Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

prepare for btGpuGridBroadphase

Browse Source
This commit is contained in:
erwincoumans
2013-11-10 14:15:23 -08:00
parent 6b5921b1b3
commit ad8585f184
14 changed files with 241 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
src/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h Normal file
View File

@@ -0,0 +1,39 @@
#ifndef B3_GPU_BROADPHASE_INTERFACE_H
#define B3_GPU_BROADPHASE_INTERFACE_H
#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
#include "Bullet3Common/b3Vector3.h"
#include "b3SapAabb.h"
#include "Bullet3Common/shared/b3Int2.h"
#include "Bullet3Common/shared/b3Int4.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
class b3GpuBroadphaseInterface
{
public:
virtual ~b3GpuBroadphaseInterface()
{
}
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
virtual void calculateOverlappingPairs(int maxPairs)=0;
virtual void calculateOverlappingPairsHost(int maxPairs)=0;
//call writeAabbsToGpu after done making all changes (createProxy etc)
virtual void writeAabbsToGpu()=0;
virtual cl_mem getAabbBufferWS()=0;
virtual int getNumOverlap()=0;
virtual cl_mem getOverlappingPairBuffer()=0;
virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()=0;
virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()=0;
};
#endif //B3_GPU_BROADPHASE_INTERFACE_H

98
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp Normal file
View File

@@ -0,0 +1,98 @@
#include "b3GpuGridBroadphase.h"
#include "Bullet3Geometry/b3AabbUtil.h"
b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q )
:m_context(ctx),
m_device(device),
m_queue(q),
m_allAabbsGPU(ctx,q),
m_gpuPairs(ctx,q)
{
}
b3GpuGridBroadphase::~b3GpuGridBroadphase()
{
}
void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
{
b3SapAabb aabb;
aabb.m_minVec = aabbMin;
aabb.m_maxVec = aabbMax;
aabb.m_minIndices[3] = userPtr;
aabb.m_signedMaxIndices[3] = userPtr;
m_allAabbsCPU.push_back(aabb);
}
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
{
createProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask);
}
void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
{
calculateOverlappingPairsHost(maxPairs);
}
void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
{
m_hostPairs.resize(0);
for (int i=0;i<m_allAabbsCPU.size();i++)
{
for (int j=i+1;j<m_allAabbsCPU.size();j++)
{
if (b3TestAabbAgainstAabb2(m_allAabbsCPU[i].m_minVec, m_allAabbsCPU[i].m_maxVec,
m_allAabbsCPU[j].m_minVec,m_allAabbsCPU[j].m_maxVec))
{
b3Int4 pair;
int a = m_allAabbsCPU[j].m_minIndices[3];
int b = m_allAabbsCPU[i].m_minIndices[3];
if (a<=b)
{
pair.x = a;
pair.y = b;//store the original index in the unsorted aabb array
} else
{
pair.x = b;
pair.y = a;//store the original index in the unsorted aabb array
}
m_hostPairs.push_back(pair);
}
}
}
m_gpuPairs.copyFromHost(m_hostPairs);
}
//call writeAabbsToGpu after done making all changes (createProxy etc)
void b3GpuGridBroadphase::writeAabbsToGpu()
{
m_allAabbsGPU.copyFromHost(m_allAabbsCPU);
}
cl_mem b3GpuGridBroadphase::getAabbBufferWS()
{
return this->m_allAabbsGPU.getBufferCL();
}
int b3GpuGridBroadphase::getNumOverlap()
{
return m_gpuPairs.size();
}
cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
{
return m_gpuPairs.getBufferCL();
}
b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
{
return m_allAabbsGPU;
}
b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
{
return m_allAabbsCPU;
}

44
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h Normal file
View File

@@ -0,0 +1,44 @@
#ifndef B3_GPU_GRID_BROADPHASE_H
#define B3_GPU_GRID_BROADPHASE_H
#include "b3GpuBroadphaseInterface.h"
class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
{
protected:
cl_context m_context;
cl_device_id m_device;
cl_command_queue m_queue;
b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
b3AlignedObjectArray<b3Int4> m_hostPairs;
b3OpenCLArray<b3Int4> m_gpuPairs;
public:
b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q );
virtual ~b3GpuGridBroadphase();
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);
//call writeAabbsToGpu after done making all changes (createProxy etc)
virtual void writeAabbsToGpu();
virtual cl_mem getAabbBufferWS();
virtual int getNumOverlap();
virtual cl_mem getOverlappingPairBuffer();
virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU();
virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU();
};
#endif //B3_GPU_GRID_BROADPHASE_H

30
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
View File

@@ -9,8 +9,9 @@ class b3Vector3;
#include "b3SapAabb.h"
#include "Bullet3Common/shared/b3Int2.h"
#include "b3GpuBroadphaseInterface.h"
class b3GpuSapBroadphase
class b3GpuSapBroadphase : public b3GpuBroadphaseInterface
{
cl_context m_context;
@@ -58,6 +59,15 @@ class b3GpuSapBroadphase
b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()
{
return m_allAabbsGPU;
}
virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
{
return m_allAabbsCPU;
}
b3OpenCLArray<b3Vector3> m_sum;
b3OpenCLArray<b3Vector3> m_sum2;
b3OpenCLArray<b3Vector3> m_dst;
@@ -79,23 +89,23 @@ class b3GpuSapBroadphase
b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q );
virtual ~b3GpuSapBroadphase();
void calculateOverlappingPairs(int maxPairs);
void calculateOverlappingPairsHost(int maxPairs);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);
void reset();
void init3dSap();
void calculateOverlappingPairsHostIncremental3Sap();
virtual void calculateOverlappingPairsHostIncremental3Sap();
void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
//call writeAabbsToGpu after done making all changes (createProxy etc)
void writeAabbsToGpu();
virtual void writeAabbsToGpu();
cl_mem getAabbBufferWS();
int getNumOverlap();
cl_mem getOverlappingPairBuffer();
virtual cl_mem getAabbBufferWS();
virtual int getNumOverlap();
virtual cl_mem getOverlappingPairBuffer();
};
#endif //B3_GPU_SAP_BROADPHASE_H