reorder files, in preparation for Bullet 3 -> Bullet 2 merge
This commit is contained in:
erwincoumans
320
src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
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320
src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl
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/*
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Copyright (c) 2012 Advanced Micro Devices, Inc.
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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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//Originally written by Erwin Coumans
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typedef struct
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{
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union
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{
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float4 m_min;
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float m_minElems[4];
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int m_minIndices[4];
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};
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union
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{
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float4 m_max;
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float m_maxElems[4];
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int m_maxIndices[4];
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};
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} btAabbCL;
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/// conservative test for overlap between two aabbs
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bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);
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bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)
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{
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bool overlap = true;
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overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
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overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
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overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
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return overlap;
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}
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bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);
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bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)
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{
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bool overlap = true;
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overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
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overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
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overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
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return overlap;
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}
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bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);
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bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)
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{
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bool overlap = true;
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overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
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overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
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overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
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return overlap;
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}
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__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const btAabbCL* sortedAabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)
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{
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int i = get_global_id(0);
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if (i>=numUnsortedAabbs)
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return;
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int j = get_global_id(1);
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if (j>=numSortedAabbs)
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return;
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if (TestAabbAgainstAabb2GlobalGlobal(&unsortedAabbs[i],&sortedAabbs[j]))
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{
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int2 myPair;
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myPair.x = unsortedAabbs[i].m_minIndices[3];
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myPair.y = sortedAabbs[j].m_minIndices[3];
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int curPair = atomic_inc (pairCount);
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if (curPair<maxPairs)
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{
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pairsOut[curPair] = myPair; //flush to main memory
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}
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}
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}
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__kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
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{
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int i = get_global_id(0);
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if (i>=numObjects)
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return;
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for (int j=i+1;j<numObjects;j++)
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{
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if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis]))
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{
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break;
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}
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if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
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{
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int2 myPair;
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myPair.x = aabbs[i].m_minIndices[3];
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myPair.y = aabbs[j].m_minIndices[3];
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int curPair = atomic_inc (pairCount);
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if (curPair<maxPairs)
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{
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pairsOut[curPair] = myPair; //flush to main memory
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}
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}
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}
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}
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__kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
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{
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int i = get_global_id(0);
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int localId = get_local_id(0);
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__local int numActiveWgItems[1];
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__local int breakRequest[1];
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if (localId==0)
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{
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numActiveWgItems[0] = 0;
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breakRequest[0] = 0;
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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atomic_inc(numActiveWgItems);
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barrier(CLK_LOCAL_MEM_FENCE);
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int localBreak = 0;
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int j=i+1;
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do
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{
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barrier(CLK_LOCAL_MEM_FENCE);
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if (j<numObjects)
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{
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if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis]))
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{
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if (!localBreak)
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{
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atomic_inc(breakRequest);
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localBreak = 1;
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}
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}
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (j>=numObjects && !localBreak)
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{
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atomic_inc(breakRequest);
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localBreak = 1;
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (!localBreak)
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{
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if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
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{
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int2 myPair;
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myPair.x = aabbs[i].m_minIndices[3];
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myPair.y = aabbs[j].m_minIndices[3];
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int curPair = atomic_inc (pairCount);
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if (curPair<maxPairs)
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{
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pairsOut[curPair] = myPair; //flush to main memory
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}
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}
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}
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j++;
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} while (breakRequest[0]<numActiveWgItems[0]);
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}
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__kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
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{
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int i = get_global_id(0);
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int localId = get_local_id(0);
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__local int numActiveWgItems[1];
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__local int breakRequest[1];
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__local btAabbCL localAabbs[128];// = aabbs[i];
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btAabbCL myAabb;
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myAabb = (i<numObjects)? aabbs[i]:aabbs[0];
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float testValue = myAabb.m_maxElems[axis];
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if (localId==0)
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{
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numActiveWgItems[0] = 0;
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breakRequest[0] = 0;
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}
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int localCount=0;
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int block=0;
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localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];
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localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];
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barrier(CLK_LOCAL_MEM_FENCE);
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atomic_inc(numActiveWgItems);
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barrier(CLK_LOCAL_MEM_FENCE);
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int localBreak = 0;
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int j=i+1;
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do
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{
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barrier(CLK_LOCAL_MEM_FENCE);
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if (j<numObjects)
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{
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if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis]))
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{
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if (!localBreak)
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{
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atomic_inc(breakRequest);
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localBreak = 1;
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}
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}
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (j>=numObjects && !localBreak)
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{
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atomic_inc(breakRequest);
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localBreak = 1;
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (!localBreak)
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{
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if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))
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{
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int2 myPair;
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myPair.x = myAabb.m_minIndices[3];
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myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
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int curPair = atomic_inc (pairCount);
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if (curPair<maxPairs)
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{
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pairsOut[curPair] = myPair; //flush to main memory
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}
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}
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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localCount++;
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if (localCount==64)
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{
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localCount = 0;
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block+=64;
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localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];
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localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];
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}
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j++;
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} while (breakRequest[0]<numActiveWgItems[0]);
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}
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//http://stereopsis.com/radix.html
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unsigned int FloatFlip(float fl);
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unsigned int FloatFlip(float fl)
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{
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unsigned int f = *(unsigned int*)&fl;
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unsigned int mask = -(int)(f >> 31) | 0x80000000;
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return f ^ mask;
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}
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float IFloatFlip(unsigned int f);
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float IFloatFlip(unsigned int f)
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{
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unsigned int mask = ((f >> 31) - 1) | 0x80000000;
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unsigned int fl = f ^ mask;
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return *(float*)&fl;
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}
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__kernel void copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)
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{
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int i = get_global_id(0);
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if (i>=numObjects)
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return;
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int src = destAabbs[i].m_maxIndices[3];
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destAabbs[i] = allAabbs[src];
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destAabbs[i].m_maxIndices[3] = src;
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}
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__kernel void flipFloatKernel( __global const btAabbCL* aabbs, volatile __global int2* sortData, int numObjects, int axis)
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{
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int i = get_global_id(0);
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if (i>=numObjects)
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return;
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sortData[i].x = FloatFlip(aabbs[i].m_minElems[axis]);
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sortData[i].y = i;
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}
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__kernel void scatterKernel( __global const btAabbCL* aabbs, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)
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{
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int i = get_global_id(0);
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if (i>=numObjects)
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return;
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sortedAabbs[i] = aabbs[sortData[i].y];
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}
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