Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -16,177 +16,174 @@ subject to the following restrictions:
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#include "b3GpuParallelLinearBvh.h"
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b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
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m_queue(queue),
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m_radixSorter(context, device, queue),
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m_rootNodeIndex(context, queue),
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m_maxDistanceFromRoot(context, queue),
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m_temp(context, queue),
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m_internalNodeAabbs(context, queue),
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m_internalNodeLeafIndexRanges(context, queue),
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m_internalNodeChildNodes(context, queue),
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m_internalNodeParentNodes(context, queue),
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m_commonPrefixes(context, queue),
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m_commonPrefixLengths(context, queue),
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m_distanceFromRoot(context, queue),
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m_leafNodeParentNodes(context, queue),
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m_mortonCodesAndAabbIndicies(context, queue),
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m_mergedAabb(context, queue),
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m_leafNodeAabbs(context, queue),
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m_largeAabbs(context, queue)
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b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) : m_queue(queue),
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m_radixSorter(context, device, queue),
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m_rootNodeIndex(context, queue),
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m_maxDistanceFromRoot(context, queue),
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m_temp(context, queue),
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m_internalNodeAabbs(context, queue),
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m_internalNodeLeafIndexRanges(context, queue),
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m_internalNodeChildNodes(context, queue),
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m_internalNodeParentNodes(context, queue),
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m_commonPrefixes(context, queue),
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m_commonPrefixLengths(context, queue),
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m_distanceFromRoot(context, queue),
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m_leafNodeParentNodes(context, queue),
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m_mortonCodesAndAabbIndicies(context, queue),
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m_mergedAabb(context, queue),
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m_leafNodeAabbs(context, queue),
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m_largeAabbs(context, queue)
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{
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m_rootNodeIndex.resize(1);
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m_maxDistanceFromRoot.resize(1);
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m_temp.resize(1);
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//
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const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
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const char* kernelSource = parallelLinearBvhCL; //parallelLinearBvhCL.h
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const char* kernelSource = parallelLinearBvhCL; //parallelLinearBvhCL.h
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cl_int error;
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char* additionalMacros = 0;
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m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
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b3Assert(m_parallelLinearBvhProgram);
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m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_separateAabbsKernel);
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m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_findAllNodesMergedAabbKernel);
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m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
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m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_computeAdjacentPairCommonPrefixKernel);
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m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_buildBinaryRadixTreeLeafNodesKernel);
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m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_buildBinaryRadixTreeInternalNodesKernel);
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m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_findDistanceFromRootKernel);
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m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel);
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m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_findLeafIndexRangesKernel);
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m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_plbvhCalculateOverlappingPairsKernel);
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m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_plbvhRayTraverseKernel);
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m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_plbvhLargeAabbAabbTestKernel);
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m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros );
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m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros);
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b3Assert(m_plbvhLargeAabbRayTestKernel);
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}
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b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
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b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
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{
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clReleaseKernel(m_separateAabbsKernel);
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clReleaseKernel(m_findAllNodesMergedAabbKernel);
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clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
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clReleaseKernel(m_computeAdjacentPairCommonPrefixKernel);
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clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel);
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clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel);
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clReleaseKernel(m_findDistanceFromRootKernel);
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clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel);
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clReleaseKernel(m_findLeafIndexRangesKernel);
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clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
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clReleaseKernel(m_plbvhRayTraverseKernel);
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clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
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clReleaseKernel(m_plbvhLargeAabbRayTestKernel);
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clReleaseProgram(m_parallelLinearBvhProgram);
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}
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void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
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const b3OpenCLArray<int>& largeAabbIndices)
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void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
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const b3OpenCLArray<int>& largeAabbIndices)
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{
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B3_PROFILE("b3ParallelLinearBvh::build()");
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int numLargeAabbs = largeAabbIndices.size();
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int numSmallAabbs = smallAabbIndices.size();
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//Since all AABBs(both large and small) are input as a contiguous array,
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//Since all AABBs(both large and small) are input as a contiguous array,
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//with 2 additional arrays used to indicate the indices of large and small AABBs,
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//it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH.
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{
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B3_PROFILE("Separate large and small AABBs");
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m_largeAabbs.resize(numLargeAabbs);
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m_leafNodeAabbs.resize(numSmallAabbs);
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//Write large AABBs into m_largeAabbs
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{
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
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b3BufferInfoCL( largeAabbIndices.getBufferCL() ),
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b3BufferInfoCL( m_largeAabbs.getBufferCL() )
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};
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
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b3BufferInfoCL(largeAabbIndices.getBufferCL()),
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b3BufferInfoCL(m_largeAabbs.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
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launcher.setConst(numLargeAabbs);
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launcher.launch1D(numLargeAabbs);
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}
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//Write small AABBs into m_leafNodeAabbs
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{
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
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b3BufferInfoCL( smallAabbIndices.getBufferCL() ),
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b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() )
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};
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
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b3BufferInfoCL(smallAabbIndices.getBufferCL()),
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b3BufferInfoCL(m_leafNodeAabbs.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
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launcher.setConst(numSmallAabbs);
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launcher.launch1D(numSmallAabbs);
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}
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clFinish(m_queue);
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}
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//
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int numLeaves = numSmallAabbs; //Number of leaves in the BVH == Number of rigid bodies with small AABBs
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int numLeaves = numSmallAabbs; //Number of leaves in the BVH == Number of rigid bodies with small AABBs
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int numInternalNodes = numLeaves - 1;
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if(numLeaves < 2)
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if (numLeaves < 2)
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{
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//Number of leaf nodes is checked in calculateOverlappingPairs() and testRaysAgainstBvhAabbs(),
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//so it does not matter if numLeaves == 0 and rootNodeIndex == -1
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int rootNodeIndex = numLeaves - 1;
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m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
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//Since the AABBs need to be rearranged(sorted) for the BVH construction algorithm,
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//m_mortonCodesAndAabbIndicies.m_value is used to map a sorted AABB index to the unsorted AABB index
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//instead of directly moving the AABBs. It needs to be set for the ray cast traversal kernel to work.
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//( m_mortonCodesAndAabbIndicies[].m_value == unsorted index == index of m_leafNodeAabbs )
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if(numLeaves == 1)
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if (numLeaves == 1)
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{
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b3SortData leaf;
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leaf.m_value = 0; //1 leaf so index is always 0; leaf.m_key does not need to be set
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leaf.m_value = 0; //1 leaf so index is always 0; leaf.m_key does not need to be set
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m_mortonCodesAndAabbIndicies.resize(1);
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m_mortonCodesAndAabbIndicies.copyFromHostPointer(&leaf, 1);
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}
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return;
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}
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//
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{
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m_internalNodeAabbs.resize(numInternalNodes);
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@@ -197,37 +194,37 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
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m_commonPrefixes.resize(numInternalNodes);
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m_commonPrefixLengths.resize(numInternalNodes);
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m_distanceFromRoot.resize(numInternalNodes);
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m_leafNodeParentNodes.resize(numLeaves);
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m_mortonCodesAndAabbIndicies.resize(numLeaves);
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m_mergedAabb.resize(numLeaves);
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}
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//Find the merged AABB of all small AABBs; this is used to define the size of
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//Find the merged AABB of all small AABBs; this is used to define the size of
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//each cell in the virtual grid for the next kernel(2^10 cells in each dimension).
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{
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B3_PROFILE("Find AABB of merged nodes");
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m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs); //Need to make a copy since the kernel modifies the array
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for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
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numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
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m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs); //Need to make a copy since the kernel modifies the array
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for (int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
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numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
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{
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( m_mergedAabb.getBufferCL() ) //Resulting AABB is stored in m_mergedAabb[0]
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};
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL(m_mergedAabb.getBufferCL()) //Resulting AABB is stored in m_mergedAabb[0]
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};
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b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
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launcher.setConst(numAabbsNeedingMerge);
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launcher.launch1D(numAabbsNeedingMerge);
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}
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clFinish(m_queue);
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}
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//Insert the center of the AABBs into a virtual grid,
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//then convert the discrete grid coordinates into a morton code
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//For each element in m_mortonCodesAndAabbIndicies, set
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@@ -235,34 +232,32 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
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// m_value == small AABB index
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{
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B3_PROFILE("Assign morton codes");
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
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b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
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b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
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};
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b3BufferInfoCL bufferInfo[] =
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{
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b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
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b3BufferInfoCL(m_mergedAabb.getBufferCL()),
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b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
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launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
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launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
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launcher.setConst(numLeaves);
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launcher.launch1D(numLeaves);
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clFinish(m_queue);
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}
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//
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{
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B3_PROFILE("Sort leaves by morton codes");
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m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
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clFinish(m_queue);
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}
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//
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constructBinaryRadixTree();
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//Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices.
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//The root node contains leaf node indices in the range [0, numLeafNodes - 1].
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//The child nodes of each node split their parent's index range into 2 contiguous halves.
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@@ -273,17 +268,16 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
|
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//This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice
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{
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B3_PROFILE("m_findLeafIndexRangesKernel");
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||||
b3BufferInfoCL bufferInfo[] =
|
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{
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b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(numInternalNodes);
|
||||
|
||||
|
||||
launcher.launch1D(numInternalNodes);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
@@ -293,285 +287,271 @@ void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& ou
|
||||
{
|
||||
int maxPairs = out_overlappingPairs.size();
|
||||
b3OpenCLArray<int>& numPairsGpu = m_temp;
|
||||
|
||||
|
||||
int reset = 0;
|
||||
numPairsGpu.copyFromHostPointer(&reset, 1);
|
||||
|
||||
|
||||
//
|
||||
if( m_leafNodeAabbs.size() > 1 )
|
||||
if (m_leafNodeAabbs.size() > 1)
|
||||
{
|
||||
B3_PROFILE("PLBVH small-small AABB test");
|
||||
|
||||
|
||||
int numQueryAabbs = m_leafNodeAabbs.size();
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
|
||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( numPairsGpu.getBufferCL() ),
|
||||
b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
|
||||
b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(numPairsGpu.getBufferCL()),
|
||||
b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(maxPairs);
|
||||
launcher.setConst(numQueryAabbs);
|
||||
|
||||
|
||||
launcher.launch1D(numQueryAabbs);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
int numLargeAabbRigids = m_largeAabbs.size();
|
||||
if( numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0 )
|
||||
if (numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0)
|
||||
{
|
||||
B3_PROFILE("PLBVH large-small AABB test");
|
||||
|
||||
|
||||
int numQueryAabbs = m_leafNodeAabbs.size();
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
||||
b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( numPairsGpu.getBufferCL() ),
|
||||
b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
|
||||
b3BufferInfoCL(m_largeAabbs.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(numPairsGpu.getBufferCL()),
|
||||
b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(maxPairs);
|
||||
launcher.setConst(numLargeAabbRigids);
|
||||
launcher.setConst(numQueryAabbs);
|
||||
|
||||
|
||||
launcher.launch1D(numQueryAabbs);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//
|
||||
int numPairs = -1;
|
||||
numPairsGpu.copyToHostPointer(&numPairs, 1);
|
||||
if(numPairs > maxPairs)
|
||||
if (numPairs > maxPairs)
|
||||
{
|
||||
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
|
||||
numPairs = maxPairs;
|
||||
numPairsGpu.copyFromHostPointer(&maxPairs, 1);
|
||||
}
|
||||
|
||||
|
||||
out_overlappingPairs.resize(numPairs);
|
||||
}
|
||||
|
||||
|
||||
void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
|
||||
b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
|
||||
void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
|
||||
b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
|
||||
{
|
||||
B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
|
||||
|
||||
|
||||
int numRays = rays.size();
|
||||
int maxRayRigidPairs = out_rayRigidPairs.size();
|
||||
|
||||
|
||||
int reset = 0;
|
||||
out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
|
||||
|
||||
|
||||
//
|
||||
if( m_leafNodeAabbs.size() > 0 )
|
||||
if (m_leafNodeAabbs.size() > 0)
|
||||
{
|
||||
B3_PROFILE("PLBVH ray test small AABB");
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
|
||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( rays.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
|
||||
b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
|
||||
b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(rays.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
|
||||
b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(maxRayRigidPairs);
|
||||
launcher.setConst(numRays);
|
||||
|
||||
|
||||
launcher.launch1D(numRays);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
int numLargeAabbRigids = m_largeAabbs.size();
|
||||
if(numLargeAabbRigids > 0)
|
||||
if (numLargeAabbRigids > 0)
|
||||
{
|
||||
B3_PROFILE("PLBVH ray test large AABB");
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
|
||||
b3BufferInfoCL( rays.getBufferCL() ),
|
||||
|
||||
b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
|
||||
b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_largeAabbs.getBufferCL()),
|
||||
b3BufferInfoCL(rays.getBufferCL()),
|
||||
|
||||
b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
|
||||
b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(numLargeAabbRigids);
|
||||
launcher.setConst(maxRayRigidPairs);
|
||||
launcher.setConst(numRays);
|
||||
|
||||
|
||||
launcher.launch1D(numRays);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
int numRayRigidPairs = -1;
|
||||
out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
|
||||
|
||||
if(numRayRigidPairs > maxRayRigidPairs)
|
||||
|
||||
if (numRayRigidPairs > maxRayRigidPairs)
|
||||
b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
|
||||
|
||||
}
|
||||
|
||||
void b3GpuParallelLinearBvh::constructBinaryRadixTree()
|
||||
{
|
||||
B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()");
|
||||
|
||||
|
||||
int numLeaves = m_leafNodeAabbs.size();
|
||||
int numInternalNodes = numLeaves - 1;
|
||||
|
||||
|
||||
//Each internal node is placed in between 2 leaf nodes.
|
||||
//By using this arrangement and computing the common prefix between
|
||||
//these 2 adjacent leaf nodes, it is possible to quickly construct a binary radix tree.
|
||||
{
|
||||
B3_PROFILE("m_computeAdjacentPairCommonPrefixKernel");
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
||||
b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
|
||||
b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
|
||||
b3BufferInfoCL(m_commonPrefixLengths.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_computeAdjacentPairCommonPrefixKernel, "m_computeAdjacentPairCommonPrefixKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(numInternalNodes);
|
||||
|
||||
|
||||
launcher.launch1D(numInternalNodes);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
//For each leaf node, select its parent node by
|
||||
|
||||
//For each leaf node, select its parent node by
|
||||
//comparing the 2 nearest internal nodes and assign child node indices
|
||||
{
|
||||
B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel");
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
|
||||
b3BufferInfoCL( m_leafNodeParentNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
|
||||
b3BufferInfoCL(m_leafNodeParentNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(numLeaves);
|
||||
|
||||
|
||||
launcher.launch1D(numLeaves);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
//For each internal node, perform 2 binary searches among the other internal nodes
|
||||
//to its left and right to find its potential parent nodes and assign child node indices
|
||||
{
|
||||
B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel");
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
|
||||
b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_rootNodeIndex.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(numInternalNodes);
|
||||
|
||||
|
||||
launcher.launch1D(numInternalNodes);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
//Find the number of nodes seperating each internal node and the root node
|
||||
//so that the AABBs can be set using the next kernel.
|
||||
//Also determine the maximum number of nodes separating an internal node and the root node.
|
||||
{
|
||||
B3_PROFILE("m_findDistanceFromRootKernel");
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_maxDistanceFromRoot.getBufferCL() ),
|
||||
b3BufferInfoCL( m_distanceFromRoot.getBufferCL() )
|
||||
};
|
||||
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_maxDistanceFromRoot.getBufferCL()),
|
||||
b3BufferInfoCL(m_distanceFromRoot.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_findDistanceFromRootKernel, "m_findDistanceFromRootKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(numInternalNodes);
|
||||
|
||||
|
||||
launcher.launch1D(numInternalNodes);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
|
||||
//Starting from the internal nodes nearest to the leaf nodes, recursively move up
|
||||
//the tree towards the root to set the AABBs of each internal node; each internal node
|
||||
//checks its children and merges their AABBs
|
||||
{
|
||||
B3_PROFILE("m_buildBinaryRadixTreeAabbsRecursiveKernel");
|
||||
|
||||
|
||||
int maxDistanceFromRoot = -1;
|
||||
{
|
||||
B3_PROFILE("copy maxDistanceFromRoot to CPU");
|
||||
m_maxDistanceFromRoot.copyToHostPointer(&maxDistanceFromRoot, 1);
|
||||
clFinish(m_queue);
|
||||
}
|
||||
|
||||
for(int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
|
||||
|
||||
for (int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
|
||||
{
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL( m_distanceFromRoot.getBufferCL() ),
|
||||
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
|
||||
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
|
||||
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() )
|
||||
};
|
||||
|
||||
b3BufferInfoCL bufferInfo[] =
|
||||
{
|
||||
b3BufferInfoCL(m_distanceFromRoot.getBufferCL()),
|
||||
b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
|
||||
b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
|
||||
b3BufferInfoCL(m_internalNodeAabbs.getBufferCL())};
|
||||
|
||||
b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeAabbsRecursiveKernel, "m_buildBinaryRadixTreeAabbsRecursiveKernel");
|
||||
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
|
||||
launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
|
||||
launcher.setConst(maxDistanceFromRoot);
|
||||
launcher.setConst(distanceFromRoot);
|
||||
launcher.setConst(numInternalNodes);
|
||||
|
||||
|
||||
//It may seem inefficent to launch a thread for each internal node when a
|
||||
//much smaller number of nodes is actually processed, but this is actually
|
||||
//faster than determining the exact nodes that are ready to merge their child AABBs.
|
||||
//faster than determining the exact nodes that are ready to merge their child AABBs.
|
||||
launcher.launch1D(numInternalNodes);
|
||||
}
|
||||
|
||||
|
||||
clFinish(m_queue);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user