cleanup of gpu rigid body (removed all Adl stuff)

2013-03-15 16:27:23 -07:00
parent 39dbb51f68
commit 9a7414f4e9
19 changed files with 1383 additions and 23 deletions
--- a/opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
+++ b/opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
@@ -0,0 +1,171 @@
+#include "btGpuRigidBodyPipeline.h"
+#include "btGpuRigidBodyPipelineInternalData.h"
+#include "../kernels/integrateKernel.h"
+#include "../../basic_initialize/btOpenCLUtils.h"
+#include "btGpuNarrowPhase.h"
+#include "BulletGeometry/btAabbUtil2.h"
+#include "../../gpu_broadphase/host/btSapAabb.h"
+#include "../../gpu_broadphase/host/btGpuSapBroadphase.h"
+#include "parallel_primitives/host/btLauncherCL.h"
+
+btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue  q,class btGpuNarrowPhase* narrowphase, class btGpuSapBroadphase* broadphaseSap )
+{
+	m_data = new btGpuRigidBodyPipelineInternalData;
+	m_data->m_context = ctx;
+	m_data->m_device = device;
+	m_data->m_queue = q;
+
+	m_data->m_broadphaseSap = broadphaseSap;
+	m_data->m_narrowphase = narrowphase;
+
+	cl_int errNum=0;
+
+	{
+		cl_program prog = btOpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,integrateKernelCL,&errNum,"","opencl/gpu_rigidbody/kernels/integrateKernel.cl");
+		btAssert(errNum==CL_SUCCESS);
+		m_data->m_integrateTransformsKernel = btOpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,integrateKernelCL, "integrateTransformsKernel",&errNum,prog);
+		btAssert(errNum==CL_SUCCESS);
+		clReleaseProgram(prog);
+	}
+
+
+}
+
+btGpuRigidBodyPipeline::~btGpuRigidBodyPipeline()
+{
+	clReleaseKernel(m_data->m_integrateTransformsKernel);
+
+	delete m_data;
+}
+
+void	btGpuRigidBodyPipeline::stepSimulation(float deltaTime)
+{
+	btLauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel);
+	//integrateTransformsKernel( __global Body* bodies,const int numNodes, float timeStep, float angularDamping)
+
+	launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
+	int numBodies = m_data->m_narrowphase->getNumBodiesGpu();
+	launcher.setConst(numBodies);
+	float timeStep = 1./60.f;
+	launcher.setConst(timeStep);
+	float angularDamp = 0.99f;
+	launcher.setConst(angularDamp);
+	launcher.launch1D(numBodies);
+
+}
+
+
+cl_mem	btGpuRigidBodyPipeline::getBodyBuffer()
+{
+	return m_data->m_narrowphase->getBodiesGpu();
+}
+
+int	btGpuRigidBodyPipeline::getNumBodies() const
+{
+	return m_data->m_narrowphase->getNumBodiesGpu();
+}
+
+
+
+int		btGpuRigidBodyPipeline::registerConvexPolyhedron(btConvexUtility* utilPtr)
+{
+/*
+	int collidableIndex = m_narrowphaseAndSolver->allocateCollidable();
+
+	btCollidable& col = m_narrowphaseAndSolver->getCollidableCpu(collidableIndex);
+	col.m_shapeType = CollisionShape::SHAPE_CONVEX_HULL;
+	col.m_shapeIndex = -1;
+	
+
+	if (m_narrowphaseAndSolver)
+	{
+		btVector3 localCenter(0,0,0);
+		for (int i=0;i<utilPtr->m_vertices.size();i++)
+			localCenter+=utilPtr->m_vertices[i];
+		localCenter*= (1.f/utilPtr->m_vertices.size());
+		utilPtr->m_localCenter = localCenter;
+
+		col.m_shapeIndex = m_narrowphaseAndSolver->registerConvexHullShape(utilPtr,col);
+	}
+
+	if (col.m_shapeIndex>=0)
+	{
+		btAABBHost aabbMin, aabbMax;
+		btVector3 myAabbMin(1e30f,1e30f,1e30f);
+		btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
+
+		for (int i=0;i<utilPtr->m_vertices.size();i++)
+		{
+			myAabbMin.setMin(utilPtr->m_vertices[i]);
+			myAabbMax.setMax(utilPtr->m_vertices[i]);
+		}
+		aabbMin.fx = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
+		aabbMin.fy = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
+		aabbMin.fz= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
+		aabbMin.uw = 0;
+
+		aabbMax.fx = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
+		aabbMax.fy = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
+		aabbMax.fz= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
+		aabbMax.uw = 0;
+
+		m_data->m_localShapeAABBCPU->push_back(aabbMin);
+		m_data->m_localShapeAABBGPU->push_back(aabbMin);
+
+		m_data->m_localShapeAABBCPU->push_back(aabbMax);
+		m_data->m_localShapeAABBGPU->push_back(aabbMax);
+
+		//m_data->m_localShapeAABB->copyFromHostPointer(&aabbMin,1,shapeIndex*2);
+		//m_data->m_localShapeAABB->copyFromHostPointer(&aabbMax,1,shapeIndex*2+1);
+		clFinish(g_cqCommandQue);
+	}
+
+	delete[] eqn;
+	
+	
+	
+	return collidableIndex;
+	*/
+	return 0;
+}
+
+
+int		btGpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex)
+{
+	btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
+	if (collidableIndex>=0)
+	{
+		btSapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
+		btVector3 localAabbMin(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
+		btVector3 localAabbMax(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
+		
+		btScalar margin = 0.01f;
+		btTransform t;
+		t.setIdentity();
+		t.setOrigin(btVector3(position[0],position[1],position[2]));
+		t.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
+		btTransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
+		if (mass)
+		{
+			m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
+		} else
+		{
+			m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);	
+		}
+	}
+			
+	bool writeToGpu = false;
+	int bodyIndex = -1;
+
+
+	bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu);
+
+	/*
+	if (mass>0.f)
+		m_numDynamicPhysicsInstances++;
+
+	m_numPhysicsInstances++;
+	*/
+
+	return bodyIndex;
+}