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added Samurai Monastry wavefront .obj

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added alternative batching kernel (slow)
tweaked controls a bit
added command-line options --selected_demo=<int> and --new_batching
started looking into parallel 3d sap
This commit is contained in:
erwin coumans
2013-03-23 23:00:50 -07:00
parent 11d934b63a
commit 68062bdfbd
18 changed files with 333195 additions and 76 deletions
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114
opencl/gpu_broadphase/host/btGpuSapBroadphase.cpp
View File

@@ -20,7 +20,8 @@ m_smallAabbsGPU(ctx,q),
m_largeAabbsGPU(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q)
m_gpuSmallSortedAabbs(ctx,q),
m_currentBuffer(-1)
{
const char* sapSrc = sapCL;
const char* sapFastSrc = sapFastCL;
@@ -86,18 +87,87 @@ static bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aab
return overlap;
}
void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
//http://stereopsis.com/radix.html
static unsigned int FloatFlip(float fl)
{
int axis = 0;//todo on GPU for now hardcode
unsigned int f = *(unsigned int*)&fl;
unsigned int mask = -(int)(f >> 31) | 0x80000000;
return f ^ mask;
};
void btGpuSapBroadphase::init3dSap()
{
if (m_currentBuffer<0)
{
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
m_currentBuffer = 0;
for (int axis=0;axis<3;axis++)
{
for (int buf=0;buf<2;buf++)
{
int totalNumAabbs = m_allAabbsCPU.size();
m_sortedAxisCPU[axis][buf].resize(totalNumAabbs);
if (buf==m_currentBuffer)
{
for (int i=0;i<totalNumAabbs;i++)
{
m_sortedAxisCPU[axis][buf][i].m_key = FloatFlip(m_allAabbsCPU[i].m_minIndices[axis]);
m_sortedAxisCPU[axis][buf][i].m_value = i;
}
}
}
}
}
}
void btGpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
{
btAssert(m_currentBuffer>=0);
if (m_currentBuffer<0)
return;
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
for (int axis=0;axis<3;axis++)
{
for (int buf=0;buf<2;buf++)
{
btAssert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size());
}
}
m_currentBuffer = 1-m_currentBuffer;
for (int axis=0;axis<3;axis++)
{
int totalNumAabbs = m_allAabbsCPU.size();
for (int i=0;i<totalNumAabbs;i++)
{
m_sortedAxisCPU[axis][m_currentBuffer][i].m_key = FloatFlip(m_allAabbsCPU[i].m_minIndices[axis]);
m_sortedAxisCPU[axis][m_currentBuffer][i].m_value = i;
}
}
}
void btGpuSapBroadphase::calculateOverlappingPairsHost()
{
//test
//if (m_currentBuffer>=0)
// calculateOverlappingPairsHostIncremental3Sap();
int axis=0;
btAssert(m_allAabbsCPU.size() == m_allAabbsGPU.size());
if (forceHost)
{
btAlignedObjectArray<btSapAabb> allHostAabbs;
m_allAabbsGPU.copyToHost(allHostAabbs);
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
{
int numSmallAabbs = m_smallAabbsCPU.size();
@@ -105,7 +175,7 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
{
//sync aabb
int aabbIndex = m_smallAabbsCPU[j].m_signedMaxIndices[3];
m_smallAabbsCPU[j] = allHostAabbs[aabbIndex];
m_smallAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
m_smallAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
}
}
@@ -116,7 +186,7 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
{
//sync aabb
int aabbIndex = m_largeAabbsCPU[j].m_signedMaxIndices[3];
m_largeAabbsCPU[j] = allHostAabbs[aabbIndex];
m_largeAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
m_largeAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
}
@@ -175,8 +245,15 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
m_overlappingPairs.resize(0);
}
return;
}
//init3dSap();
}
void btGpuSapBroadphase::calculateOverlappingPairs()
{
int axis = 0;//todo on GPU for now hardcode
{
@@ -185,8 +262,8 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
if (syncOnHost)
{
BT_PROFILE("Synchronize m_smallAabbsGPU (CPU/slow)");
btAlignedObjectArray<btSapAabb> allHostAabbs;
m_allAabbsGPU.copyToHost(allHostAabbs);
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
m_smallAabbsGPU.copyToHost(m_smallAabbsCPU);
{
@@ -195,7 +272,7 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
{
//sync aabb
int aabbIndex = m_smallAabbsCPU[j].m_signedMaxIndices[3];
m_smallAabbsCPU[j] = allHostAabbs[aabbIndex];
m_smallAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
m_smallAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
}
}
@@ -226,8 +303,8 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
if (syncOnHost)
{
BT_PROFILE("Synchronize m_largeAabbsGPU (CPU/slow)");
btAlignedObjectArray<btSapAabb> allHostAabbs;
m_allAabbsGPU.copyToHost(allHostAabbs);
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
m_largeAabbsGPU.copyToHost(m_largeAabbsCPU);
{
@@ -236,7 +313,7 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
{
//sync aabb
int aabbIndex = m_largeAabbsCPU[j].m_signedMaxIndices[3];
m_largeAabbsCPU[j] = allHostAabbs[aabbIndex];
m_largeAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
m_largeAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
}
}
@@ -432,6 +509,7 @@ void btGpuSapBroadphase::calculateOverlappingPairs(bool forceHost)
}//BT_PROFILE("GPU_RADIX SORT");
}
void btGpuSapBroadphase::writeAabbsToGpu()

10
opencl/gpu_broadphase/host/btGpuSapBroadphase.h
View File

@@ -24,6 +24,10 @@ class btGpuSapBroadphase
class btRadixSort32CL* m_sorter;
///test for 3d SAP
btAlignedObjectArray<btSortData> m_sortedAxisCPU[3][2];
int m_currentBuffer;
public:
btOpenCLArray<btSapAabb> m_allAabbsGPU;
@@ -45,7 +49,11 @@ class btGpuSapBroadphase
btGpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q );
virtual ~btGpuSapBroadphase();
void calculateOverlappingPairs(bool forceHost=false);
void calculateOverlappingPairs();
void calculateOverlappingPairsHost();
void init3dSap();
void calculateOverlappingPairsHostIncremental3Sap();
void createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
void createLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);