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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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16
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
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@@ -52,6 +52,7 @@ class b3GpuParallelLinearBvh
cl_program m_parallelLinearBvhProgram;
cl_kernel m_separateAabbsKernel;
cl_kernel m_findAllNodesMergedAabbKernel;
cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
@@ -62,6 +63,9 @@ class b3GpuParallelLinearBvh
//Traversal kernels
cl_kernel m_plbvhCalculateOverlappingPairsKernel;
cl_kernel m_plbvhRayTraverseKernel;
cl_kernel m_plbvhLargeAabbAabbTestKernel;
cl_kernel m_plbvhLargeAabbRayTestKernel;
b3FillCL m_fill;
b3RadixSort32CL m_radixSorter;
@@ -75,23 +79,27 @@ class b3GpuParallelLinearBvh
b3OpenCLArray<int> m_numNodesPerLevelGpu;
b3OpenCLArray<int> m_firstIndexOffsetPerLevelGpu;
//1 element per internal node (number_of_internal_nodes = number_of_leaves - 1); index 0 is the root node
//1 element per internal node (number_of_internal_nodes = number_of_leaves - 1)
b3OpenCLArray<b3SapAabb> m_internalNodeAabbs;
b3OpenCLArray<b3Int2> m_internalNodeLeafIndexRanges; //x == min leaf index, y == max leaf index
b3OpenCLArray<b3Int2> m_internalNodeChildNodes; //x == left child, y == right child
b3OpenCLArray<int> m_internalNodeParentNodes;
//1 element per leaf node
//1 element per leaf node (leaf nodes only include small AABBs)
b3OpenCLArray<int> m_leafNodeParentNodes;
b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies; //m_key = morton code, m_value == aabb index
b3OpenCLArray<b3SapAabb> m_mergedAabb;
b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;
b3OpenCLArray<b3SapAabb> m_leafNodeAabbs; //Contains only small AABBs
//1 element per large AABB
b3OpenCLArray<b3SapAabb> m_largeAabbs; //Not stored in the BVH
public:
b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue);
virtual ~b3GpuParallelLinearBvh();
void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs);
void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
const b3OpenCLArray<int>& largeAabbIndices);
///b3GpuParallelLinearBvh::build() must be called before this function. calculateOverlappingPairs() uses
///the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.