Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

40
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
View File

@@ -16,37 +16,67 @@ subject to the following restrictions:
b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) :
m_plbvh(context, device, queue),
m_numOverlappingPairs(context, queue),
m_overlappingPairsGpu(context, queue),
m_aabbsGpu(context, queue),
m_tempNumPairs(context, queue)
m_smallAabbsMappingGpu(context, queue),
m_largeAabbsMappingGpu(context, queue)
{
m_tempNumPairs.resize(1);
m_numOverlappingPairs.resize(1);
}
void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
{
int newAabbIndex = m_aabbsCpu.size();
b3SapAabb aabb;
aabb.m_minVec = aabbMin;
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = newAabbIndex;
m_smallAabbsMappingCpu.push_back(newAabbIndex);
m_aabbsCpu.push_back(aabb);
}
void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
{
b3Assert(0); //Not implemented
int newAabbIndex = m_aabbsCpu.size();
b3SapAabb aabb;
aabb.m_minVec = aabbMin;
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = newAabbIndex;
m_largeAabbsMappingCpu.push_back(newAabbIndex);
m_aabbsCpu.push_back(aabb);
}
void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairs(int maxPairs)
{
//Reconstruct BVH
m_plbvh.build(m_aabbsGpu);
m_plbvh.build(m_aabbsGpu, m_smallAabbsMappingGpu, m_largeAabbsMappingGpu);
//
m_overlappingPairsGpu.resize(maxPairs);
m_plbvh.calculateOverlappingPairs(m_tempNumPairs, m_overlappingPairsGpu);
m_plbvh.calculateOverlappingPairs(m_numOverlappingPairs, m_overlappingPairsGpu);
}
void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairsHost(int maxPairs)
{
b3Assert(0); //CPU version not implemented
}
void b3GpuParallelLinearBvhBroadphase::writeAabbsToGpu()
{
m_aabbsGpu.copyFromHost(m_aabbsCpu);
m_smallAabbsMappingGpu.copyFromHost(m_smallAabbsMappingCpu);
m_largeAabbsMappingGpu.copyFromHost(m_largeAabbsMappingCpu);
}