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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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61
src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl
View File

@@ -81,6 +81,15 @@ unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)
return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;
}
__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)
{
int separatedAabbIndex = get_global_id(0);
if(separatedAabbIndex >= numAabbsToSeparate) return;
int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];
out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];
}
//Should replace with an optimized parallel reduction
__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)
{
@@ -506,3 +515,55 @@ __kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,
}
}
__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs,
__global int* out_numPairs, __global int4* out_overlappingPairs,
int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)
{
int smallAabbIndex = get_global_id(0);
if(smallAabbIndex >= numSmallAabbRigids) return;
b3AabbCL smallAabb = smallAabbs[smallAabbIndex];
for(int i = 0; i < numLargeAabbRigids; ++i)
{
b3AabbCL largeAabb = largeAabbs[i];
if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )
{
int4 pair;
pair.x = smallAabb.m_minIndices[3];
pair.y = largeAabb.m_minIndices[3];
pair.z = NEW_PAIR_MARKER;
pair.w = NEW_PAIR_MARKER;
int pairIndex = atomic_inc(out_numPairs);
if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;
}
}
}
__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,
__global int* out_numRayRigidPairs, __global int2* out_rayRigidPairs,
int numLargeAabbRigids, int maxRayRigidPairs, int numRays)
{
int rayIndex = get_global_id(0);
if(rayIndex >= numRays) return;
b3Vector3 rayFrom = rays[rayIndex].m_from;
b3Vector3 rayTo = rays[rayIndex].m_to;
b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);
b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );
for(int i = 0; i < numLargeAabbRigids; ++i)
{
b3AabbCL rigidAabb = largeRigidAabbs[i];
if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )
{
int2 rayRigidPair;
rayRigidPair.x = rayIndex;
rayRigidPair.y = rigidAabb.m_minIndices[3];
int pairIndex = atomic_inc(out_numRayRigidPairs);
if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;
}
}
}

57
src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
View File

@@ -76,6 +76,13 @@ static const char* parallelLinearBvhCL= \
"{\n"
" return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n"
"}\n"
"__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)\n"
"{\n"
" int separatedAabbIndex = get_global_id(0);\n"
" if(separatedAabbIndex >= numAabbsToSeparate) return;\n"
" int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];\n"
" out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];\n"
"}\n"
"//Should replace with an optimized parallel reduction\n"
"__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)\n"
"{\n"
@@ -481,4 +488,54 @@ static const char* parallelLinearBvhCL= \
" }\n"
" }\n"
"}\n"
"__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, \n"
" __global int* out_numPairs, __global int4* out_overlappingPairs, \n"
" int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)\n"
"{\n"
" int smallAabbIndex = get_global_id(0);\n"
" if(smallAabbIndex >= numSmallAabbRigids) return;\n"
" \n"
" b3AabbCL smallAabb = smallAabbs[smallAabbIndex];\n"
" for(int i = 0; i < numLargeAabbRigids; ++i)\n"
" {\n"
" b3AabbCL largeAabb = largeAabbs[i];\n"
" if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n"
" {\n"
" int4 pair;\n"
" pair.x = smallAabb.m_minIndices[3];\n"
" pair.y = largeAabb.m_minIndices[3];\n"
" pair.z = NEW_PAIR_MARKER;\n"
" pair.w = NEW_PAIR_MARKER;\n"
" \n"
" int pairIndex = atomic_inc(out_numPairs);\n"
" if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
" }\n"
" }\n"
"}\n"
"__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,\n"
" __global int* out_numRayRigidPairs, __global int2* out_rayRigidPairs,\n"
" int numLargeAabbRigids, int maxRayRigidPairs, int numRays)\n"
"{\n"
" int rayIndex = get_global_id(0);\n"
" if(rayIndex >= numRays) return;\n"
" \n"
" b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
" b3Vector3 rayTo = rays[rayIndex].m_to;\n"
" b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
" b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
" \n"
" for(int i = 0; i < numLargeAabbRigids; ++i)\n"
" {\n"
" b3AabbCL rigidAabb = largeRigidAabbs[i];\n"
" if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )\n"
" {\n"
" int2 rayRigidPair;\n"
" rayRigidPair.x = rayIndex;\n"
" rayRigidPair.y = rigidAabb.m_minIndices[3];\n"
" \n"
" int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
" if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
" }\n"
" }\n"
"}\n"
;