add preliminary GPU ray cast (brute-force slow, only against sphere, allocates OpenCL buffers at every cast)

2013-05-28 18:39:53 -07:00
parent f55473d586
commit a886a978b7
7 changed files with 458 additions and 117 deletions
--- a/src/Bullet3OpenCL/Raycast/b3GpuRaycast.h
+++ b/src/Bullet3OpenCL/Raycast/b3GpuRaycast.h
@@ -0,0 +1,68 @@
+#ifndef B3_GPU_RAYCAST_H
+#define B3_GPU_RAYCAST_H
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+struct b3RayInfo
+{
+	b3Vector3 m_from;
+	b3Vector3 m_to;
+};
+
+struct b3RayHit
+{
+		b3Scalar	m_hitFraction;
+		int	m_hitResult0;
+		int	m_hitResult1;
+		int	m_hitResult2;
+		b3Vector3 m_hitPoint;
+		b3Vector3 m_hitNormal;
+};
+
+class b3GpuRaycast
+{
+protected:
+	struct b3GpuRaycastInternalData* m_data;
+public:
+	b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue  q);
+	virtual ~b3GpuRaycast();
+
+	void castRaysHost(const b3AlignedObjectArray<b3RayInfo>& raysIn,	b3AlignedObjectArray<b3RayHit>& hitResults,
+		int numBodies, const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables);
+
+	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults,
+		int numBodies,const struct b3RigidBodyCL* bodies, int numCollidables, const struct b3Collidable* collidables);
+	
+/*			const b3OpenCLArray<b3RigidBodyCL>* bodyBuf,
+			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
+			int maxContactCapacity,
+			const b3OpenCLArray<b3ConvexPolyhedronCL>& hostConvexData,
+			const b3OpenCLArray<b3Vector3>& vertices,
+			const b3OpenCLArray<b3Vector3>& uniqueEdges,
+			const b3OpenCLArray<b3GpuFace>& faces,
+			const b3OpenCLArray<int>& indices,
+			const b3OpenCLArray<b3Collidable>& gpuCollidables,
+			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
+
+			const b3OpenCLArray<b3YetAnotherAabb>& clAabbs,
+           b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
+           b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
+           b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
+           b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
+           b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
+		   b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
+		   b3OpenCLArray<b3QuantizedBvhNode>*	treeNodesGPU,
+			b3OpenCLArray<b3BvhSubtreeInfo>*	subTreesGPU,
+			b3OpenCLArray<b3BvhInfo>*	bvhInfo,
+			int numObjects,
+			int maxTriConvexPairCapacity,
+			b3OpenCLArray<b3Int4>& triangleConvexPairs,
+			int& numTriConvexPairsOut
+			*/
+		
+};
+
+#endif //B3_GPU_RAYCAST_H