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Add only small AABBs to PLBVH, add large AABB support.

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This commit is contained in:
Jackson Lee
2014-02-26 15:38:59 -08:00
parent 28da87dfc7
commit 4dcd52c090
12 changed files with 350 additions and 46 deletions
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179
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
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@@ -34,7 +34,9 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
m_leafNodeParentNodes(context, queue),
m_mortonCodesAndAabbIndicies(context, queue),
m_mergedAabb(context, queue),
m_leafNodeAabbs(context, queue)
m_leafNodeAabbs(context, queue),
m_largeAabbs(context, queue)
{
m_rootNodeIndex.resize(1);
@@ -47,6 +49,8 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
b3Assert(m_parallelLinearBvhProgram);
m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_separateAabbsKernel);
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 );
@@ -61,10 +65,15 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
b3Assert(m_plbvhCalculateOverlappingPairsKernel);
m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_plbvhRayTraverseKernel);
m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_plbvhLargeAabbAabbTestKernel);
m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_plbvhLargeAabbRayTestKernel);
}
b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
{
clReleaseKernel(m_separateAabbsKernel);
clReleaseKernel(m_findAllNodesMergedAabbKernel);
clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
clReleaseKernel(m_constructBinaryTreeKernel);
@@ -72,18 +81,68 @@ b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
clReleaseKernel(m_plbvhRayTraverseKernel);
clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
clReleaseKernel(m_plbvhLargeAabbRayTestKernel);
clReleaseProgram(m_parallelLinearBvhProgram);
}
void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs)
void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
const b3OpenCLArray<int>& largeAabbIndices)
{
B3_PROFILE("b3ParallelLinearBvh::build()");
m_leafNodeAabbs.copyFromOpenCLArray(worldSpaceAabbs);
int numLargeAabbs = largeAabbIndices.size();
int numSmallAabbs = smallAabbIndices.size();
//Since all AABBs(both large and small) are input as a contiguous array,
//with 2 additional arrays used to indicate the indices of large and small AABBs,
//it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH.
{
B3_PROFILE("Separate large and small AABBs");
m_largeAabbs.resize(numLargeAabbs);
m_leafNodeAabbs.resize(numSmallAabbs);
//Write large AABBs into m_largeAabbs
{
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
b3BufferInfoCL( largeAabbIndices.getBufferCL() ),
b3BufferInfoCL( m_largeAabbs.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numLargeAabbs);
launcher.launch1D(numLargeAabbs);
}
//Write small AABBs into m_leafNodeAabbs
{
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
b3BufferInfoCL( smallAabbIndices.getBufferCL() ),
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numSmallAabbs);
launcher.launch1D(numSmallAabbs);
}
clFinish(m_queue);
}
//
int numLeaves = m_leafNodeAabbs.size(); //Number of leaves in the BVH == Number of rigid body AABBs
int numLeaves = numSmallAabbs; //Number of leaves in the BVH == Number of rigid bodies with small AABBs
int numInternalNodes = numLeaves - 1;
if(numLeaves < 2)
@@ -105,12 +164,14 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
m_mergedAabb.resize(numLeaves);
}
//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
m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs); //Need to make a copy since the kernel modifies the array
for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
@@ -172,6 +233,7 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
clFinish(m_queue);
}
//
constructSimpleBinaryTree();
}
@@ -184,10 +246,10 @@ void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<int>& out_n
int reset = 0;
out_numPairs.copyFromHostPointer(&reset, 1);
if( m_leafNodeAabbs.size() < 2 ) return;
//
if( m_leafNodeAabbs.size() > 1 )
{
B3_PROFILE("PLBVH calculateOverlappingPairs");
B3_PROFILE("PLBVH small-small AABB test");
int numQueryAabbs = m_leafNodeAabbs.size();
@@ -214,6 +276,32 @@ void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<int>& out_n
clFinish(m_queue);
}
int numLargeAabbRigids = m_largeAabbs.size();
if( numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0 )
{
B3_PROFILE("PLBVH large-small AABB test");
int numQueryAabbs = m_leafNodeAabbs.size();
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
b3BufferInfoCL( out_numPairs.getBufferCL() ),
b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(maxPairs);
launcher.setConst(numLargeAabbRigids);
launcher.setConst(numQueryAabbs);
launcher.launch1D(numQueryAabbs);
clFinish(m_queue);
}
//
int numPairs = -1;
@@ -240,32 +328,59 @@ void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayIn
int reset = 0;
out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
if( m_leafNodeAabbs.size() < 1 ) return;
b3BufferInfoCL bufferInfo[] =
//
if( m_leafNodeAabbs.size() > 0 )
{
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() )
};
B3_PROFILE("PLBVH ray test small AABB");
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);
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 numLargeAabbRigids = m_largeAabbs.size();
if(numLargeAabbRigids > 0)
{
B3_PROFILE("PLBVH ray test large AABB");
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
b3BufferInfoCL( rays.getBufferCL() ),
b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numLargeAabbRigids);
launcher.setConst(maxRayRigidPairs);
launcher.setConst(numRays);
launcher.launch1D(numRays);
clFinish(m_queue);
}
//
int numRayRigidPairs = -1;
@@ -278,7 +393,7 @@ void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayIn
void b3GpuParallelLinearBvh::constructSimpleBinaryTree()
{
int numLeaves = m_leafNodeAabbs.size(); //Number of leaves in the BVH == Number of rigid body AABBs
int numLeaves = m_leafNodeAabbs.size(); //Number of leaves in the BVH == Number of rigid bodies with small AABBs
int numInternalNodes = numLeaves - 1;
//Determine number of levels in the binary tree( numLevels = ceil( log2(numLeaves) ) )