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New version of btCudaBroadphase compatible with Bullet and better performance

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rponom
2008-11-15 00:21:09 +00:00
parent 8abddb2400
commit afec653726
17 changed files with 2739 additions and 2412 deletions
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84
Extras/CUDA/btCudaBroadphaseKernel.h Normal file
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/*
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.
*/
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// Keep this file free from Bullet headers
// it is included into CUDA program
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
#ifndef CUDA_BROADPHASE_KERNEL_H
#define CUDA_BROADPHASE_KERNEL_H
#define CUDA_BROADPHASE_USE_CUDA 1
#define BT_CUDA_PAIR_FOUND_FLG (0x40000000)
#define BT_CUDA_PAIR_NEW_FLG (0x20000000)
#define BT_CUDA_PAIR_ANY_FLG (BT_CUDA_PAIR_FOUND_FLG | BT_CUDA_PAIR_NEW_FLG)
struct btCudaBroadphaseParams
{
unsigned int m_gridSizeX;
unsigned int m_gridSizeY;
unsigned int m_gridSizeZ;
unsigned int m_numCells;
float m_worldOriginX;
float m_worldOriginY;
float m_worldOriginZ;
float m_cellSizeX;
float m_cellSizeY;
float m_cellSizeZ;
unsigned int m_numBodies;
unsigned int m_maxBodiesPerCell;
};
struct btCuda3F1U
{
float fx;
float fy;
float fz;
unsigned int uw;
};
extern "C"
{
void btCuda_allocateArray(void** devPtr, unsigned int size);
void btCuda_freeArray(void* devPtr);
void btCuda_copyArrayFromDevice(void* host, const void* device, unsigned int size);
void btCuda_copyArrayToDevice(void* device, const void* host, unsigned int size);
void btCuda_setParameters(btCudaBroadphaseParams* hostParams);
void btCuda_calcHashAABB(btCuda3F1U* pAABB, unsigned int* hash, unsigned int numBodies);
void btCuda_findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells);
void btCuda_findOverlappingPairs( btCuda3F1U* pAABB, unsigned int* pHash,
unsigned int* pCellStart,
unsigned int* pPairBuff,
unsigned int* pPairBuffStartCurr,
unsigned int numBodies);
void btCuda_findPairsLarge( btCuda3F1U* pAABB, unsigned int* pHash,
unsigned int* pCellStart,
unsigned int* pPairBuff,
unsigned int* pPairBuffStartCurr,
unsigned int numBodies,
unsigned int numLarge);
void btCuda_computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr,
unsigned int* pPairScan, btCuda3F1U* pAABB, unsigned int numBodies);
void btCuda_squeezeOverlappingPairBuff( unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan,
unsigned int* pPairOut, btCuda3F1U* pAABB, unsigned int numBodies);
}
#endif // CUDA_BROADPHASE_KERNEL_H