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

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erwin.coumans
2012-03-05 00:54:32 +00:00
parent 73c4646b40
commit 571af41cf6
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Extras/RigidBodyGpuPipeline/opencl/broadphase_benchmark/findPairsOpenCL.h Normal file
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/*
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 FIND_PAIRS_H
#define FIND_PAIRS_H
#include "../basic_initialize/btOpenCLInclude.h"
struct btKernelInfo
{
int m_Id;
cl_kernel m_kernel;
char* m_name;
int m_workgroupSize;
};
struct btFindPairsIO
{
int m_numObjects;
cl_mem m_clObjectsBuffer; //for memory layout details see main.cpp (todo, make it flexible)
int m_positionOffset;//offset in m_clObjectsBuffer where position array starts
cl_command_queue m_cqCommandQue;
cl_kernel m_initializeGpuAabbsKernelSimple;
cl_kernel m_initializeGpuAabbsKernelFull;
cl_kernel m_broadphaseColorKernel;
cl_kernel m_broadphaseBruteForceKernel;
cl_kernel m_setupBodiesKernel;
cl_kernel m_copyVelocitiesKernel;
cl_context m_mainContext;
cl_device_id m_device;
cl_kernel m_calcHashAabbKernel;
cl_kernel m_clearCellStartKernel;
cl_kernel m_findCellStartKernel;
cl_kernel m_findOverlappingPairsKernel;
cl_kernel m_computePairChangeKernel;
cl_kernel m_squeezePairBuffKernel;
cl_mem m_dAllOverlappingPairs;
int m_numOverlap;
cl_mem m_dBpParams;
cl_mem m_dBodiesHash;
cl_mem m_dCellStart;
cl_mem m_dPairBuff;
cl_mem m_dPairBuffStartCurr;
cl_mem m_dlocalShapeAABB;
cl_mem m_dAABB;
cl_mem m_dPairScan;
cl_mem m_dPairOut;
};
void initFindPairs(btFindPairsIO& fpio,cl_context cxMainContext, cl_device_id device, cl_command_queue commandQueue, int maxHandles,int maxPairsPerBody = 16);
void findPairsOpenCLBruteForce(btFindPairsIO& fpio);
void setupGpuAabbsSimple(btFindPairsIO& fpio);
void setupGpuAabbsFull(btFindPairsIO& fpio, cl_mem bodies);
void colorPairsOpenCL(btFindPairsIO& fpio);
void setupBodies(btFindPairsIO& fpio, cl_mem linVelMem, cl_mem angVelMem, cl_mem bodies, cl_mem bodyInertias);
void copyBodyVelocities(btFindPairsIO& fpio, cl_mem linVelMem, cl_mem angVelMem, cl_mem bodies, cl_mem bodyInertias);
void releaseFindPairs(btFindPairsIO& fpio);
#endif //FIND_PAIRS_H