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/computeAabbKernelOCL.cl
+++ b/Extras/RigidBodyGpuPipeline/opencl/broadphase_benchmark/computeAabbKernelOCL.cl
@@ -0,0 +1,112 @@
+MSTRINGIFY(
+
+typedef struct 
+{
+	int bla;
+	int numElem;
+} MyAabbConstDataCL ;
+
+typedef struct 
+{
+	float			minfx;
+	float			minfy;
+	float			minfz;
+	unsigned int	index0;
+	float			maxfx;
+	float			maxfy;
+	float			maxfz;
+	unsigned int	index1;	
+} btAabbCL;
+
+
+__kernel void   computeAabb( __global btAabbCL* aabbs,__global float4* positions, MyAabbConstDataCL cb)
+{
+	int nodeID = get_global_id(0);
+		
+	if( nodeID < cb.numElem )
+	{
+		aabbs[nodeID].minfx = positions[nodeID].x -1.f;
+		aabbs[nodeID].minfy = positions[nodeID].y -1.f;
+		aabbs[nodeID].minfz = positions[nodeID].z -1.f;	
+		aabbs[nodeID].index0 = nodeID;	
+		aabbs[nodeID].maxfx = positions[nodeID].x +1.f;
+		aabbs[nodeID].maxfy = positions[nodeID].y +1.f;
+		aabbs[nodeID].maxfz = positions[nodeID].z +1.f;		
+		aabbs[nodeID].index1 = nodeID;
+	}
+}
+
+
+__kernel void countOverlappingpairs(	int numObjects,
+										__global int* pPairBuff, 
+										__global int2* pPairBuffStartCurr, 
+										__global int* pPairScan, 
+										__global float4* pAABB )
+{
+    int index = get_global_id(0);
+    if(index >= numObjects)
+	{
+		return;
+	}
+	float4 bbMin = pAABB[index * 2];
+	int handleIndex = as_int(bbMin.w);
+	int2 start_curr = pPairBuffStartCurr[handleIndex];
+	int start = start_curr.x;
+	int curr = start_curr.y;
+	__global int *pInp = pPairBuff + start;
+	int num_changes = 0;
+	for(int k = 0; k < curr; k++, pInp++)
+	{
+		if(((*pInp) & 0x60000000))//either new or existing pairs (ignore old non-overlapping pairs)
+		{
+			num_changes++;
+		}
+	}
+	pPairScan[index+1] = num_changes;
+} 
+
+
+__kernel void squeezePairCaches(	int numObjects,
+											__global int* pPairBuff, 
+											__global int2* pPairBuffStartCurr, 
+											__global int* pPairScan,
+											__global int2* pPairOut, 
+											__global float4* pAABB )
+{
+    int index = get_global_id(0);
+    if(index >= numObjects)
+	{
+		return;
+	}
+	float4 bbMin = pAABB[index * 2];
+	int handleIndex = as_int(bbMin.w);
+	int2 start_curr = pPairBuffStartCurr[handleIndex];
+	int start = start_curr.x;
+	int curr = start_curr.y;
+	__global int* pInp = pPairBuff + start;
+	__global int2* pOut = pPairOut + pPairScan[index+1];
+	__global int* pOut2 = pInp;
+	int num = 0; 
+	for(int k = 0; k < curr; k++, pInp++)
+	{
+		if(((*pInp) & 0x60000000))
+		{
+			int2	newpair;
+			newpair.x = handleIndex;
+			newpair.y = (*pInp) & (~0x60000000);
+			*pOut = newpair;
+			pOut++;
+		}
+		if((*pInp) & 0x60000000)
+		{
+			*pOut2 = (*pInp) & (~0x60000000);
+			pOut2++;
+			num++;
+		}
+	}
+	int2 newStartCurr;
+	newStartCurr.x = start;
+	newStartCurr.y = num;
+	pPairBuffStartCurr[handleIndex] = newStartCurr;
+}
+);