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Use merged AABB to calculate grid cell size for PLBVH.

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This commit is contained in:
Jackson Lee
2014-02-18 19:59:05 -08:00
parent b7b7356af8
commit 7f0e361fa0
4 changed files with 115 additions and 45 deletions
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38
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
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@@ -55,6 +55,7 @@ class b3GpuParallelLinearBvh
cl_program m_parallelLinearBvhProgram;
cl_kernel m_findAllNodesMergedAabbKernel;
cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
cl_kernel m_constructBinaryTreeKernel;
cl_kernel m_determineInternalNodeAabbsKernel;
@@ -78,6 +79,7 @@ class b3GpuParallelLinearBvh
//1 element per leaf node
b3OpenCLArray<int> m_leafNodeParentNodes;
b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies; //m_key = morton code, m_value == aabb index
b3OpenCLArray<b3SapAabb> m_mergedAabb;
public:
b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
@@ -91,7 +93,8 @@ public:
m_internalNodeChildNodes(context, queue),
m_internalNodeParentNodes(context, queue),
m_leafNodeParentNodes(context, queue),
m_mortonCodesAndAabbIndicies(context, queue)
m_mortonCodesAndAabbIndicies(context, queue),
m_mergedAabb(context, queue)
{
const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
@@ -101,6 +104,8 @@ public:
m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
b3Assert(m_parallelLinearBvhProgram);
m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_findAllNodesMergedAabbKernel);
m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
m_constructBinaryTreeKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "constructBinaryTree", &error, m_parallelLinearBvhProgram, additionalMacros );
@@ -114,6 +119,7 @@ public:
virtual ~b3GpuParallelLinearBvh()
{
clReleaseKernel(m_findAllNodesMergedAabbKernel);
clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
clReleaseKernel(m_constructBinaryTreeKernel);
clReleaseKernel(m_determineInternalNodeAabbsKernel);
@@ -125,8 +131,7 @@ public:
// fix: need to handle/test case with 2 nodes
///@param cellsize A virtual grid of size 2^10^3 is used in the process of creating the BVH
void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, b3Scalar cellSize)
void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs)
{
B3_PROFILE("b3ParallelLinearBvh::build()");
@@ -143,6 +148,7 @@ public:
m_leafNodeParentNodes.resize(numLeaves);
m_mortonCodesAndAabbIndicies.resize(numLeaves);
m_mergedAabb.resize(numLeaves);
}
//Determine number of levels in the binary tree( numLevels = ceil( log2(numLeaves) ) )
@@ -160,7 +166,7 @@ public:
//If the number of nodes is not a power of 2(as in, can be expressed as 2^N where N is an integer), then there is 1 additional level
if( ~(1 << mostSignificantBit) & numLeaves ) numLevels++;
if(1) printf("numLeaves, numLevels, mostSignificantBit: %d, %d, %d \n", numLeaves, numLevels, mostSignificantBit);
if(0) printf("numLeaves, numLevels, mostSignificantBit: %d, %d, %d \n", numLeaves, numLevels, mostSignificantBit);
}
//Determine number of nodes per level, use prefix sum to get offsets of each level, and send to GPU
@@ -202,7 +208,7 @@ public:
m_firstIndexOffsetPerLevelCpu[i] -= m_numNodesPerLevelCpu[i];
}
if(1)
if(0)
{
int numInternalNodes = 0;
for(int i = 0; i < numLevels; ++i)
@@ -225,20 +231,22 @@ public:
{
B3_PROFILE("Find AABB of merged nodes");
/*b3BufferInfoCL bufferInfo[] =
m_mergedAabb.copyFromOpenCLArray(worldSpaceAabbs); //Need to make a copy since the kernel modifies the array
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
b3BufferInfoCL( m_allNodesMergedAabb.getBufferCL() ),
b3BufferInfoCL( m_mergedAabb.getBufferCL() ) //Resulting AABB is stored in m_mergedAabb[0]
};
b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabb, "m_findAllNodesMergedAabb");
b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numLeaves);
launcher.launch1D(numLeaves);
clFinish(m_queue);*/
clFinish(m_queue);
}
//Insert the center of the AABBs into a virtual grid,
//then convert the discrete grid coordinates into a morton code
//For each element in m_mortonCodesAndAabbIndicies, set
@@ -250,12 +258,12 @@ public:
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(cellSize);
launcher.setConst(numLeaves);
launcher.launch1D(numLeaves);
@@ -301,7 +309,7 @@ public:
launcher.launch1D(numInternalNodes);
clFinish(m_queue);
if(1)
if(0)
{
static b3AlignedObjectArray<b3Int2> internalNodeChildNodes;
m_internalNodeChildNodes.copyToHost(internalNodeChildNodes, false);
@@ -335,6 +343,12 @@ public:
launcher.launch1D(numLeaves);
clFinish(m_queue);
if(0)
{
b3SapAabb mergedAABB = m_mergedAabb.at(0);
printf("mergedAABBMin: %f, %f, %f \n", mergedAABB.m_minVec.x, mergedAABB.m_minVec.y, mergedAABB.m_minVec.z);
printf("mergedAABBMax: %f, %f, %f \n", mergedAABB.m_maxVec.x, mergedAABB.m_maxVec.y, mergedAABB.m_maxVec.z);
}
if(0)
{
static b3AlignedObjectArray<b3SapAabb> rigidAabbs;