Add the GPU rigid body pipeline from https://github.com/erwincoumans/experiments as a Bullet 3.x preview for Bullet 2.80

2012-03-05 00:54:32 +00:00
parent 73c4646b40
commit 571af41cf6
257 changed files with 55106 additions and 0 deletions
--- a/Extras/RigidBodyGpuPipeline/opencl/3dGridBroadphase/Shared/bt3dGridBroadphaseOCL.h
+++ b/Extras/RigidBodyGpuPipeline/opencl/3dGridBroadphase/Shared/bt3dGridBroadphaseOCL.h
@@ -0,0 +1,146 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#ifndef BT3DGRIDBROADPHASEOCL_H
+#define BT3DGRIDBROADPHASEOCL_H
+
+#ifdef __APPLE__
+#ifdef USE_MINICL
+	#include <MiniCL/cl.h>
+#else
+	#include <MiniCL/cl.h>
+#endif
+//CL_PLATFORM_MINI_CL could be defined in build system
+#else
+//#include <GL/glew.h>
+// standard utility and system includes
+#ifdef USE_MINICL
+	#include <MiniCL/cl.h>
+#else
+	#include <CL/cl.h>
+#endif
+// Extra CL/GL include
+//#include <CL/cl_gl.h>
+#endif //__APPLE__
+
+namespace adl
+{
+	struct Device;
+	struct DeviceCL;
+};
+
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "btGpu3DGridBroadphaseSharedTypes.h"
+#include "btGpu3DGridBroadphase.h"
+
+
+#define GRID3DOCL_CHECKERROR(a, b) if((a)!=(b)) { printf("3D GRID OCL Error : %d\n", (a)); btAssert((a) == (b)); }
+
+enum
+{
+	GRID3DOCL_KERNEL_CALC_HASH_AABB = 0,
+	GRID3DOCL_KERNEL_CLEAR_CELL_START,
+	GRID3DOCL_KERNEL_FIND_CELL_START,
+	GRID3DOCL_KERNEL_FIND_OVERLAPPING_PAIRS,
+	GRID3DOCL_KERNEL_FIND_PAIRS_LARGE,
+	GRID3DOCL_KERNEL_COMPUTE_CACHE_CHANGES,
+	GRID3DOCL_KERNEL_SQUEEZE_PAIR_BUFF,
+	GRID3DOCL_KERNEL_TOTAL
+};
+
+struct bt3dGridOCLKernelInfo
+{
+	int			m_Id;
+	cl_kernel	m_kernel;
+	char*		m_name;
+	int			m_workgroupSize;
+};
+
+
+///The bt3dGridBroadphaseOCL uses OpenCL-capable GPU to compute overlapping pairs
+
+class bt3dGridBroadphaseOCL : public btGpu3DGridBroadphase
+{
+protected:
+	int						m_hashSize;
+	cl_context				m_cxMainContext;
+	cl_device_id			m_cdDevice;
+	cl_command_queue		m_cqCommandQue;
+	cl_program				m_cpProgram;
+	bt3dGridOCLKernelInfo	m_kernels[GRID3DOCL_KERNEL_TOTAL];
+	// data buffers
+	cl_mem					m_dBodiesHash;
+	cl_mem					m_dCellStart;
+	cl_mem					m_dPairBuff; 
+	cl_mem					m_dPairBuffStartCurr;
+public:
+	cl_mem					m_dAABB;
+protected:
+	cl_mem					m_dPairScanChanged;
+	cl_mem					m_dPairsChanged;
+	cl_mem					m_dPairsContiguous;
+	cl_mem					m_dBpParams;
+
+	adl::Device*			m_deviceHost;
+	adl::DeviceCL*			m_deviceCL;
+	bool					m_ownsDevice;
+
+
+public:
+	unsigned int			m_numPrefixSum;
+
+	bt3dGridBroadphaseOCL(	btOverlappingPairCache* overlappingPairCache,
+							const btVector3& cellSize, 
+							int gridSizeX, int gridSizeY, int gridSizeZ, 
+							int maxSmallProxies, int maxLargeProxies, int maxPairsPerSmallProxy,
+							btScalar maxSmallProxySize,
+							int maxSmallProxiesPerCell = 8,
+							cl_context context = NULL,
+							cl_device_id device = NULL,
+							cl_command_queue queue = NULL,
+							adl::DeviceCL* deviceCL = 0
+							);
+	virtual ~bt3dGridBroadphaseOCL();
+
+protected:
+	void initCL(cl_context context, cl_device_id device, cl_command_queue queue);
+	void initKernels();
+	void allocateBuffers();
+	void prefillBuffers();
+	void initKernel(int kernelId, char* pName);
+	void allocateArray(void** devPtr, unsigned int size);
+	void freeArray(void* devPtr);
+	void runKernelWithWorkgroupSize(int kernelId, int globalSize);
+	void setKernelArg(int kernelId, int argNum, int argSize, void* argPtr);
+	void copyArrayToDevice(cl_mem device, const void* host, unsigned int size, int devOffs = 0, int hostOffs = 0);
+	void copyArrayFromDevice(void* host, const cl_mem device, unsigned int size, int hostOffs = 0, int devOffs = 0);
+
+// overrides
+	virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
+	virtual void prepareAABB();
+	virtual void calcHashAABB();
+	virtual void sortHash();	
+	virtual void findCellStart();
+	virtual void findOverlappingPairs();
+	virtual void findPairsLarge();
+	virtual void computePairCacheChanges();
+	virtual void scanOverlappingPairBuff(bool copyToCpu=true);
+	virtual void squeezeOverlappingPairBuff();
+	virtual void resetPool(btDispatcher* dispatcher);
+};
+
+#endif //BT3DGRIDBROADPHASEOCL_H