton code (value to sort by)
|
|
||||||
// m_value = AABB index
|
|
||||||
{
|
|
||||||
B3_PROFILE("Assign morton codes");
|
|
||||||
|
|
||||||
b3BufferInfoCL bufferInfo[] =
|
|
||||||
{
|
|
||||||
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
|
|
||||||
};
|
|
||||||
|
|
||||||
b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
|
|
||||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
|
||||||
launcher.setConst(numLeaves);
|
|
||||||
|
|
||||||
launcher.launch1D(numLeaves);
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
//
|
|
||||||
{
|
|
||||||
B3_PROFILE("Sort leaves by morton codes");
|
|
||||||
|
|
||||||
m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
//Optional; only element at m_internalNodeParentNodes[0], the root node, needs to be set here
|
|
||||||
//as the parent indices of other nodes are overwritten during m_constructBinaryTreeKernel
|
|
||||||
{
|
|
||||||
B3_PROFILE("Reset parent node indices");
|
|
||||||
|
|
||||||
m_fill.execute( m_internalNodeParentNodes, B3_PLBVH_ROOT_NODE_MARKER, m_internalNodeParentNodes.size() );
|
|
||||||
m_fill.execute( m_leafNodeParentNodes, B3_PLBVH_ROOT_NODE_MARKER, m_leafNodeParentNodes.size() );
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
//Construct binary tree; find the children of each internal node, and assign parent nodes
|
|
||||||
{
|
|
||||||
B3_PROFILE("Construct binary tree");
|
|
||||||
|
|
||||||
const int ROOT_NODE_INDEX = 0x80000000; //Default root index is 0, most significant bit is set to indicate internal node
|
|
||||||
m_rootNodeIndex.copyFromHostPointer(&ROOT_NODE_INDEX, 1);
|
|
||||||
|
|
||||||
b3BufferInfoCL bufferInfo[] =
|
|
||||||
{
|
|
||||||
b3BufferInfoCL( m_firstIndexOffsetPerLevelGpu.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_numNodesPerLevelGpu.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_leafNodeParentNodes.getBufferCL() )
|
|
||||||
};
|
|
||||||
|
|
||||||
b3LauncherCL launcher(m_queue, m_constructBinaryTreeKernel, "m_constructBinaryTreeKernel");
|
|
||||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
|
||||||
launcher.setConst(numLevels);
|
|
||||||
launcher.setConst(numInternalNodes);
|
|
||||||
|
|
||||||
launcher.launch1D(numInternalNodes);
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
//For each internal node, check children to get its AABB; start from the
|
|
||||||
//last level, which contains the leaves, and move towards the root
|
|
||||||
{
|
|
||||||
B3_PROFILE("Set AABBs");
|
|
||||||
|
|
||||||
//Due to the arrangement of internal nodes, each internal node corresponds
|
|
||||||
//to a contiguous range of leaf node indices. This characteristic can be used
|
|
||||||
//to optimize calculateOverlappingPairs(); checking if
|
|
||||||
//(m_internalNodeLeafIndexRanges[].y < leafNodeIndex) can be used to ensure that
|
|
||||||
//each pair is processed only once.
|
|
||||||
{
|
|
||||||
B3_PROFILE("Reset internal node index ranges");
|
|
||||||
|
|
||||||
b3Int2 invalidIndexRange;
|
|
||||||
invalidIndexRange.x = -1; //x == min
|
|
||||||
invalidIndexRange.y = -2; //y == max
|
|
||||||
|
|
||||||
m_fill.execute( m_internalNodeLeafIndexRanges, invalidIndexRange, m_internalNodeLeafIndexRanges.size() );
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
int lastInternalLevelIndex = numLevels - 2; //Last level is leaf node level
|
|
||||||
for(int level = lastInternalLevelIndex; level >= 0; --level)
|
|
||||||
{
|
|
||||||
b3BufferInfoCL bufferInfo[] =
|
|
||||||
{
|
|
||||||
b3BufferInfoCL( m_firstIndexOffsetPerLevelGpu.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_numNodesPerLevelGpu.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() )
|
|
||||||
};
|
|
||||||
|
|
||||||
b3LauncherCL launcher(m_queue, m_determineInternalNodeAabbsKernel, "m_determineInternalNodeAabbsKernel");
|
|
||||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
|
||||||
launcher.setConst(numLevels);
|
|
||||||
launcher.setConst(numInternalNodes);
|
|
||||||
launcher.setConst(level);
|
|
||||||
|
|
||||||
launcher.launch1D(numLeaves);
|
|
||||||
}
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
///b3GpuParallelLinearBvh::build() must be called before this function. calculateOverlappingPairs() uses
|
///b3GpuParallelLinearBvh::build() must be called before this function. calculateOverlappingPairs() uses
|
||||||
///the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.
|
///the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.
|
||||||
///@param out_numPairs If number of pairs exceeds the max number of pairs, this is clamped to the max number.
|
///@param out_numPairs If number of pairs exceeds the max number of pairs, this is clamped to the max number.
|
||||||
///@param out_overlappingPairs The size() of this array is used to determine the max number of pairs.
|
///@param out_overlappingPairs The size() of this array is used to determine the max number of pairs.
|
||||||
///If the number of overlapping pairs is < out_overlappingPairs.size(), out_overlappingPairs is resized.
|
///If the number of overlapping pairs is < out_overlappingPairs.size(), out_overlappingPairs is resized.
|
||||||
void calculateOverlappingPairs(b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs)
|
void calculateOverlappingPairs(b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs);
|
||||||
{
|
|
||||||
b3Assert( out_numPairs.size() == 1 );
|
|
||||||
|
|
||||||
int maxPairs = out_overlappingPairs.size();
|
|
||||||
|
|
||||||
int reset = 0;
|
|
||||||
out_numPairs.copyFromHostPointer(&reset, 1);
|
|
||||||
|
|
||||||
if( m_leafNodeAabbs.size() < 2 ) return;
|
|
||||||
|
|
||||||
{
|
|
||||||
B3_PROFILE("PLBVH calculateOverlappingPairs");
|
|
||||||
|
|
||||||
int numQueryAabbs = m_leafNodeAabbs.size();
|
|
||||||
|
|
||||||
b3BufferInfoCL bufferInfo[] =
|
|
||||||
{
|
|
||||||
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
|
||||||
|
|
||||||
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
|
||||||
|
|
||||||
b3BufferInfoCL( out_numPairs.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
|
|
||||||
};
|
|
||||||
|
|
||||||
b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
|
|
||||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
|
||||||
launcher.setConst(maxPairs);
|
|
||||||
launcher.setConst(numQueryAabbs);
|
|
||||||
|
|
||||||
launcher.launch1D(numQueryAabbs);
|
|
||||||
clFinish(m_queue);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
//
|
|
||||||
int numPairs = -1;
|
|
||||||
out_numPairs.copyToHostPointer(&numPairs, 1);
|
|
||||||
if(numPairs > maxPairs)
|
|
||||||
{
|
|
||||||
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
|
|
||||||
numPairs = maxPairs;
|
|
||||||
out_numPairs.copyFromHostPointer(&maxPairs, 1);
|
|
||||||
}
|
|
||||||
|
|
||||||
out_overlappingPairs.resize(numPairs);
|
|
||||||
}
|
|
||||||
|
|
||||||
///@param out_numRigidRayPairs Array of length 1; contains the number of detected ray-rigid AABB intersections;
|
///@param out_numRigidRayPairs Array of length 1; contains the number of detected ray-rigid AABB intersections;
|
||||||
///this value may be greater than out_rayRigidPairs.size() if out_rayRigidPairs is not large enough.
|
///this value may be greater than out_rayRigidPairs.size() if out_rayRigidPairs is not large enough.
|
||||||
///@param out_rayRigidPairs Contains an array of rays intersecting rigid AABBs; x == ray index, y == rigid body index.
|
///@param out_rayRigidPairs Contains an array of rays intersecting rigid AABBs; x == ray index, y == rigid body index.
|
||||||
///If the size of this array is insufficient to hold all ray-rigid AABB intersections, additional intersections are discarded.
|
///If the size of this array is insufficient to hold all ray-rigid AABB intersections, additional intersections are discarded.
|
||||||
void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
|
void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
|
||||||
b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
|
b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs);
|
||||||
{
|
|
||||||
B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
|
private:
|
||||||
|
void constructSimpleBinaryTree();
|
||||||
int numRays = rays.size();
|
|
||||||
int maxRayRigidPairs = out_rayRigidPairs.size();
|
void constructRadixBinaryTree();
|
||||||
|
|
||||||
int reset = 0;
|
|
||||||
out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
|
|
||||||
|
|
||||||
if( m_leafNodeAabbs.size() < 1 ) return;
|
|
||||||
|
|
||||||
b3BufferInfoCL bufferInfo[] =
|
|
||||||
{
|
|
||||||
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
|
||||||
|
|
||||||
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
|
||||||
|
|
||||||
b3BufferInfoCL( rays.getBufferCL() ),
|
|
||||||
|
|
||||||
b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
|
|
||||||
b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
|
|
||||||
};
|
|
||||||
|
|
||||||
b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
|
|
||||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
|
||||||
launcher.setConst(maxRayRigidPairs);
|
|
||||||
launcher.setConst(numRays);
|
|
||||||
|
|
||||||
launcher.launch1D(numRays);
|
|
||||||
clFinish(m_queue);
|
|
||||||
|
|
||||||
|
|
||||||
//
|
|
||||||
int numRayRigidPairs = -1;
|
|
||||||
out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
|
|
||||||
|
|
||||||
if(numRayRigidPairs > maxRayRigidPairs)
|
|
||||||
b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
@@ -0,0 +1,52 @@
|
|||||||
|
/*
|
||||||
|
This software is provided 'as-is', without any express or implied warranty.
|
||||||
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||||
|
Permission is granted to anyone to use this software for any purpose,
|
||||||
|
including commercial applications, and to alter it and redistribute it freely,
|
||||||
|
subject to the following restrictions:
|
||||||
|
|
||||||
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||||
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||||
|
3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
//Initial Author Jackson Lee, 2014
|
||||||
|
|
||||||
|
#include "b3GpuParallelLinearBvhBroadphase.h"
|
||||||
|
|
||||||
|
b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) :
|
||||||
|
m_plbvh(context, device, queue),
|
||||||
|
|
||||||
|
m_overlappingPairsGpu(context, queue),
|
||||||
|
m_aabbsGpu(context, queue),
|
||||||
|
m_tempNumPairs(context, queue)
|
||||||
|
{
|
||||||
|
m_tempNumPairs.resize(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
|
||||||
|
{
|
||||||
|
b3SapAabb aabb;
|
||||||
|
aabb.m_minVec = aabbMin;
|
||||||
|
aabb.m_maxVec = aabbMax;
|
||||||
|
aabb.m_minIndices[3] = userPtr;
|
||||||
|
|
||||||
|
m_aabbsCpu.push_back(aabb);
|
||||||
|
}
|
||||||
|
void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
|
||||||
|
{
|
||||||
|
b3Assert(0); //Not implemented
|
||||||
|
}
|
||||||
|
|
||||||
|
void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairs(int maxPairs)
|
||||||
|
{
|
||||||
|
//Reconstruct BVH
|
||||||
|
m_plbvh.build(m_aabbsGpu);
|
||||||
|
|
||||||
|
//
|
||||||
|
m_overlappingPairsGpu.resize(maxPairs);
|
||||||
|
m_plbvh.calculateOverlappingPairs(m_tempNumPairs, m_overlappingPairsGpu);
|
||||||
|
}
|
||||||
|
void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairsHost(int maxPairs)
|
||||||
|
{
|
||||||
|
b3Assert(0); //CPU version not implemented
|
||||||
|
}
|
||||||
@@ -29,44 +29,14 @@ class b3GpuParallelLinearBvhBroadphase : public b3GpuBroadphaseInterface
|
|||||||
b3AlignedObjectArray<b3SapAabb> m_aabbsCpu;
|
b3AlignedObjectArray<b3SapAabb> m_aabbsCpu;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) :
|
b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
|
||||||
m_plbvh(context, device, queue),
|
|
||||||
|
|
||||||
m_overlappingPairsGpu(context, queue),
|
|
||||||
m_aabbsGpu(context, queue),
|
|
||||||
m_tempNumPairs(context, queue)
|
|
||||||
{
|
|
||||||
m_tempNumPairs.resize(1);
|
|
||||||
}
|
|
||||||
virtual ~b3GpuParallelLinearBvhBroadphase() {}
|
virtual ~b3GpuParallelLinearBvhBroadphase() {}
|
||||||
|
|
||||||
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
|
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
|
||||||
{
|
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
|
||||||
b3SapAabb aabb;
|
|
||||||
aabb.m_minVec = aabbMin;
|
|
||||||
aabb.m_maxVec = aabbMax;
|
|
||||||
aabb.m_minIndices[3] = userPtr;
|
|
||||||
|
|
||||||
m_aabbsCpu.push_back(aabb);
|
|
||||||
}
|
|
||||||
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
|
|
||||||
{
|
|
||||||
b3Assert(0); //Not implemented
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual void calculateOverlappingPairs(int maxPairs)
|
virtual void calculateOverlappingPairs(int maxPairs);
|
||||||
{
|
virtual void calculateOverlappingPairsHost(int maxPairs);
|
||||||
//Reconstruct BVH
|
|
||||||
m_plbvh.build(m_aabbsGpu);
|
|
||||||
|
|
||||||
//
|
|
||||||
m_overlappingPairsGpu.resize(maxPairs);
|
|
||||||
m_plbvh.calculateOverlappingPairs(m_tempNumPairs, m_overlappingPairsGpu);
|
|
||||||
}
|
|
||||||
virtual void calculateOverlappingPairsHost(int maxPairs)
|
|
||||||
{
|
|
||||||
b3Assert(0); //CPU version not implemented
|
|
||||||
}
|
|
||||||
|
|
||||||
//call writeAabbsToGpu after done making all changes (createProxy etc)
|
//call writeAabbsToGpu after done making all changes (createProxy etc)
|
||||||
virtual void writeAabbsToGpu() { m_aabbsGpu.copyFromHost(m_aabbsCpu); }
|
virtual void writeAabbsToGpu() { m_aabbsGpu.copyFromHost(m_aabbsCpu); }
|
||||||
|
|||||||
Reference in New Issue
Block a user