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/broadphase_benchmark/btGridBroadphaseCL.h
+++ b/Extras/RigidBodyGpuPipeline/opencl/broadphase_benchmark/btGridBroadphaseCL.h
@@ -0,0 +1,73 @@
+
+/*
+Copyright (c) 2012 Advanced Micro Devices, 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.
+*/
+//Originally written by Roman Ponomarev, Erwin Coumans
+
+#ifndef GRID_BROADPHASE_CL_H
+#define GRID_BROADPHASE_CL_H
+
+#include "../3dGridBroadphase/Shared/bt3dGridBroadphaseOCL.h"
+
+#include "Adl/Adl.h"
+#include "Adl/AdlKernel.h"
+
+
+struct MyAabbConstData 
+{
+	int bla;
+	int numElem;
+};
+
+
+
+class btGridBroadphaseCl : public bt3dGridBroadphaseOCL
+{
+protected:
+
+	adl::Kernel*			m_computeAabbKernel;
+	adl::Kernel*			m_countOverlappingPairs;
+	adl::Kernel*			m_squeezePairCaches;
+
+
+	adl::Buffer<MyAabbConstData>*	m_aabbConstBuffer;
+
+
+	public:
+
+		cl_mem					m_dAllOverlappingPairs;
+
+		
+		btGridBroadphaseCl(	btOverlappingPairCache* overlappingPairCache,
+							const btVector3& cellSize, 
+							int gridSizeX, int gridSizeY, int gridSizeZ, 
+							int maxSmallProxies, int maxLargeProxies, int maxPairsPerSmallProxy,
+							btScalar maxSmallProxySize,
+							int maxSmallProxiesPerCell = 4,
+							cl_context context = NULL,
+							cl_device_id device = NULL,
+							cl_command_queue queue = NULL,
+							adl::DeviceCL* deviceCL=0
+							);
+		
+		virtual void prepareAABB(float* positions, int numObjects);
+		virtual void calcHashAABB();
+
+		void calculateOverlappingPairs(float* positions, int numObjects);
+		
+		virtual ~btGridBroadphaseCl();							
+	
+};
+
+#endif //GRID_BROADPHASE_CL_H
+