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step closer to GPU bvh traversal

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This commit is contained in:
erwin coumans
2013-03-19 20:06:24 -07:00
parent a3358b1099
commit 8bfbaf3ed1
26 changed files with 3639 additions and 98 deletions
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165
opencl/gpu_sat/host/ConvexHullContact.cpp
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@@ -23,6 +23,7 @@ subject to the following restrictions:
#include "ConvexHullContact.h"
#include <string.h>//memcpy
#include "btConvexPolyhedronCL.h"
#include "btOptimizedBvh.h"
typedef btAlignedObjectArray<btVector3> btVertexArray;
#include "BulletCommon/btQuickprof.h"
@@ -34,8 +35,11 @@ typedef btAlignedObjectArray<btVector3> btVertexArray;
#include "../kernels/satKernels.h"
#include "../kernels/satClipHullContacts.h"
#include "../kernels/bvhTraversal.h"
#include "BulletGeometry/btAabbUtil2.h"
#define dot3F4 btDot
GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue q )
@@ -92,11 +96,8 @@ m_totalContactsOut(m_context, m_queue)
m_newContactReductionKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
"newContactReductionKernel",&errNum,satClipContactsProg);
btAssert(errNum==CL_SUCCESS);
} else
}
else
{
m_clipHullHullKernel=0;
m_clipCompoundsHullHullKernel = 0;
@@ -106,12 +107,25 @@ m_totalContactsOut(m_context, m_queue)
m_clipHullHullConcaveConvexKernel = 0;
m_extractManifoldAndAddContactKernel = 0;
}
if (1)
{
const char* srcBvh = bvhTraversalKernelCL;
cl_program bvhTraversalProg = btOpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"","opencl/gpu_sat/kernels/bvhTraversal.cl");
btAssert(errNum==CL_SUCCESS);
m_bvhTraversalKernel = btOpenCLUtils::compileCLKernelFromString(m_context, m_device,srcBvh, "bvhTraversalKernel",&errNum,bvhTraversalProg);
btAssert(errNum==CL_SUCCESS);
}
}
GpuSatCollision::~GpuSatCollision()
{
if (m_findSeparatingAxisKernel)
clReleaseKernel(m_findSeparatingAxisKernel);
@@ -138,9 +152,23 @@ GpuSatCollision::~GpuSatCollision()
clReleaseKernel(m_clipHullHullConcaveConvexKernel);
if (m_extractManifoldAndAddContactKernel)
clReleaseKernel(m_extractManifoldAndAddContactKernel);
if (m_bvhTraversalKernel)
clReleaseKernel(m_bvhTraversalKernel);
}
struct MyTriangleCallback : public btNodeOverlapCallback
{
int m_bodyIndexA;
int m_bodyIndexB;
virtual void processNode(int subPart, int triangleIndex)
{
printf("bodyIndexA %d, bodyIndexB %d\n",m_bodyIndexA,m_bodyIndexB);
printf("triangleIndex %d\n", triangleIndex);
}
};
void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btInt2>* pairs, int nPairs,
const btOpenCLArray<btRigidBodyCL>* bodyBuf,
@@ -154,12 +182,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
const btOpenCLArray<btCollidable>& gpuCollidables,
const btOpenCLArray<btGpuChildShape>& gpuChildShapes,
const btOpenCLArray<btYetAnotherAabb>& clAabbs,
const btOpenCLArray<btYetAnotherAabb>& clAabbsWS,
btOpenCLArray<btVector3>& worldVertsB1GPU,
btOpenCLArray<btInt4>& clippingFacesOutGPU,
btOpenCLArray<btVector3>& worldNormalsAGPU,
btOpenCLArray<btVector3>& worldVertsA1GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btOpenCLArray<btVector3>& worldVertsB2GPU,
btAlignedObjectArray<class btOptimizedBvh*>& bvhData,
int numObjects,
int maxTriConvexPairCapacity,
btOpenCLArray<btInt4>& triangleConvexPairsOut,
@@ -219,7 +248,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbs.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( triangleConvexPairsOut.getBufferCL()),
@@ -237,9 +266,119 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
clFinish(m_queue);
numConcave = numConcavePairsOut.at(0);
if (numConcave > maxTriConvexPairCapacity)
numConcave = maxTriConvexPairCapacity;
triangleConvexPairsOut.resize(numConcave);
if (numConcave)
{
if (numConcave > maxTriConvexPairCapacity)
numConcave = maxTriConvexPairCapacity;
triangleConvexPairsOut.resize(numConcave);
btAlignedObjectArray<btInt4> triangleConvexPairsOutCPU;
triangleConvexPairsOut.copyToHost(triangleConvexPairsOutCPU);
printf("-----------------------\n", numConcave);
printf("got %d concave pairs\n", numConcave);
btAssert(numConcave = triangleConvexPairsOutCPU.size());
for (int i=0;i<triangleConvexPairsOutCPU.size();i++)
{
printf("bodyIndexA = %d, bodyIndexB = %d\n", triangleConvexPairsOutCPU[i].x,triangleConvexPairsOutCPU[i].y);
printf("triangleIndex = %d\n", triangleConvexPairsOutCPU[i].z);
}
printf("-----------------------\n", numConcave);
printf("Now using BVH query\n" );
btAlignedObjectArray<btCollidable> collidablesCPU;
gpuCollidables.copyToHost(collidablesCPU);
btAlignedObjectArray<btRigidBodyCL> bodiesCPU;
bodyBuf->copyToHost(bodiesCPU);
btAlignedObjectArray<btInt2> pairsCPU;
btAlignedObjectArray<btYetAnotherAabb> aabbsWSCPU;
clAabbsWS.copyToHost(aabbsWSCPU);
pairs->copyToHost(pairsCPU);
MyTriangleCallback triCallback;
for (int i=0;i<pairsCPU.size();i++)
{
int bodyIndexA = pairsCPU[i].x;
int bodyIndexB = pairsCPU[i].y;
triCallback.m_bodyIndexA = bodyIndexA;
triCallback.m_bodyIndexB = bodyIndexB;
int collidableIndexA = bodiesCPU[bodyIndexA].m_collidableIdx;
int collidableIndexB = bodiesCPU[bodyIndexB].m_collidableIdx;
if (collidablesCPU[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH)
{
//check aabbWS for bodyB against optimized BVH
btVector3 aabbMin = (const btVector3&)aabbsWSCPU[bodyIndexB].m_min[0];
aabbMin[3] = 0.f;
btVector3 aabbMax = (const btVector3&)aabbsWSCPU[bodyIndexB].m_max[0];
aabbMax[3] = 0.f;
bvhData[0]->reportAabbOverlappingNodex(&triCallback, aabbMin,aabbMax);
}
}
//now perform the tree query on GPU
int numNodes = bvhData[0]->getLeafNodeArray().size();
btOpenCLArray<btQuantizedBvhNode> treeNodesGPU(this->m_context,this->m_queue,numNodes);
treeNodesGPU.copyFromHost(bvhData[0]->getQuantizedNodeArray());
int numSubTrees = bvhData[0]->getSubtreeInfoArray().size();
btOpenCLArray<btBvhSubtreeInfo> subTreesGPU(this->m_context,this->m_queue,numSubTrees);
subTreesGPU.copyFromHost(bvhData[0]->getSubtreeInfoArray());
/*
__kernel void bvhTraversalKernel( __global const int2* pairs,
__global const BodyData* rigidBodies,
__global const btCollidableGpu* collidables,
__global btAabbCL* aabbs,
__global int4* concavePairsOut,
__global volatile int* numConcavePairsOut,
int numPairs,
int maxNumConcavePairsCapacity
)
btBufferInfoCL( pairs->getBufferCL(), true ),
btBufferInfoCL( bodyBuf->getBufferCL(),true),
btBufferInfoCL( gpuCollidables.getBufferCL(),true),
btBufferInfoCL( convexData.getBufferCL(),true),
btBufferInfoCL( gpuVertices.getBufferCL(),true),
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( sepNormals.getBufferCL()),
btBufferInfoCL( hasSeparatingNormals.getBufferCL()),
btBufferInfoCL( triangleConvexPairsOut.getBufferCL()),
btBufferInfoCL( concaveSepNormals.getBufferCL()),
btBufferInfoCL( numConcavePairsOut.getBufferCL())
*/
{
int np = numConcavePairsOut.at(0);
printf("np=%d\n", np);
btLauncherCL launcher(m_queue, m_bvhTraversalKernel);
launcher.setBuffer( pairs->getBufferCL());
launcher.setBuffer( bodyBuf->getBufferCL());
launcher.setBuffer( gpuCollidables.getBufferCL());
launcher.setBuffer( clAabbsWS.getBufferCL());
launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
launcher.setBuffer( numConcavePairsOut.getBufferCL());
launcher.setConst( nPairs );
launcher.setConst( maxTriConvexPairCapacity);
int num = nPairs;
launcher.launch1D( num);
clFinish(m_queue);
np = numConcavePairsOut.at(0);
printf("np=%d\n", np);
}
printf("-----------------------\n", numConcave);
}
@@ -256,7 +395,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbs.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundPairs.getBufferCL()),
btBufferInfoCL( numCompoundPairsOut.getBufferCL())
@@ -297,7 +436,7 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( const btOpenCLArray<btI
btBufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
btBufferInfoCL( gpuFaces.getBufferCL(),true),
btBufferInfoCL( gpuIndices.getBufferCL(),true),
btBufferInfoCL( clAabbs.getBufferCL(),true),
btBufferInfoCL( clAabbsWS.getBufferCL(),true),
btBufferInfoCL( gpuChildShapes.getBufferCL(),true),
btBufferInfoCL( gpuCompoundSepNormals.getBufferCL()),
btBufferInfoCL( gpuHasCompoundSepNormals.getBufferCL())