Add the GPU rigid body pipeline from https://github.com/erwincoumans/experiments as a Bullet 3.x preview for Bullet 2.80
This commit is contained in:
erwin.coumans
@@ -0,0 +1,204 @@
|
||||
|
||||
/*
|
||||
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
|
||||
|
||||
#include "findPairsOpenCL.h"
|
||||
#include "../basic_initialize/btOpenCLUtils.h"
|
||||
|
||||
#define MSTRINGIFY(A) #A
|
||||
static char* broadphaseKernelString =
|
||||
#include "broadphaseKernel.cl"
|
||||
|
||||
#define GRID_BROADPHASE_PATH "..\\..\\opencl\\broadphase_benchmark\\broadphaseKernel.cl"
|
||||
|
||||
|
||||
|
||||
|
||||
void initFindPairs(btFindPairsIO& fpio,cl_context cxMainContext, cl_device_id device, cl_command_queue commandQueue, int maxHandles, int maxPairsPerBody)
|
||||
{
|
||||
|
||||
//m_proxies.push_back( proxy );
|
||||
|
||||
fpio.m_mainContext = cxMainContext;
|
||||
fpio.m_cqCommandQue = commandQueue;
|
||||
fpio.m_device = device;
|
||||
cl_int pErrNum;
|
||||
cl_program prog = btOpenCLUtils::compileCLProgramFromString(cxMainContext, device, broadphaseKernelString, &pErrNum ,"",GRID_BROADPHASE_PATH);
|
||||
|
||||
fpio.m_broadphaseBruteForceKernel = btOpenCLUtils::compileCLKernelFromString(cxMainContext,device, broadphaseKernelString, "broadphaseKernel" ,&pErrNum,prog);
|
||||
fpio.m_initializeGpuAabbsKernelSimple = btOpenCLUtils::compileCLKernelFromString(cxMainContext,device, broadphaseKernelString, "initializeGpuAabbsSimple" ,&pErrNum,prog);
|
||||
fpio.m_initializeGpuAabbsKernelFull = btOpenCLUtils::compileCLKernelFromString(cxMainContext,device, broadphaseKernelString, "initializeGpuAabbsFull" ,&pErrNum,prog);
|
||||
|
||||
fpio.m_broadphaseColorKernel = btOpenCLUtils::compileCLKernelFromString(cxMainContext,device, broadphaseKernelString, "broadphaseColorKernel" ,&pErrNum,prog);
|
||||
|
||||
fpio.m_setupBodiesKernel = btOpenCLUtils::compileCLKernelFromString(cxMainContext,device, broadphaseKernelString, "setupBodiesKernel" ,&pErrNum,prog);
|
||||
fpio.m_copyVelocitiesKernel = btOpenCLUtils::compileCLKernelFromString(cxMainContext,device, broadphaseKernelString, "copyVelocitiesKernel" ,&pErrNum,prog);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void findPairsOpenCLBruteForce(btFindPairsIO& fpio)
|
||||
{
|
||||
|
||||
int ciErrNum = 0;
|
||||
|
||||
int numObjects = fpio.m_numObjects;
|
||||
int offset = fpio.m_positionOffset;
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseBruteForceKernel, 0, sizeof(int), &offset);
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseBruteForceKernel, 1, sizeof(int), &numObjects);
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseBruteForceKernel, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
|
||||
|
||||
size_t numWorkItems = numObjects;///workGroupSize*((NUM_OBJECTS + (workGroupSize)) / workGroupSize);
|
||||
size_t workGroupSize = 64;
|
||||
ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_broadphaseBruteForceKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
}
|
||||
|
||||
void setupGpuAabbsFull(btFindPairsIO& fpio, cl_mem bodies)
|
||||
{
|
||||
|
||||
int ciErrNum = 0;
|
||||
|
||||
int numObjects = fpio.m_numObjects;
|
||||
int offset = fpio.m_positionOffset;
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelFull, 0, sizeof(int), &offset);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelFull, 1, sizeof(int), &numObjects);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelFull, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelFull, 3, sizeof(cl_mem), (void*)&bodies);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelFull, 4, sizeof(cl_mem), (void*)&fpio.m_dlocalShapeAABB);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelFull, 5, sizeof(cl_mem), (void*)&fpio.m_dAABB);
|
||||
size_t workGroupSize = 64;
|
||||
size_t numWorkItems = workGroupSize*((numObjects+ (workGroupSize)) / workGroupSize);
|
||||
|
||||
ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_initializeGpuAabbsKernelFull, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
}
|
||||
|
||||
void setupGpuAabbsSimple(btFindPairsIO& fpio)
|
||||
{
|
||||
|
||||
int ciErrNum = 0;
|
||||
|
||||
int numObjects = fpio.m_numObjects;
|
||||
int offset = fpio.m_positionOffset;
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelSimple, 0, sizeof(int), &offset);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelSimple, 1, sizeof(int), &numObjects);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelSimple, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
|
||||
ciErrNum = clSetKernelArg(fpio.m_initializeGpuAabbsKernelSimple, 3, sizeof(cl_mem), (void*)&fpio.m_dAABB);
|
||||
size_t workGroupSize = 64;
|
||||
size_t numWorkItems = workGroupSize*((numObjects+ (workGroupSize)) / workGroupSize);
|
||||
|
||||
ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_initializeGpuAabbsKernelSimple, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
}
|
||||
|
||||
|
||||
void setupBodies(btFindPairsIO& fpio, cl_mem linVelMem, cl_mem angVelMem, cl_mem bodies, cl_mem bodyInertias)
|
||||
{
|
||||
int ciErrNum = 0;
|
||||
|
||||
int numObjects = fpio.m_numObjects;
|
||||
int offset = fpio.m_positionOffset;
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 0, sizeof(int), &offset);
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 1, sizeof(int), &fpio.m_numObjects);
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 3, sizeof(cl_mem), (void*)&linVelMem);
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 4, sizeof(cl_mem), (void*)&angVelMem);
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 5, sizeof(cl_mem), (void*)&bodies);
|
||||
ciErrNum = clSetKernelArg(fpio.m_setupBodiesKernel, 6, sizeof(cl_mem), (void*)&bodyInertias);
|
||||
|
||||
if (numObjects)
|
||||
{
|
||||
size_t workGroupSize = 64;
|
||||
size_t numWorkItems = workGroupSize*((numObjects+ (workGroupSize)) / workGroupSize);
|
||||
|
||||
ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_setupBodiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void copyBodyVelocities(btFindPairsIO& fpio, cl_mem linVelMem, cl_mem angVelMem, cl_mem bodies, cl_mem bodyInertias)
|
||||
{
|
||||
int ciErrNum = 0;
|
||||
|
||||
int numObjects = fpio.m_numObjects;
|
||||
int offset = fpio.m_positionOffset;
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 0, sizeof(int), &offset);
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 1, sizeof(int), &fpio.m_numObjects);
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 3, sizeof(cl_mem), (void*)&linVelMem);
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 4, sizeof(cl_mem), (void*)&angVelMem);
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 5, sizeof(cl_mem), (void*)&bodies);
|
||||
ciErrNum = clSetKernelArg(fpio.m_copyVelocitiesKernel, 6, sizeof(cl_mem), (void*)&bodyInertias);
|
||||
|
||||
if (numObjects)
|
||||
{
|
||||
size_t workGroupSize = 64;
|
||||
size_t numWorkItems = workGroupSize*((numObjects+ (workGroupSize)) / workGroupSize);
|
||||
|
||||
ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_copyVelocitiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void colorPairsOpenCL(btFindPairsIO& fpio)
|
||||
{
|
||||
int ciErrNum = 0;
|
||||
|
||||
int numObjects = fpio.m_numObjects;
|
||||
int offset = fpio.m_positionOffset;
|
||||
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseColorKernel, 0, sizeof(int), &offset);
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseColorKernel, 1, sizeof(int), &fpio.m_numObjects);
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseColorKernel, 2, sizeof(cl_mem), (void*)&fpio.m_clObjectsBuffer);
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseColorKernel, 3, sizeof(cl_mem), (void*)&fpio.m_dAllOverlappingPairs);
|
||||
ciErrNum = clSetKernelArg(fpio.m_broadphaseColorKernel, 4, sizeof(int), &fpio.m_numOverlap);
|
||||
|
||||
|
||||
if (fpio.m_numOverlap)
|
||||
{
|
||||
size_t workGroupSize = 64;
|
||||
size_t numWorkItems = workGroupSize*((fpio.m_numOverlap+ (workGroupSize)) / workGroupSize);
|
||||
|
||||
ciErrNum = clEnqueueNDRangeKernel(fpio.m_cqCommandQue, fpio.m_broadphaseColorKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void releaseFindPairs(btFindPairsIO& fpio)
|
||||
{
|
||||
clReleaseKernel(fpio.m_initializeGpuAabbsKernelSimple);
|
||||
clReleaseKernel(fpio.m_initializeGpuAabbsKernelFull);
|
||||
clReleaseKernel(fpio.m_broadphaseColorKernel);
|
||||
clReleaseKernel(fpio.m_broadphaseBruteForceKernel);
|
||||
clReleaseKernel(fpio.m_setupBodiesKernel);
|
||||
clReleaseKernel(fpio.m_copyVelocitiesKernel);
|
||||
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user