reorder files, in preparation for Bullet 3 -> Bullet 2 merge

2013-04-29 19:04:08 -07:00
parent 55b69201a9
commit 3ac332f3a7
162 changed files with 215 additions and 3070 deletions
--- a/src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl
+++ b/src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl
@@ -0,0 +1,161 @@
+/*
+Copyright (c) 2012 Advanced Micro Devices, Inc.  
+
+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.
+*/
+//Originally written by Erwin Coumans
+
+
+typedef struct 
+{
+	union
+	{
+		float4	m_min;
+		float   m_minElems[4];
+		int			m_minIndices[4];
+	};
+	union
+	{
+		float4	m_max;
+		float   m_maxElems[4];
+		int			m_maxIndices[4];
+	};
+} btAabbCL;
+
+
+/// conservative test for overlap between two aabbs
+bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);
+bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)
+{
+//skip pairs between static (mass=0) objects
+	if ((aabb1->m_maxIndices[3]==0) && (aabb2->m_maxIndices[3] == 0))
+		return false;
+		
+	bool overlap = true;
+	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;
+	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;
+	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;
+	return overlap;
+}
+
+
+//computePairsKernelBatchWrite
+__kernel void   computePairsKernel( __global const btAabbCL* aabbs, volatile __global int2* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)
+{
+	int i = get_global_id(0);
+	int localId = get_local_id(0);
+
+	__local int numActiveWgItems[1];
+	__local int breakRequest[1];
+	__local btAabbCL localAabbs[128];// = aabbs[i];
+	
+	int2 myPairs[64];
+	
+	btAabbCL myAabb;
+	
+	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];
+	float testValue = 	myAabb.m_maxElems[axis];
+	
+	if (localId==0)
+	{
+		numActiveWgItems[0] = 0;
+		breakRequest[0] = 0;
+	}
+	int localCount=0;
+	int block=0;
+	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];
+	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];
+	
+	barrier(CLK_LOCAL_MEM_FENCE);
+	atomic_inc(numActiveWgItems);
+	barrier(CLK_LOCAL_MEM_FENCE);
+	int localBreak = 0;
+	int curNumPairs = 0;
+	
+	int j=i+1;
+	do
+	{
+		barrier(CLK_LOCAL_MEM_FENCE);
+	
+		if (j<numObjects)
+		{
+	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) 
+			{
+				if (!localBreak)
+				{
+					atomic_inc(breakRequest);
+					localBreak = 1;
+				}
+			}
+		}
+		
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		if (j>=numObjects && !localBreak)
+		{
+			atomic_inc(breakRequest);
+			localBreak = 1;
+		}
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		if (!localBreak)
+		{
+			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))
+			{
+				int2 myPair;
+				myPair.x = myAabb.m_minIndices[3];
+				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
+				myPairs[curNumPairs] = myPair;
+				curNumPairs++;
+				if (curNumPairs==64)
+				{
+					int curPair = atomic_add(pairCount,curNumPairs);
+					//avoid a buffer overrun
+					if ((curPair+curNumPairs)<maxPairs)
+					{
+						for (int p=0;p<curNumPairs;p++)
+						{
+							pairsOut[curPair+p] = myPairs[p]; //flush to main memory
+						}
+					}
+					curNumPairs = 0;
+				}
+			}
+		}
+		barrier(CLK_LOCAL_MEM_FENCE);
+		
+		localCount++;
+		if (localCount==64)
+		{
+			localCount = 0;
+			block+=64;			
+			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];
+			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];
+		}
+		j++;
+		
+	} while (breakRequest[0]<numActiveWgItems[0]);
+	
+	
+	if (curNumPairs>0)
+	{
+		//avoid a buffer overrun
+		int curPair = atomic_add(pairCount,curNumPairs);
+		if ((curPair+curNumPairs)<maxPairs)
+		{
+			for (int p=0;p<curNumPairs;p++)
+			{
+					pairsOut[curPair+p] = myPairs[p]; //flush to main memory
+			}
+		}
+		curNumPairs = 0;
+	}
+}