Move some code from Branches/OpenCL to trunk, related to threading and OpenCL:
Added Demos/ThreadingDemo showing how to use the cross-platform btThreadSupportInterface under Windows. Added Demos/ParticlesOpenCL showing how to run the NVidia particle demo under OpenCL implementations by AMD, NVidia and MiniCL (CPU)
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erwin.coumans
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Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
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181
Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
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/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006 - 2009 Sony Computer Entertainment 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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#ifndef BT_PARTICLES_DYNAMICS_WORLD_H
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#define BT_PARTICLES_DYNAMICS_WORLD_H
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#ifdef USE_MINICL
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#include <MiniCL/cl.h>
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#include <MiniCL/cl_gl.h>
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#else
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#ifdef __APPLE__
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#include <OpenCL/cl.h>
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#else
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#include <CL/cl.h>
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#include <CL/cl_gl.h>
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#endif __APPLE__
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#endif
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#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "btParticlesSharedDefs.h"
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#include "btParticlesSharedTypes.h"
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#define PARTICLES_MAX_PARTICLES (65536)
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#define PARTICLES_MAX_NEIGHBORS (32)
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#define DEF_PARTICLE_RADIUS (0.023f)
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enum
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{
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PARTICLES_KERNEL_INTEGRATE_MOTION = 0,
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PARTICLES_KERNEL_COMPUTE_CELL_ID,
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PARTICLES_KERNEL_CLEAR_CELL_START,
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PARTICLES_KERNEL_FIND_CELL_START,
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PARTICLES_KERNEL_COLLIDE_PARTICLES,
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PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_LOCAL,
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PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_LOCAL_1,
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PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_MERGE_GLOBAL,
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PARTICLES_KERNEL_BITONIC_SORT_CELL_ID_MERGE_LOCAL,
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PARTICLES_KERNEL_TOTAL
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};
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enum
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{
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SIMSTAGE_NONE = 0,
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SIMSTAGE_INTEGRATE_MOTION,
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SIMSTAGE_COMPUTE_CELL_ID,
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SIMSTAGE_SORT_CELL_ID,
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SIMSTAGE_FIND_CELL_START,
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SIMSTAGE_COLLIDE_PARTICLES,
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SIMSTAGE_TOTAL
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};
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struct btKernelInfo
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{
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int m_Id;
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cl_kernel m_kernel;
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char* m_name;
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int m_workgroupSize;
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};
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class btParticlesDynamicsWorld : public btDiscreteDynamicsWorld
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{
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public:
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int m_numParticles;
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int m_usedDevice;
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btScalar m_particleRad;
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struct GL_ToggleControl* m_useCpuControls[SIMSTAGE_TOTAL];
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protected:
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int m_hashSize; // power of 2 >= m_numSpheres;
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int m_numGridCells;
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int m_maxNeighbors;
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int m_numSolverIterations;
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// CPU side data
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public:
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btAlignedObjectArray<btVector3> m_hPos;
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btAlignedObjectArray<btVector3> m_hVel;
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btAlignedObjectArray<btVector3> m_hSortedPos;
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btAlignedObjectArray<btVector3> m_hSortedVel;
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protected:
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btAlignedObjectArray<btInt2> m_hPosHash;
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btAlignedObjectArray<int> m_hCellStart;
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// GPU side data
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cl_mem m_dPos;
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cl_mem m_dVel;
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cl_mem m_dPosHash;
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cl_mem m_dCellStart;
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cl_mem m_dSimParams; // copy of m_simParams : global simulation paramerers such as gravity, etc.
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cl_mem m_dSortedPos;
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cl_mem m_dSortedVel;
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// OpenCL
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public:
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cl_context m_cxMainContext;
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cl_device_id m_cdDevice;
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cl_command_queue m_cqCommandQue;
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cl_program m_cpProgram;
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protected:
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btKernelInfo m_kernels[PARTICLES_KERNEL_TOTAL];
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btVector3 m_cellSize;
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public:
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btVector3 m_worldMin;
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btVector3 m_worldMax;
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// vbo variables
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GLuint m_vbo;
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unsigned int m_posVbo;
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unsigned int m_colVbo;
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btSimParams m_simParams;
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float m_timeStep;
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int getNumParticles() { return m_numParticles; }
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float* getPosBuffer() { return (float*)&(m_hPos[0]); }
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btParticlesDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
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int maxObjs = PARTICLES_MAX_PARTICLES, int maxNeighbors = PARTICLES_MAX_NEIGHBORS)
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: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
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{
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m_cxMainContext = 0;
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m_usedDevice = 1;
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// m_particleRad = btScalar(0.5f);
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m_particleRad = DEF_PARTICLE_RADIUS;
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m_simParams.m_gravity[0] = 0.f;
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m_simParams.m_gravity[1] = -10.f;
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m_simParams.m_gravity[2] = 0.f;
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m_simParams.m_gravity[3] = 0.f;
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m_numSolverIterations = 4;
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}
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virtual ~btParticlesDynamicsWorld();
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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void initDeviceData();
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void initCLKernels(int argc, char** argv);
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void createVBO();
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void postInitDeviceData();
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void getShapeData();
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void allocateBuffers();
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void grabSimulationData();
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void adjustGrid();
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void runIntegrateMotionKernel();
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void runComputeCellIdKernel();
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void runSortHashKernel();
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void runFindCellStartKernel();
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void runCollideParticlesKernel();
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void initKernel(int kernelId, char* pName);
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void runKernelWithWorkgroupSize(int kernelId, int globalSize);
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void bitonicSortNv(cl_mem pKey, unsigned int batch, unsigned int arrayLength, unsigned int dir);
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void scanExclusiveLocal1(cl_mem d_Dst, cl_mem d_Src, unsigned int n, unsigned int size);
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void scanExclusiveLocal2(cl_mem d_Buffer, cl_mem d_Dst, cl_mem d_Src, unsigned int n, unsigned int size);
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void uniformUpdate(cl_mem d_Dst, cl_mem d_Buffer, unsigned int n);
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void scanExclusive(cl_mem d_Dst, cl_mem d_Src, unsigned int arrayLength);
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};
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#endif //BT_PARTICLES_DYNAMICS_WORLD_H
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