prepare for btGpuGridBroadphase

src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp

@@ -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;
+}