New version of btCudaBroadphase compatible with Bullet and better performance
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rponom
@@ -18,169 +18,95 @@ subject to the following restrictions:
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "btCudaBroadphaseKernel.h"
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///The btCudaBroadphase uses CUDA to compute overlapping pairs using a GPU.
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class btCudaBroadphase : public btSimpleBroadphase
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{
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bool m_bInitialized;
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int m_numParticles;
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// CPU data
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float* m_hPos;
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float* m_hVel;
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float* m_hSortedPos;
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unsigned int* m_hGridCounters;
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unsigned int* m_hGridCells;
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unsigned int* m_hParticleHash;
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unsigned int* m_hCellStart;
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bool m_bInitialized;
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unsigned int m_numBodies;
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unsigned int m_numCells;
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unsigned int m_maxPairsPerBody;
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btScalar m_cellFactorAABB;
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// CPU data
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unsigned int* m_hBodiesHash;
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unsigned int* m_hCellStart;
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unsigned int* m_hPairBuffStartCurr;
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float* m_hAABB;
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btCuda3F1U* m_hAABB;
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unsigned int* m_hPairBuff;
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unsigned int* m_hPairScan;
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unsigned int* m_hPairOut;
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// GPU data
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float* m_dPos[2];
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float* m_dVel[2];
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float* m_dSortedPos;
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float* m_dSortedVel;
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// uniform grid data
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unsigned int* m_dGridCounters; // counts number of entries per grid cell
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unsigned int* m_dGridCells; // contains indices of up to "m_maxParticlesPerCell" particles per cell
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unsigned int* m_dParticleHash[2];
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unsigned int* m_dCellStart;
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unsigned int m_posVbo[2];
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unsigned int m_colorVBO;
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unsigned int m_currentPosRead, m_currentVelRead;
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unsigned int m_currentPosWrite, m_currentVelWrite;
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// buffers on GPU
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unsigned int* m_dBodiesHash[2];
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unsigned int* m_dCellStart;
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unsigned int* m_dPairBuff;
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unsigned int* m_dPairBuffStartCurr;
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float* m_dAABB;
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btCuda3F1U* m_dAABB;
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unsigned int* m_dPairScan;
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unsigned int* m_dPairOut;
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// params
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struct SimParams& m_simParams;
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unsigned int m_maxParticlesPerCell;
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unsigned int m_maxBodiesPerCell;
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btCudaBroadphaseParams m_params;
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btScalar m_maxRadius;
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// large proxies
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int m_numLargeHandles;
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int m_maxLargeHandles;
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int m_LastLargeHandleIndex;
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btSimpleBroadphaseProxy* m_pLargeHandles;
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void* m_pLargeHandlesRawPtr;
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int m_firstFreeLargeHandle;
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int allocLargeHandle()
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{
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btAssert(m_numLargeHandles < m_maxLargeHandles);
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int freeLargeHandle = m_firstFreeLargeHandle;
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m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
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m_numLargeHandles++;
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if(freeLargeHandle > m_LastLargeHandleIndex)
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{
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m_LastLargeHandleIndex = freeLargeHandle;
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}
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return freeLargeHandle;
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}
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void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
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{
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int handle = int(proxy - m_pLargeHandles);
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btAssert((handle >= 0) && (handle < m_maxHandles));
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if(handle == m_LastLargeHandleIndex)
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{
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m_LastLargeHandleIndex--;
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}
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proxy->SetNextFree(m_firstFreeLargeHandle);
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m_firstFreeLargeHandle = handle;
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proxy->m_clientObject = 0;
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m_numLargeHandles--;
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}
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bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
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bool isLargeProxy(btBroadphaseProxy* proxy);
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// debug
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unsigned int m_numPairsAdded;
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unsigned int m_maxPairsPerParticle;
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unsigned int m_numPairsRemoved;
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unsigned int m_numOverflows;
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protected:
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unsigned int createVBO(unsigned int size);
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void _initialize(int numParticles);
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void _finalize();
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//
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public:
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enum ParticleArray
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{
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POSITION,
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VELOCITY,
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};
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enum ParticleConfig
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{
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CONFIG_RANDOM,
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CONFIG_GRID,
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_NUM_CONFIGS
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};
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btCudaBroadphase(SimParams& simParams,int maxProxies);
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btCudaBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
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int gridSizeX, int gridSizeY, int gridSizeZ,
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int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
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int maxBodiesPerCell = 8,
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btScalar cellFactorAABB = btScalar(1.0f));
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virtual ~btCudaBroadphase();
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void initGrid(unsigned int* size, float spacing, float jitter, unsigned int numParticles);
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void reset(ParticleConfig config);
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void setArray(ParticleArray array, const float* data, int start, int count);
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float* getArray(ParticleArray array);
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void addSphere(int start, float *pos, float *vel, int r, float spacing);
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
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unsigned int getCurrentReadBuffer() const { return m_posVbo[m_currentPosRead]; }
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unsigned int getColorBuffer() const { return m_colorVBO; }
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void dumpParticles(unsigned int start, unsigned int count);
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void dumpGrid();
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float* copyBuffersFromDeviceToHost();
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void copyBuffersFromHostToDevice();
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float* getHvelPtr();
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float* getHposPtr();
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void quickHack(float deltaTime);
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void quickHack2();
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void integrate();
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void findOverlappingPairs(btDispatcher* dispatcher);
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int3 calcGridPosCPU(float4 p);
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uint calcGridHashCPU(int3 gridPos);
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void computePairCacheChangesCPU(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint numParticles);
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void computePairCacheChangesCPU_D(uint index, uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan);
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void findOverlappingPairsCPU( float* pAABB,
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uint* pParticleHash,
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uint* pCellStart,
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uint* pPairBuff,
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uint* pPairBuffStartCurr,
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uint numParticles);
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void findOverlappingPairsCPU_D( uint index,
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float4* pAABB,
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uint2* pParticleHash,
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uint* pCellStart,
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uint* pPairBuff,
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uint2* pPairBuffStartCurr,
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uint numParticles);
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void findPairsInCellCPU(int3 gridPos,
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uint index,
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uint2* pParticleHash,
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uint* pCellStart,
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float4* pAABB,
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uint* pPairBuff,
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uint2* pPairBuffStartCurr,
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uint numParticles);
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uint cudaTestAABBOverlapCPU(float4 min0, float4 max0, float4 min1, float4 max1);
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virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
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protected:
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void _initialize();
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void _finalize();
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void scanOverlappingPairBuffCPU();
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void squeezeOverlappingPairBuffCPU(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, uint numParticles);
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void squeezeOverlappingPairBuffCPU_D(uint index, uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut);
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void addPairsToCacheCPU(btDispatcher* dispatcher);
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void resetOverlappingPairBuffCPU();
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void addLarge2LargePairsToCache(btDispatcher* dispatcher);
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};
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#endif //CUDA_BROADPHASE_H
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