Added btCudaBroadphase, some early research & development work to accelerate Bullet using CUDA

Re-uses the NVidia particle demo.
2008-09-04 23:24:11 +00:00
parent d8a5bf2c9c
commit aef74321d7
25 changed files with 6570 additions and 0 deletions
--- a/Extras/CUDA/btCudaBroadphase.h
+++ b/Extras/CUDA/btCudaBroadphase.h
@@ -0,0 +1,124 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CUDA_BROADPHASE_H
+#define CUDA_BROADPHASE_H
+
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+
+///The btCudaBroadphase uses CUDA to compute overlapping pairs using a GPU.
+class btCudaBroadphase : public btSimpleBroadphase
+{
+
+	
+
+	bool m_bInitialized;
+    int	m_numParticles;
+
+    // CPU data
+    float* m_hPos;
+    float* m_hVel;
+	float*	m_hSortedPos;
+
+    unsigned int*  m_hGridCounters;
+    unsigned int*  m_hGridCells;
+
+    unsigned int*  m_hParticleHash;
+    unsigned int*  m_hCellStart;
+	
+
+    // GPU data
+    float* m_dPos[2];
+    float* m_dVel[2];
+
+    float* m_dSortedPos;
+    float* m_dSortedVel;
+
+    // uniform grid data
+    unsigned int*  m_dGridCounters; // counts number of entries per grid cell
+    unsigned int*  m_dGridCells;    // contains indices of up to "m_maxParticlesPerCell" particles per cell
+
+    unsigned int*  m_dParticleHash[2];
+    unsigned int*  m_dCellStart;
+
+    unsigned int	m_posVbo[2];
+    unsigned int	m_colorVBO;
+
+    unsigned int	m_currentPosRead, m_currentVelRead;
+    unsigned int	m_currentPosWrite, m_currentVelWrite;
+
+    // params
+	struct SimParams&	m_simParams;
+    
+
+    
+    unsigned int	m_maxParticlesPerCell;
+
+protected:
+	
+	unsigned int createVBO(unsigned int size);
+
+	void _initialize(int numParticles);
+
+	void _finalize();
+
+
+
+public:
+
+	enum ParticleArray
+    {
+        POSITION,
+        VELOCITY,
+    };
+
+	enum ParticleConfig
+    {
+	    CONFIG_RANDOM,
+	    CONFIG_GRID,
+	    _NUM_CONFIGS
+    };
+
+	btCudaBroadphase(SimParams& simParams,int maxProxies);
+
+	virtual ~btCudaBroadphase();
+
+	void initGrid(unsigned int* size, float spacing, float jitter, unsigned int numParticles);
+
+	void reset(ParticleConfig config);
+
+	void   setArray(ParticleArray array, const float* data, int start, int count);
+
+	float*  getArray(ParticleArray array);
+
+	void addSphere(int start, float *pos, float *vel, int r, float spacing);
+
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
+
+	unsigned int getCurrentReadBuffer() const { return m_posVbo[m_currentPosRead]; }
+    unsigned int getColorBuffer() const { return m_colorVBO; }
+	void dumpParticles(unsigned int  start, unsigned int count);
+	void	dumpGrid();
+	
+	float*	copyBuffersFromDeviceToHost();
+	void	copyBuffersFromHostToDevice();
+	float* getHvelPtr();
+	float*	getHposPtr();
+	void	quickHack(float deltaTime);
+	void	quickHack2();
+	void	integrate();
+
+};
+#endif //CUDA_BROADPHASE_H